A Sniper-Type Interception Firing Planning Method Based on Electromagnetic Gun

Abstract

This application provides a sniper-style interception firing planning method based on an electromagnetic railgun. The method includes: Step 1, using a target state information filtering algorithm to obtain target motion state information; wherein, the target motion state information includes the target's position information, velocity information, and acceleration information; Step 2, the main vehicle customizes an arrayed barrage based on the target motion state information and the vehicle's motion state information; the arrayed barrage is divided into an attack surface barrage and a flyswatter barrage; Step 3, the main vehicle predicts the target's position information and required movement time when it reaches a specified interception slant range based on the target motion state information, thereby treating the moving target as a fixed point and conducting sniper-style interception; Step 4, information exchange between multiple railguns determines the firing sequence, asynchronous firing, multiple rounds impacting simultaneously, forming an arrayed barrage to snipe the moving target. This application has the capability to actively snipe moving targets.

Description

Technical Field

[0001] This application relates to the field of electromagnetic railgun multi-gun coordinated air defense technology, and in particular to a sniper-style interception firing planning method based on electromagnetic railgun. Background Technology

[0002] With air strikes and counter-air strikes becoming the main methods of local warfare in recent times, how to effectively improve the interception probability of ground-based air defense systems, especially short-range terminal air defense systems, is crucial to the success or failure of the entire air defense operation. Because traditional firing systems are based on early anti-aircraft artillery systems, mostly using centralized fire control firing mechanisms, limitations imposed by weapon platforms such as muzzle velocity and rate of fire make it difficult to adapt to new firing modes, resulting in consistently low damage effectiveness against currently advanced air targets.

[0003] With the advent of guided projectiles / bombs, the characteristics of targets defended in terminal air defense are different from those of traditional fixed-wing aircraft and cruise missiles. These targets are faster and have thicker protective walls. The current muzzle velocities of projectiles fired from traditional 25mm and 35mm caliber anti-aircraft guns are insufficient to inflict kinetic energy damage on such targets. Destroying targets at a distance of 4km with kinetic energy projectiles that have higher muzzle velocities represents an improvement over existing strike methods. Meanwhile, because electromagnetic railguns accelerate projectiles using enormous Lorentz forces, they require sufficient charging and discharging time. This results in a lower rate of fire for electromagnetic railguns, making it impossible to use the tracking and continuous firing methods of traditional anti-aircraft guns to destroy targets. Summary of the Invention

[0004] This application provides a sniper-style interception firing planning method based on electromagnetic railguns, which can be used to solve the technical problem that electromagnetic railguns cannot destroy targets by using a tracking and continuous firing method.

[0005] This application provides a sniper-style interception firing planning method based on an electromagnetic railgun, the method comprising:

[0006] Step 1: Use the target state information filtering algorithm to obtain the target motion state information; whereby the target motion state information includes the target's position information, velocity information, and acceleration information;

[0007] Step 2: The main vehicle customizes the arrayed barrage based on the target's motion status information and the vehicle's motion status information; the arrayed barrage is divided into the oncoming barrage and the fly swatter barrage;

[0008] Step 3: The main vehicle predicts the target's position and required movement time when it reaches the specified interception slant distance based on the target's motion status information, thereby treating the mobile target as a fixed point and carrying out sniper-style interception;

[0009] Step 4: Information exchange between multiple artillery vehicles to determine the firing sequence, asynchronous firing, multiple shells hitting simultaneously to form an array of barrages to snipe mobile targets.

[0010] Further, step 1, obtaining the target motion state information, includes:

[0011] When the number of data frames is not greater than hour, Using a range of 15 to 50, the current value is estimated using a growing memory filter:

[0012]

[0013] In the formula,

[0014]

[0015]

[0016]

[0017] For the current data frame number, take ;

[0018] When the number of data frames is greater than At this time, fixed memory filtering is used, and the specific process is as follows:

[0019]

[0020] In the formula,

[0021]

[0022]

[0023]

[0024] After obtaining the filtered position and velocity information of the target, an acceleration filter is performed in the next step. , , Acceleration filtering is performed in three directions respectively:

[0025]

[0026] In the formula, ; This represents the initial data length for acceleration filtering. The sampling period.

[0027] Furthermore, in step 2, the main vehicle customizes the arrayed bullet screen based on the target's motion state information and the vehicle's motion state information, including:

[0028] When the angle between the target flight path and the line connecting the gun position Exceeding the threshold At that time, a fly swatter barrage was used; when the angle between the target's flight path and the line connecting the gun and the target was... Less than the threshold At that time, a barrage of incoming projectiles was employed;

[0029] The arrayed bullet screen is constructed as follows:

[0030] The plane of the fly swatter barrage is perpendicular to the plane formed by the cannon, the current target position, and the interception point. Refers to the obstruction point, that is, the future location of the target. ; , , , This refers to the four cannons' designated stopping points, which form a customized barrage near the stopping point, and the distance the projectiles disperse on the incoming surface. The impact points of each gun on the approach surface are distributed on both sides of the flight path. The main gun positions are indicated by... If we represent it, then we have a vector. satisfy:

[0031]

[0032] At the same time, there is a direction related to the flight path. Coaxial vectors The gun blocking points are represented as follows:

[0033]

[0034] In the formula, This is a constant used to adjust the distance between projectiles;

[0035] The plane of the incoming barrage is perpendicular to the target's trajectory at the point of interception. Refers to the blocking point, that is, the future location of the target. ; , , , This refers to the interception points set up by the four cannons to create a customized barrage near the interception point; the distance at which the projectiles disperse on the attacking surface. The impact distribution of each gun on the attack surface is along the normal to the flight path; there is also a distribution along the flight path direction. Vectors with the same normal direction At the same time, there also exist vectors satisfy:

[0036]

[0037] The gun interception points in the barrage on the incoming surface are represented as follows:

[0038]

[0039] In the formula, It is a constant used to adjust the distance between projectiles.

[0040] Further, in step 3, the main vehicle predicts the target's position and required movement time when it reaches the designated interception slant distance based on the target's motion state information, thereby treating the moving target as a fixed point and conducting sniper-style interception, including:

[0041] Step 3-1: Obtain the filtered target motion information and determine the interception slant range;

[0042] The interception slant range The constraints are as follows:

[0043]

[0044] In the formula, This represents the damage probability threshold. This is the maximum interception distance; The time required for the target to reach the specified intercept slant range; This refers to the time for adjusting the blasting. For the time it takes to bounce off; The charging and discharging time for the electromagnetic railgun; For the calculation time;

[0045] Step 3-2, based on target motion information Extrapolating the target to the designated interception slant range Location information at time and exercise time :

[0046]

[0047] In the formula, and Represented as:

[0048] ;

[0049] Step 3-3: Based on the extrapolated target's position at the designated interception slant range (i.e., the fixed point), calculate the firing parameters. , For elevation angles, It is the azimuth angle. For the time it takes to bounce off;

[0050] Steps 3-4: Determine the timing of firing:

[0051] Firing is permitted only if the following equation is satisfied; otherwise, proceed to step 3-2 to continue refining the parameters and wait for the opportune moment to fire:

[0052] .

[0053] Furthermore, information exchange between multiple artillery vehicles determines the firing sequence, enabling asynchronous firing and simultaneous impact of multiple rounds to form an array-like barrage for sniping mobile targets, including:

[0054] Step 4-1, in multi-gun coordination mode, when one gun vehicle obtains radar / electro-optical detection data, it is designated as the main gun and simultaneously sends slave gun setting information to other gun vehicles.

[0055] Step 4-2: Based on the target position information collected by radar / electro-optical system, the main gun calculates the target's velocity and acceleration information, predicts the target's trajectory, and then formulates a barrage or flyswatter barrage, allocates future aiming points to the secondary guns, and sends them to the secondary guns; the target position information includes the target's elevation angle, azimuth angle, and slant range;

[0056] Step 4-3: Reverse engineer the firing parameters from the gun based on the future aiming point assigned to the main gun. and the time of launch Passed back to the main gun, At that time, that is Main project flight time;

[0057] Step 4-4: The main guns sort the shells according to their flight time to determine the coordinated firing sequence. Each gun fires according to the firing sequence, firing asynchronously. The shells arrive at the preset positions synchronously, forming a customized array of barrages to intercept the target.

[0058] Compared with existing technologies, the significant advantages of this invention are as follows: 1. The method of this invention, through customized arrayed barrages, intercepts mobile targets in all directions along their possible paths, giving it the ability to actively snipe mobile targets; 2. The method of this invention utilizes arrayed barrages to achieve strikes through multi-gun coordination, maximizing the high kinetic energy characteristics of electromagnetic railgun projectiles and increasing projectile dispersion density, thereby improving the probability of hit and damage to the target; 3. Traditional acceleration filtering algorithms first calculate the acceleration vector based on the target velocity vector, then use the Euler angles of the velocity vector relative to the northeast-northeast coordinate system to decompose the projection of the acceleration vector onto the coordinate axes; however, this decomposition method does not consider the case where the velocity vector and acceleration vector are not on the same axis, resulting in a large acceleration filtering error. The acceleration filtering algorithm of this invention directly utilizes the velocity vector... axis, axis, Solving for acceleration components in the three axial directions axis, axis, The components in the three axes reasonably avoid the situation where the velocity vector and acceleration vector are not on the same axis, effectively improving the accuracy of acceleration filtering. Attached Figure Description

[0059] Figure 1 This is a schematic diagram of the overall process of the firing system planning method for customized arrayed barrage and multi-gun coordinated sniping of mobile targets as described in this invention.

[0060] Figure 2 This is a schematic diagram of the target trajectory and gun position described in step 2 of the present invention.

[0061] Figure 3 This is a schematic diagram of the aiming points of the "fly swatter" barrage described in step 2 of the present invention.

[0062] Figure 4 This is a schematic diagram of the aiming points of the incoming barrage described in step 2 of the present invention.

[0063] Figure 5 This is a schematic diagram of the calculation process for the sniper-style fixed-point interception method described in step 3 of the present invention.

[0064] Figure 6 This is a schematic diagram of the multi-gun coordinated firing planning process described in step 4 of the present invention.

[0065] Figure 7 This is a schematic diagram of the parameter correction curves when the sniping angle distance is specified as 1700 meters in an example of the present invention. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0067] The embodiments of this application will now be described in conjunction with the accompanying drawings.

[0068] This application utilizes electromagnetic launch to increase the initial velocity of artillery projectiles to 2500 m / s. Within a 4 km range, multiple artillery pieces can fire in coordinated arrays, creating a barrage that can snipe incoming guided bombs and other mobile targets. The high kinetic energy destroys the target, ensuring the safety of the fire control system and protected objects. The fire control system in this invention ensures that the weapon system launches projectiles at the appropriate time, accurately hitting and destroying the target. Furthermore, this invention optimizes the acceleration filtering algorithm, improving the accuracy of acceleration estimation.

[0069] Step 1: Obtain target motion state information; whereby the target motion state information includes the target's position information, velocity information, and acceleration information;

[0070] Step 2: The main vehicle customizes the arrayed bullet barrage based on the target's motion status information and the vehicle's motion status information. The arrayed bullet barrage is divided into the oncoming bullet barrage and the fly swatter bullet barrage;

[0071] Step 3: The main vehicle predicts the target's position and required movement time when it reaches the specified interception slant distance based on the target's motion status information, thereby treating the mobile target as a fixed point and carrying out sniper-style interception;

[0072] Step 4: Information exchange between multiple artillery vehicles to determine the firing sequence, asynchronous firing, multiple shells hitting simultaneously to form an array of barrages to snipe mobile targets.

[0073] Further, step 1, obtaining the target motion state information, includes:

[0074] Because the observation time is limited in the initial stage of filtering, the number of target data frames acquired is relatively small. When the number of data frames is no greater than hour, Using a range of 15 to 50, the current value is estimated using a growing memory filter:

[0075]

[0076] In the formula,

[0077]

[0078]

[0079]

[0080] For the current data frame number, take ;

[0081] As the target's motion time increases and the observation time lengthens, the number of data frames acquired by the detection device gradually increases. When the number of data frames exceeds... At this time, fixed memory filtering is used, and the specific process is as follows:

[0082]

[0083] In the formula,

[0084]

[0085]

[0086]

[0087] After obtaining the filtered position and velocity information of the target, an acceleration filter is performed in the next step. , , Acceleration filtering is performed in three directions respectively:

[0088]

[0089] In the formula, ; For acceleration filtering, the starting data length is used in engineering applications. Take 50; For sampling period, in engineering applications, Take 0.02.

[0090] Furthermore, in step 2, the main vehicle customizes the arrayed bullet screen based on the target's motion state information and the vehicle's motion state information:

[0091] like Figure 2 When the angle between the target's flight path and the line connecting the gun and the target Exceeding the threshold At that time, a fly swatter barrage was used; when the angle between the target's flight path and the line connecting the gun and the target was... Less than the threshold In practice, a barrage of projectiles is used on the incoming surface; in engineering applications, The value is 15 degrees.

[0092] The arrayed bullet screen is constructed as follows:

[0093] The fly swatter barrage plane is perpendicular to the plane formed by the cannon, the current target position, and the interception point position. Customized barrage patterns are as follows: Figure 3 As shown in the figure. The point referred to is the obstruction point, that is, the future location of the target point. ; , , , This refers to the interception points set up by the four cannons to create a customized barrage near the interception point. In the diagram, the distance between any two unmarked points represents the distance the projectiles spread across the incoming surface. The points within each dashed box represent the impact points of each gun on the approach surface; the impact points of each gun on the approach surface are distributed on both sides of the flight path. The diagram shows the arrangement of the gun arresting points, with the main gun positions indicated by... If we represent it, then we have a vector. satisfy:

[0094]

[0095] At the same time, there is a direction related to the flight path. Coaxial vectors The gun blocking points are represented as follows:

[0096]

[0097] In the formula, This is a constant used to adjust the distance between projectiles;

[0098] The barrage plane at the point of interception is perpendicular to the target's trajectory; custom barrage configuration. Figure 4 As shown in the figure. The point referred to is the obstruction point, that is, the future location of the target point. ; , , , This refers to the interception points set up by the four cannons to create a customized barrage near the interception point; in the diagram, the distance between any two unmarked points represents the distance the projectiles spread across the incoming surface. The points within each dashed box represent the impact points of each gun on the approach surface; the impact points of each gun on the approach surface are distributed along the flight path normal; the diagram shows the arrangement of the gun arresting points, which are related to the flight path direction. Vectors with the same normal direction At the same time, there also exist vectors satisfy:

[0099]

[0100] The gun interception points in the barrage on the incoming surface are represented as follows:

[0101]

[0102] In the formula, It is a constant used to adjust the distance between projectiles.

[0103] Furthermore, the sniper-style fixed-point interception method described in step 3 follows the procedure as follows: Figure 5 As shown, the details are as follows:

[0104] Step 3-1: Obtain the filtered target motion information and determine the interception slant range;

[0105] The interception slant range The constraints are as follows:

[0106]

[0107] In the formula, This represents the damage probability threshold. This is the maximum interception distance; The time required for the target to reach the specified intercept slant range; This refers to the time for adjusting the blasting. For the time it takes to bounce off; The charging and discharging time for the electromagnetic railgun; For the calculation time;

[0108] Step 3-2, based on target motion information Extrapolating the target to the designated interception slant range Location information at time and exercise time :

[0109]

[0110] In the formula, and Represented as:

[0111]

[0112] Step 3-3: Based on the extrapolated target's position at the designated interception slant range (i.e., the fixed point), calculate the firing parameters. , For elevation angles, It is the azimuth angle. For the time it takes to bounce off;

[0113] Steps 3-4: Determine the timing of firing:

[0114] Firing is permitted only if the following equation is satisfied; otherwise, proceed to step 3-2 to continue refining the parameters and wait for the opportune moment to fire:

[0115] .

[0116] Step 4 describes the multi-gun coordinated firing plan, the process of which is as follows: Figure 6 As shown, the details are as follows:

[0117] Step 4-1, in multi-gun coordination mode, when one gun vehicle obtains radar / electro-optical detection data, it is designated as the main gun and simultaneously sends slave gun setting information to other gun vehicles.

[0118] Step 4-2: Based on the target position information collected by radar / electro-optical system, the main gun calculates the target's velocity and acceleration information, predicts the target's trajectory, and then formulates a barrage or flyswatter barrage, allocates future aiming points to the secondary guns, and sends them to the secondary guns; the target position information includes the target's elevation angle, azimuth angle, and slant range;

[0119] Step 4-3: Reverse engineer the firing parameters from the gun based on the future aiming point assigned to the main gun. and the time of launch Passed back to the main gun, At that time, that is Main project flight time;

[0120] Step 4-4: The main guns sort the shells according to their flight time to determine the coordinated firing sequence. Each gun fires according to the firing sequence, firing asynchronously. The shells arrive at the preset positions synchronously, forming a customized array of barrages to intercept the target.

[0121] Example

[0122] In this embodiment, the target flight path is a typical uniform straight flight path, and the flight path data is as follows: starting position (500.0, -4000.0, 500.0) meters, ending position (500.0, 1900.0, 500.0) meters, target speed (0.0, 250.0, 0.0) meters / second. Considering the target maneuverability and the performance of the measuring equipment, white noise is added.

[0123] like Figure 7 As shown, the accuracy curve of the firing system planning for customized arrayed barrage and multi-gun coordinated sniping of mobile targets described in this invention is used, with an interception slant range of 1700 meters. By extrapolating the fixed point position at the specified slant range, the fixed point can be calculated and corrected in real time, which can alleviate the error caused by "static" attacking "moving" targets to a certain extent; at the same time, except for the large correction fluctuation in the initial stage, the overall correction fluctuation is kept within 0.5 mil, which is within the acceptable fluctuation range of the turret servo system.

[0124] This invention provides a firing system planning method for customized arrayed barrages and multi-gun coordinated sniping of mobile targets based on electromagnetic railguns. Simulation verification shows that this method can avoid the slow rate of fire of electromagnetic railguns, allowing multiple shots to hit simultaneously and increasing the projectile dispersion density per unit time. It can also reduce the dynamic tracking error caused by traditional tracking firing systems to a certain extent. Optimization in both solution accuracy and projectile dispersion density effectively improves the hit rate, thereby achieving better damage effects.

[0125] The embodiments described above do not constitute a limitation on the scope of protection of this application.

Claims

1. A sniper-style interception firing planning method based on an electromagnetic railgun, characterized in that, The method includes: Step 1: Use the target state information filtering algorithm to obtain the target motion state information; whereby the target motion state information includes the target's position information, velocity information, and acceleration information; Step 2: The main vehicle customizes the arrayed barrage based on the target's motion status information and the vehicle's motion status information; the arrayed barrage is divided into the oncoming barrage and the fly swatter barrage; Step 3: The main vehicle predicts the target's position and required movement time when it reaches the specified interception slant distance based on the target's motion status information, thereby treating the mobile target as a fixed point and carrying out sniper-style interception; Step 4: Information exchange between multiple artillery vehicles to determine the firing sequence, asynchronous firing, multiple shells hitting simultaneously to form an array of barrages to snipe mobile targets; Step 2: The main vehicle customizes the arrayed bullet screen based on the target's motion state information and the vehicle's motion state information, including: When the angle between the target flight path and the line connecting the gun position Exceeding the threshold At that time, a fly swatter barrage was used; when the angle between the target's flight path and the line connecting the gun and the target was... Less than the threshold At that time, a barrage of incoming projectiles was employed; The arrayed bullet screen is constructed as follows: The plane of the fly swatter barrage is perpendicular to the plane formed by the cannon, the current target position, and the interception point. Refers to the obstruction point, that is, the future location of the target. ; , , , This refers to the four cannons' designated stopping points, which form a customized barrage near the stopping point, and the distance the projectiles disperse on the incoming surface. The impact points of each gun on the approach surface are distributed on both sides of the flight path, with the main gun positions marked by... If we represent it, then we have a vector. satisfy: ； At the same time, there is a direction related to the flight path. Coaxial vectors The gun blocking points are represented as follows: ； In the formula, This is a constant used to adjust the distance between projectiles; The plane of the incoming barrage is perpendicular to the target's trajectory at the point of interception. Refers to the blocking point, that is, the future location of the target. ; , , , This refers to the interception points set up by the four cannons to create a customized barrage near the interception point; the distance at which the projectiles disperse on the attacking surface. The impact distribution of each gun on the attack surface is along the normal to the flight path; there is also a distribution along the flight path direction. Vectors with the same normal direction At the same time, there also exist vectors satisfy: ； The gun interception points in the barrage on the incoming surface are represented as follows: ； In the formula, This is a constant used to adjust the distance between projectiles; Step 3: The main vehicle predicts the target's position and required movement time when it reaches the designated interception slant distance based on the target's motion status information, thereby treating the moving target as a fixed point and conducting sniper-style interception, including: Step 3-1: Obtain the filtered target motion information and determine the interception slant range; The interception slant range The constraints are as follows: ； In the formula, This represents the damage probability threshold. This is the maximum interception distance; The time required for the target to reach the specified intercept slant range; This refers to the time for adjusting the blasting. For the time it takes to bounce off; The charging and discharging time for the electromagnetic railgun; For the calculation time; Step 3-2, based on target motion information Extrapolating the target to the designated interception slant range Location information at time and exercise time : ； In the formula, and Represented as: ； Step 3-3: Based on the extrapolated target's position at the designated interception slant range (i.e., the fixed point), calculate the firing parameters. , For elevation angles, It is the azimuth angle. For the time it takes to bounce off; Steps 3-4: Determine the timing of firing: Firing is permitted only if the following equation is satisfied; otherwise, proceed to step 3-2 to continue refining the parameters and wait for the opportune moment to fire: 。 2. The method according to claim 1, characterized in that, Step 1, obtaining the target motion state information, includes: When the number of data frames is not greater than hour, Using a range of 15 to 50, the current value is estimated using a growing memory filter: ； In the formula, ； ； ； For the current data frame number, take ; When the number of data frames is greater than At this time, fixed memory filtering is used, and the specific process is as follows: ； In the formula, ； ； ； After obtaining the filtered position and velocity information of the target, an acceleration filter is performed in the next step. , , Acceleration filtering is performed in three directions respectively: ； In the formula, ; This represents the initial data length for acceleration filtering. The sampling period.

3. As shown in claim 1, characterized in that, Information exchange between multiple artillery vehicles determines the firing sequence, enabling asynchronous firing and simultaneous impact of multiple rounds to form an array-like barrage for sniping mobile targets, including: Step 4-1, in multi-gun coordination mode, when one gun vehicle obtains radar / electro-optical detection data, it is designated as the main gun and simultaneously sends slave gun setting information to other gun vehicles. Step 4-2: Based on the target position information collected by radar / electro-optical system, the main gun calculates the target's velocity and acceleration information, predicts the target's trajectory, and then formulates a barrage or flyswatter barrage, allocates future aiming points to the secondary guns, and sends them to the secondary guns; the target position information includes the target's elevation angle, azimuth angle, and slant range; Step 4-3: Reverse engineer the firing parameters from the gun based on the future aiming point assigned to the main gun. and the time of launch Passed back to the main gun, At that time, that is Main project flight time; Step 4-4: The main guns sort the shells according to their flight time to determine the coordinated firing sequence. Each gun fires according to the firing sequence, firing asynchronously. The shells arrive at the preset positions synchronously, forming a customized array of barrages to intercept the target.

Images