RU2694792C1 - Method for guidance of a torpedo guided by wires - Google Patents

Abstract

FIELD: military equipment.

SUBSTANCE: invention relates to military equipment and can be used in guidance systems of remote guided torpedo weapons. Method of remote control of torpedo includes measurement by means of passive sonar of bearings from carrier to target and to torpedo, determination of distance from carrier to torpedo, calculating the value of bearing change on the target, determining on the predicted moment of time predicted bearing on the target and bearing on the torpedo, distant from the bearing on the target by an angle, providing simultaneous separate direction finding of the target and the torpedo, discrete formation of trajectory of torpedo guidance. Then control commands are generated and transmitted along wire communication line from carrier to torpedo, at the specified moments of torpedo control time additionally determining the effective range of the torpedo homing system and linear displacement of the torpedo from the bearing to the target and depending on their ratio forming the torpedo guidance trajectory. At the end of the telecontrol section, the torpedo is brought out to the line of the predicted bearing on the target and is switched to the independent guidance mode with setting the target search calculated heading.

EFFECT: reduction of linear displacement of torpedo from bearing to target in end of remote control section, id est during transition from telecontrol to self-guidance, and improved capabilities of target capturing by torpedo homing system at large firing range.

1 cl, 2 dwg

Description

The invention relates to the field of military equipment and can be used in guidance systems for remote-controlled torpedo weapons.

Modern torpedoes have homing systems (CLS), which have limited capabilities for detecting and capturing targets. When launching a torpedo from a distance to a target that exceeds the range of CN, the torpedo requires control in order to use it more effectively. Torpedoes that are controlled at the site of the trajectory of movement to the target before the target is captured are called remote-controlled [1, 2]. Remote control of modern torpedoes, domestic and foreign, is performed using a wire line [2].

In the general case, the telecontrol consists in simultaneously monitoring the coordinates of the target and the object that is aimed at the target, and the dynamic formation of the trajectory of the induced object. Thus, when controlling a rocket [3], the coordinates of the target and the rocket (directions, distances) obtained by means of the radar allow you to form a rocket pointing trajectory by combining directions (by bearing and elevation) to the target and the rocket. When controlling a torpedo [4], the combination of bearings on a torpedo and a target leads to a loss of contact with the aim of “shielding” a weak target signal with a strong torpedo signal located closer to the carrier. The loss of contact with the target does not allow to control the torpedo.

There is a method of remote-guided torpedo guidance through wires [5]. The carrier of the control system is a moving submarine, and the target is a moving object: a surface ship (NK) or submarine. On the carrier of the control system there are sonar tools that can measure current directions (bearings) to the target and the torpedo in the direction finding mode. The method consists in the fact that the torpedo targeting trajectory is formed by combining the position of the torpedo with a line spaced ϕ from the current bearing to the target. Angle ϕ provides the angular resolution of the target and torpedoes, which makes it possible to find the target, and, therefore, direct the torpedo at it throughout the entire telecontrol section. However, using the current bearing on the target to determine the torpedo's course during the formation of the trajectory leads, under conditions of mutual movement of objects (carrier, target and torpedoes), to a significant linear displacement of the torpedo from the bearing to the target and worsens the conditions of a target homing torpedo.

The closest to the present technical solution is a torpedo-guided remote-guided method [6], in which torpedoes are brought to a line spaced at an angle ϕ not from the current one (as in the similar method), but from the predicted target time determined based on the current value of the bearing change. The method includes measurement using passive sonar bearings from the carrier to the target and the torpedo; determination of the distance to the torpedo; the discrete formation of the torpedo guidance trajectory, the formation of the control command and its transfer along the wire line from the carrier to the torpedo.

The disadvantage of the prototype method is the creation of unfavorable conditions for the detection and capture of the target by the torpedo homing system at the end of the telecontrol section at long firing ranges. This is explained as follows. When the torpedo is removed from the carrier and the angle ϕ is unchanged, the linear displacement of the torpedo from the bearing to the target increases. Therefore, at long firing ranges, the lead of a torpedo from bearing to a target leads to a significant linear displacement of the torpedo, determined at the time the torpedo completes the next maneuver by the designated course, and, as a result, the torpedo homing (target skip) system detects and seizes the target.

The objective of the invention is to improve the conditions for capturing the target by the torpedo homing system at the end of the telecontrol section at long firing ranges.

The technical result of the invention is to reduce the linear displacement of the torpedo from the bearing to the target at the end of the telecontrol section, i.e. during the transition from telecontrol to homing, which increases the possibility of a target homing by a torpedo homing system at long firing ranges.

To achieve the specified technical result in the method of remote-guided torpedo targeting, including measurement using passive sonar at each time t _i bearing P _C (t _i ) from carrier to target, bearing P _T (t _i ) from carrier to torpedo, determining the distance D _HT (t _i) from the carrier to the torpedo, calculating the amount of change bearing VIP (t _i) on the target, the definition of n _D (t _i) and VIP (t _i) projected bearing P _U (t _{i + 1)} on a target Preempted time t _{i + 1} and P bearing _t (t _{i + 1)} on the torpedo, spaced from the bearing P _U (t _{i + 1)} by an angle φ, While providing ayuschy simultaneous separation direction finding of targets and the torpedo at a time point t _{i + 1,} the determination of U _T (t _i), D _HT (t _i) and P _T (t _{i + 1)} rate K _T (t _{i + 1)} torpedoes providing the output of a torpedo to the P _T bearing line (t _{i + 1} ) at time t _{i + 1} with maximum movement towards the target, forming a control command to change the torpedo's course at time t _i based on the K _T value (t _{i + 1} ) and transfer it via wire line from the carrier to the torpedo,

introduced new signs, namely:

- at time t _i additionally determined by P _T (t _i ), D _NT (t _i ), P _T (t _{i + 1} ) and K _T (t _{i + 1} ) distance D _NT (t _{i + 1} ), further determined by P _T (t _{i + 1} ), D _NT (t _{i + 1} ), P _C (t _{i + 1} ) and K _T (t _{i + 1} ) effective range of D _ES (t _{i + 1} ) system homing torpedoes and linear displacement D _TC (t _{i + 1} ) torpedoes from the bearing on the target;

- at the beginning of the remote control section of the _ES (t _{i + 1} )> D _TC (t _{i + 1} ), while forming a control command to change the course of the torpedo by the value of K _T (t _{i + 1} ) and continue the actions to determine K _T ( t _{i + 1} ) until the moment of time t _n (n> i + 1), when D _ES (t _{n + 1} ) <D _TC (t _{n + 1} );

- at this time t _n is determined by P _T (t _n ), D _NT (t _n ) and P _C (t _{n + 1} ) course K _T (t _{n + 1} ) of the torpedo, providing its output to the bearing line P _C (t _{n + 1} ) to the target at the moment of time t _{n + 1} with the maximum movement in the direction of the target, they form a control command to change the torpedo's course to the value K _T (t _{n + 1} ), transmit it via a wire line from the carrier to the torpedo ;

- at the moment of time t _{n + 1} , when the contact of the carrier for the purpose is lost (bearings on the torpedo and the target are combined), they transfer the torpedo to the independent targeting mode, having previously given it the calculated rate K _T (t _{n + 2} ) of the target search.

Thus, in the proposed method, at long firing ranges at the end of the telecontrol section, torpedoes are brought to the line of the predicted anticipation of the bearing on the target and the torpedo is switched to the independent targeting mode with the task of calculating the target search rate.

The invention is illustrated FIG. 1 and 2, where in FIG. 1 shows a graphical explanation of the proposed method, and FIG. 2 shows a comparison of the proposed method for controlling a torpedo and a prototype method.

FIG. 1 shows what the comparison of two indicators consists of: the effective range of a torpedo's _ES CST and a linear displacement of a _{DC of a} torpedo from a bearing to a target.

в горизонтальной плоскости. Сектор обзора ССН узкий и составляет десятки градусов, его ось совпадает с продольной осью, т.е. с курсом К_Т торпеды [1]. Поэтому эффективная (реальная) дальность действия Д_ЭС ССН торпеды на участке телеуправления зависит от конкретных значений К_Т и П_Ц. Она определяется как проекция на нормаль от торпеды к П_Ц границы сектора обзора (Д_С), отстоящей от К_Т на угол

. Линейное смещение торпеды определяется как расстояние от торпеды до П_Ц (по нормали к П_Ц).The torpedo's CLO capabilities for detecting and capturing a target are very limited and are characterized mainly by the range of action D _S and the width of the sector of review.

in the horizontal plane. The CES review sector is narrow and amounts to tens of degrees, its axis coincides with the longitudinal axis, i.e. with a course of K _T torpedoes [1]. Therefore, the effective (real) range of a torpedo's _ES CST on a telecontrol site depends on specific values of K _T and P _C. It is defined as a projection onto the normal of the torpedo to P _D viewing sector boundary (D _C) spaced from an angle K _T

. Linear displacement of the torpedo is defined as the distance between the torpedo to n _C (normal to P _U).

Depending on the ratio of D _ES and D _TC detection and capture of a target located on the bearing line P _D, system homing torpedoes are possible (FIGS. 1a, D _ES> D _TC) or impossible (Fig. 1b, D _ES <D _TC).

The proposed method is as follows.

At time t _{i, the} carrier, target and torpedo occupy the positions L (t _i ), C (t _i ) and T (t _i ), respectively. At this moment, the current bearing P _T (t _i ) on the torpedo and P _C (t _i ) bearing on the target is measured, the distance D _NT (t _i ) from the carrier to the torpedo is determined (after starting the torpedo moves with a constant linear speed), the value changes in the VIP direction (t _i ) to the target. The bearing P _C (t _i ) and VIP (t _i ) determine the predicted bearing _{C C} (t _{i + 1} ) to the target at the anticipated time t _{i + 1} and the bearing P _T (t _{i + 1} ) on the torpedo spaced from bearing _C P (t _{i + 1} ) at an angle ϕ, providing simultaneous separate direction finding of the target and torpedoes at time t _{i + 1} . For bearings P _T (t _i ), P _T (t _{i + 1} ) and distance D _NT (t _i ) determine the course K _T (t _{i + 1} ) of the torpedo, leading it to the bearing line P _T (t _{i + 1} ) at time t _{i + 1} with a maximum movement in the direction of the target. On the bearings P _T (t _i ), P _T (t _{i + 1} ), distance D _NT (t _i ) and the course K _T (t _{i + 1} ) determine the distance D _NT (t _{i + 1} ). For bearing P _T (t _{i + 1} ), P _C (t _{i + 1} ), distance D _NT (t _{i + 1} ) and the course K _T (t _{i + 1} ) determine the effective range of D _ES (t _{i + 1} ) CPS torpedoes and linear displacement of D _TTs (t _{i + 1} ) torpedoes from bearing to target.

At the beginning of the telecontrol section D _ES (t _{i + 1} )> D _TC (t _{i + 1} ), at the same time they form a control command to change the course of the torpedo by the value of K _T (t _{i + 1} ). Continue actions to determine K _T (t _{i + 1} ) until time t _n (n> i + 1) when D _ES (t _{n + 1} ) <D _TC (t _{n + 1} ). At this point in time, t _n is determined by P _T (t _n ), D _NT (t _n ) and P _C (t _{n + 1} ) course of the torpedo K _T (t _{n + 1} ), providing the output of the torpedo to the P _C bearing line ( t _{n + 1} ) to the target at the moment of time t _{n + 1} with the maximum movement in the direction of the target, form a control command to change the torpedo's course by the value of K _T (t _{n + 1} ) and transmit it via a wire line from the carrier to the torpedo.

At the moment of time t _{n + 1} , when the contact of the carrier for the purpose is lost, they transfer the torpedo to the self-aiming mode at the target, having previously given it the calculated course K _T (t _{n + 2} ) of the target search.

A comparison of the proposed method and the prototype method is shown in FIG. 2. It dashed line shows the calculated K _D rate and target position C (t _i) - D (t _{n + 2)} target at time instants t _i - t _{n + 2,} the rate of the K _'T (t _{n + 1)} and position T '(t _{n + 1} ) torpedoes for the prototype method, the estimated rate K _T (t _{n + 2} ) and the position T (t _{n + 2} ) of the torpedo at time t _{n + 2} when operating in self-targeting mode .

The predicted bearings P _C (t _i ) - P _C (t _n ) to the target at times t _i - t _n in FIG. 2 coincide with bearing P _U (t _i) - P _D (t _n), measured passive sonar system carrier at time instants t _i - t _n.

Comparison of the methods shows that when using the prototype method, the detection and capture of a target located on the bearing line П _Ц (t _{n + 1} ) by a homing system of a torpedo occupying the position T '(t _{n + 1} ) are impossible, since linear displacement D _TC (t _{i + 1} ) torpedoes from the bearing on the target exceeds the effective range of the _ES (t _{i + 1} ) CCH of the torpedoes (for more clearly see Fig. 1b). In the proposed method, reducing the linear displacement of a torpedo (down to its absence) at the end of the telecontrol section allows you to eliminate the omission of the target by the homing system of the torpedo and, if you set the target search target rate at the beginning of the homing portion, it increases the possibility of the homing system detecting and capturing the target.

Implementation of the proposed method of remote-guided torpedoes is carried out by known technical means. Target detection, continuous direction finding and target torpedoes are conducted using noise-finding paths [7], the operating principle and technical means for the direct implementation of torpedo telecontrol are outlined in review [2] and in article [5].

Thus, the proposed method of remote-guided torpedo guidance at long firing ranges reduces the linear displacement of the torpedo from the bearing to the target at the end of the telecontrol section, i.e. during the transition from telecontrol to homing, and leads to an improvement in the conditions for capturing a target by the torpedo homing system.

Information sources

1 Zabnev A.F. Torpedo weapon. M .: Voenizdat, 1984. S. 27-37.

2 Klimov M. Marine scuba weapons: problems and opportunities // Military-Industrial Courier, 2010; part 1 - vol. 21 (337), part 2 - vol. 2 (338).

3 Patent RF №2465535. The method of telecontrol rocket. Claims 05/12/2011, publ. 10/27/2012.

4 Antipov V.A., Makarchuk Yu.I., Obchinets OG, Okhrimenko S.N. Features of solving telecontrol tasks. // Sea collection. 2016. №5, p. 72-75.

5 Lyuban IB, Cherkas Y.A. Analytical review of telecontrol techniques and recommendations for their use in building torpedoes // Underwater Naval Weapon, 2004. Issue. 3. pp. 41-49.

6 RF patent №2631227. A way to guide a torpedo controlled by wire. Claims 06/01/2016, publ. 09/19/2017 (Prototype).

7 Koryakin Yu.A., Smirnov S.A., Yakovlev G.V. Ship sonar technology. St. Petersburg: Science, 2004.

Claims (1)

A method of targeting a torpedo controlled by wires, including measurement using passive sonar at each moment of time t _i bearing P _C (t _i ) from carrier to target, bearing P _T (t _i ) from carrier to torpedo, determining the distance D _NT (t _i ) from the carrier to the torpedo, calculation of the magnitude of the change in the VIP bearing (t _i ) to the target, determination by P _C (t _i ) and VIP (t _i ) of the predicted P _C bearing (t _{i + 1} ) on the target at the anticipated time t _{i + 1} n and bearing _t (t _{i + 1)} on the torpedo, spaced from P _U (t _{i + 1)} by an angle φ, providing separate simultaneous direction finding purposes, etc. rpedy at time t _{i + 1,} the determination of U _T (t _i), D _HT (t _i) and P _T (t _{i + 1)} rate K _T (t _{i + 1)} torpedo providing output torpedo bearing line P _T (t _{i + 1} ) to the torpedo at the time t _{i + 1} with the maximum movement in the direction of the target, the formation of the control command to change the course of the torpedo at time t _i , based on the value of K _T (t _{i + 1} ) and transfer its wire line from the carrier to the torpedo, characterized in that at time t _i additionally determine: for P _T (t _i ), D _NT (t _i ), P _T (t _{i + 1} ) and K _T (t _{i + 1} ) the distance D _NT (t _{i + 1} ), according to P _T (t _{i + 1} ), D _NT (t _{i + 1} ), P _C (t _{i + 1} ) and K _T (t _{i + 1} ) is the effective range of the _ES (t _{i + 1} ) torpedo homing system and the linear displacement D _TC (t _{i + 1} ) of the torpedo from the bearing to the target; at the beginning of the remote control section of the _ES (ti + 1)> D _TC (t _{i + 1} ), they form a control command to change the torpedo's course by the value of K _T (t _{i + 1} ) and continue the actions to determine K _T (t _{i +1} ) until the moment of time t _n (n> i + 1), when D _ES (t _{n + 1} ) <D _TC (t _{n + 1} ), and at this moment of time t _n is determined by P _T (t _n ) , Д _НТ (t _n ) and П _Ц (t _{n + 1} ) the torpedo course К _Т (t _{n + 1} ), providing the output of the torpedo to the bearing line П _Ц (t _{n + 1} ) on the target at the moment of time t _{n + 1} with a maximum displacement in the direction of the target, generating a control command to change the course of a torpedo for the value of K _t (t _{n + 1)} and transmit it by inii wired connection carrier on the torpedo, and at time t _{n + 1,} when the contact carrier for the purpose lost, converted into a torpedo independent guidance mode at the target, to specify her settlement rate K _T (t _{n + 2)} search target.

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