System for protecting stationary objects from uavs, method for detecting, verifying, distributing, tracking and destroying air targets

Abstract

FIELD: aviation.SUBSTANCE: group of inventions relates to a system for protecting stationary objects from unmanned aerial vehicles and a method for using it. The complex comprises launchers with missiles and / or an artillery system, a control post (CP), a surveillance radar station (SR-S), N remotely controlled modules (RCM-N), a fire control system (FCS), an optical-electronic system of the sighting system (OES-SS), and a tracking radar station (TRS) with electric drives. The method consists of preliminary adjustment of the complex by bringing all elements of the system to a single coordinate system (SCS), detecting the target, determining its coordinates and speed in the SCS, verifying the target, determining the target's approach time to the kill zone for all RCM-N, transmitting a command to track the target to the RCM whose approach time is minimal, and upon reaching the target's kill zone, preparing the RCM for attacking the target. In case of a miss, an adjustment is made and a repeat attack is made. Consistent distribution of targets across all RCM-N for all detected targets is provided.EFFECT: effectiveness of round-the-clock protection is increased when protecting both military and civilian facilities, ensuring the ability to repel a simultaneous attack by a large number of intruder aerial objects.3 cl, 4 dwg

Description

[0001] Technical field

[0002] The invention relates to the field of armament and military equipment, to air defense systems, namely to automated remote-controlled weapons for protecting stationary objects from air attack weapons, in particular to defense systems for combating unmanned aerial vehicles (UAVs), for example, using cannon or machine gun weapons of remotely controlled mechanical modules, which implements a method for detecting, verifying, distributing targets, tracking and destroying air targets.

[0003] Abbreviations, terms and definitions used in the text and figures:

[0004] AO – joint stock company;

[0005] ARM-N – automated workstation of the remote-controlled module N

[0006] ARM-K – automated commander’s workstation;

[0007] AU – artillery mount;

[0008] BV – weapons block;

[0009] Near field surveillance zone;

[0010] BK – ammunition;

[0011] VKU – rotating contact device;

[0012] VH – vertical guidance drive;

[0013] HF – rotating part;

[0014] GN – horizontal guidance drive;

[0015] RMU – remote-controlled module;

[0016] DUM-N – remote-controlled module with number N;

[0017] ZAK – anti-aircraft artillery complex;

[0018] ZP-N – zone of destruction of DUM-N;

[0019] ZSK is a terrestrial topographic coordinate system, the position of an object in which is determined by three Euler angles: the directional angle ψ (the angle of rotation from the direction to the North) and the angles of inclination to the horizon: longitudinal (pitch) ν and transverse (roll) γ;

[0020] MSK – local coordinate system;

[0021] OES-K – integrated optical-electronic video surveillance system with all-round visibility;

[0022] OES-PK-N – optical-electronic system of the DUM-N sighting complex

[0023] PO – software;

[0024] PU – control post;

[0025] RLS-N – radar guidance station DUM-N;

[0026] RLS-D – remote radar station;

[0027] RLS-O – surveillance radar;

[0028] SKK – coordinate system of the complex;

[0029] SUO – fire control system;

[0030] T макс - the maximum possible flight time of a given target;

[0031] T N j – the time of approach of a given target (to the DUM-N kill zone);

[0032] TsNII – Central Research Institute.

[0033] Technology Level

[0034] Small-caliber anti-aircraft artillery systems (ZU-23, Shilka, Golkiper, Vulcan, etc.) [Anti-aircraft missile weapons of the world. St. Petersburg, INTIROSP, 2005, pp. 46-101] are known, designed to combat air targets at close range.

[0035] The main disadvantage of these systems is the low (about 0.02) probability of hitting targets.

[0036] An anti-aircraft mount is known [Patent for Utility Model of the Russian Federation No. 42647 dated July 22, 2004, F41G7 / 20, F41G5 / 08], comprising a firing module, a central computer, and an anti-aircraft gun drive, all interconnected by interface communication lines, as well as an aiming device, including an anti-aircraft mount fire control panel, an optical-electronic unit, and an automatic target tracking system. The aiming device is mounted on an external tripod.

[0037] The existing device suffers from a number of operational and technical shortcomings. For example, placing the aiming device on a separate tripod required additional cables and communication systems for calculations, which increased the weight of the system and the time it took to convert it from travel to combat.

[0038] In addition, the need for mutual binding of the coordinates of the firing module and the aiming device and subsequent control of the angular position of the firing module drives during the process of tracking the target using information from the aiming device with a sufficiently high accuracy (up to 1.5 arc min) imposes strict requirements on the equipment that ensures this process (angle sensors, actuators).

[0039] As tests have shown, such a structure does not allow achieving the required accuracy of aiming the firing module and, accordingly, the firing accuracy to increase the probability of hitting targets.

[0040] The presence of a remote aiming device also does not allow for firing on the move.

[0041] A small-caliber anti-aircraft artillery system is known [Patent for Utility Model of the Russian Federation No. 100215 dated 13.07.2010 F41G7 / 20], containing a firing module, an optical-electronic system for measuring target coordinates, an automatic target tracking system for azimuth and elevation, a control panel, a video viewing device, a barrel guidance system and a central computer equipped with programs for calculating aiming coordinates, barrel guidance with the ability to compensate for dynamic errors and calculate the parameters and trajectory of the target, all located on a carrier and connected by interface communication lines.

[0042] This well-known system also has a number of shortcomings. One of them is the practical impossibility of achieving the required accuracy (up to 1.5 arcmin) in aligning the sighting axes of the optoelectronic system with the barrels of the firing module without special, labor-intensive operations, which are necessary both during factory assembly and when replacing the optoelectronic system during repairs or routine maintenance.

[0043] A disadvantage of the known complex is also the impossibility of connecting devices to the complex equipment for diagnostics and recording telemetry information, which is necessary for carrying out adjustment work and acceptance tests during the manufacturing process, as well as for objective monitoring of firing results.

[0044] In addition, the known complex does not have the ability to connect devices that provide automation of the process of receiving target designation (for example, a radio station or radar).

[0045] The disadvantages of the well-known complex include the lack of the ability to organize remote control, in particular, there is no possibility of connecting a remote control, a device for controlling the start of shooting - an automatic trigger (in the complex, to start shooting, the shooter must press the pedal), a counter for the number of fired shells (shot) for introducing correction factors when calculating lead and elevation angles, a start-of-fire sensor for more efficient operation of the program for compensating for dynamic errors, and training tools for the calculation of the complex.

[0046] A method of firing ground-based fire weapons is known (Patent for invention RU 2799000 C1, IPC F41G 7 / 34, F42B 12 / 02, F42B 15 / 00, G01S 7 / 38. Published: 06 / 30 / 2023 Bulletin No. 19).

[0047] The method of firing ground fire weapons is as follows.

[0048] 1. Determine the coordinates of the target location.

[0049] 2. Guide ground fire weapons based on their values.

[0050] 3. Determine the possible operating sector of the radar system for detecting and determining the flight trajectory parameters of ground-based fire weapons.

[0051] 4. Launch the munition from a ground-based fire source.

[0052] 5. Jamming is carried out on the radar system for detecting and determining the parameters of the flight trajectories of ammunition until the moment the ammunition enters the possible operating sector of the radar system for detecting and determining the parameters of the flight trajectories of ammunition by automatically activating the jamming device incorporated into the munition of the ground-based fire system.

[0053] 6. They stop jamming the radar system for detecting and determining the parameters of the flight trajectories of ammunition after the moment the ammunition leaves the possible operating sector of the radar system for detecting and determining the parameters of the flight trajectories of ammunition by automatically turning off the jamming device included in the munition of the ground-based firing system.

[0054] 7. They hit the target with a specified probability. The technical result is increased effectiveness of ground-based firepower.

[0055] The utility model "Naval small-caliber high-precision anti-aircraft artillery system" is known under patent RU 162717 U1, IPC B63B 1 / 00, F41F 1 / 00, F41G 5 / 00. Published: 06 / 27 / 2016 Bulletin No. 18.

[0056] A naval small-caliber high-precision anti-aircraft artillery system comprising a firing module located on a carrier, connected through interface communication lines to an automatic target tracking system in azimuth and elevation, a firing module guidance control system and a central computer equipped with programs for calculating the aiming coordinates and guidance of the firing module, an optical-electronic system for measuring target coordinates containing a television camera, a thermal imaging camera and a laser rangefinder, and a control panel with a video viewing device, characterized in that the firing module contains two high-performance automatic six-barrel cannons, and a drive for the mirrors of the laser rangefinder with a control unit, a two-axis angular velocity sensor are additionally introduced into the optical-electronic system,position sensors of the gyrostabilized platform with a drive for the rotary support device of the gyrostabilized platform and its own computer of the optical-electronic system for measuring the coordinates of the target, wherein the television camera, thermal imaging camera, laser rangefinder with a mirror drive and a control unit are located on the gyrostabilized platform of the rotary support device of the optical-electronic system.

[0057] A method is known for increasing the efficiency of observation and target destruction by armored weapons (patent for invention RU 2540393 C1, IPC F41G 3 / 06. Published: 10.02.2015 Bulletin No. 4).

[0058] A method for increasing the efficiency of observation and engagement of targets by armored weapons, including sights with thermal imaging, optical, low-level television channels, an ATGM guidance channel and a laser rangefinder, a set of automatic firing condition sensors and an automatic target tracking system, characterized in that a reconnaissance station is additionally installed on the armored weapon sample, with the help of which the type of target is detected, the range to it is determined, a signal is transmitted via electrical wires to a signal processing unit additionally installed in the fire control system, which, according to the program embedded in it, analyzes the selection of the type of weapon as the most effective for hitting the target under the given conditions, a signal is transmitted from it to the weapon guidance drive, which is used to guide the weapon to the target, to inform the crew, and data on the target is transmitted to the information display device - a monitor,move the weapon type switch on the weapon control panel to the position for selecting the required weapon type and, using the weapon control panel and the weapon guidance drive, adjust the weapon type and fire it.

[0059] The technical results of the proposed invention are to increase the efficiency of observation, assist the commander in selecting the type of weapons necessary for more reliable destruction of the observed target, increase the useful armored volume with the possibility of placing additional ammunition or other systems in it, provide the commander with the ability to remotely control all types of vehicle weapons, reduce the time of enemy detection, increasing the probability of its detection.

[0060] The anti-aircraft system is known under the patent for utility model of the Russian Federation No. 118735. Published: 27.07.2012 Bulletin No. 21, F41G 5 / 08.

[0061] The small-caliber anti-aircraft artillery system comprises a firing module placed on a carrier with interface communication lines connected to an optical-electronic system for measuring target coordinates, an automatic target tracking system in azimuth and elevation, a control panel, a video viewing device, a firing module guidance control system and a central computer equipped with programs for calculating aiming coordinates, guiding the firing module with the ability to compensate for dynamic errors and calculate the parameters and trajectory of the target, an external interface unit that ensures the exchange of information between the automatic target tracking system and the central computer with external devices, and a quotation device placed on the firing module on which an optical-electronic system for measuring target coordinates is installed.

[0062] Moreover, the target tracking machine and the central computer can be implemented as a single computing unit.

[0063] The carrier of the small-caliber anti-aircraft artillery system can be made in the form of a fixed base or a mobile vehicle, and the firing module of the system can contain an electric trigger device, a start-of-fire sensor, and a counter for the number of fired shells, all connected to the interface of the central computer.

[0064] In addition, the complex may contain a device for recording video and telemetry information, a remote control, a radio station, a small-sized detection and tracking radar, a missile module, and a machine gun connected to the external interface block.

[0065] The external interface unit of the complex can provide information exchange via both wired and wireless communication lines, the remote control is designed to provide operator training, and the missile module and machine gun can be controlled autonomously or remotely through the external interface unit associated with them.

[0066] The optical-electronic system of the complex contains a television camera, a thermal imaging camera and a laser rangefinder.

[0067] The aiming coordinate calculation program is designed to compensate for the static drift of the barrels and ensure firing at ground targets, and the firing module guidance program is designed to automatically configure the signal parameters for the firing module guidance control system.

[0068] In addition, the complex may contain the following installed on the weapon module: an electric trigger, a fire start sensor, a counter for the number of shells fired, a radio station, a missile module and a machine gun, as well as a device for recording video and telemetry information, a remote control, and a small-sized detection and tracking radar.

[0069] Known methods of self-defense use complexes consisting of:

[0070] - detection and target designation means, usually radar stations (RLS) of various ranges or phased arrays and, often, additional passive sensors (UV and / or IR ranges, acoustic) that detect targets by characteristic features, and short-range laser emitters;

[0071] - an electronic control unit that calculates the target's trajectory, range and time of approach to the object, selects a counteraction option and issues control signals to active defense systems: in particular, defensive ammunition fired from fixed (for example, along the perimeter of a tank turret) or mobile (on carriages, multi-barrel mortars with the ability to rotate in horizontal and vertical planes) guides and having various types of warheads: high-explosive fragmentation, fragmentation, impact cores, matrix fields of impact cores.

[0072] Defensive ammunition can be in the form of propellant propellants, unguided counter-missile rockets, or rocket-propelled grenades; as well as homing missiles of varying range and vertical launch, equipped with a non-directional fragmentation warhead, a sustainer engine, pulsed trajectory correction engines, and an internal inertial guidance system to a predetermined point of impact with the target.

[0073] A combat module was selected as a prototype for implementing a method for operating a remotely controlled combat module in various modes of use [Patent for invention RU 2664105 C1, IPC F41A 23 / 00 (2006.01) Published: 08 / 15 / 2018 Bulletin No. 23].

[0074] The method of operation of the combat remote-controlled module in various modes of application includes the delivery of a remotely controlled weapon to a combat zone on a remotely controlled transport platform, stabilization of the weapon in the horizontal and vertical planes during the movement of the platform, remote control of aiming and actuation of the trigger mechanism of the weapon, target acquisition and tracking on the on-board computer monitor, memorization of several stationary targets in an arbitrary sequence with subsequent automatic aiming and firing at them taking into account the entered numerical values ​​​​of corrections for range, temperature, pressure, wind, length of bursts and the amount of ammunition.

[0075] After the combat remote-controlled module is delivered to the combat zone, its use in performing missions is carried out in two modes: semi-automated and automated.

[0076] The operation of the combat remote-controlled module in various modes of operation is achieved.

[0077] The disadvantages of the given analogs include:

[0078] – inability to control multiple weapon modules;

[0079] – not using ammunition with controlled detonation time;

[0080] – absence of fuse control equipment on the weapons module;

[0081] – lack of automatic tracking of all targets simultaneously for all modules with weapons in the complex;

[0082] – inability to simultaneously reflect a large number of air targets;

[0083] – placement on the weapon module of a quotation device on which an optical-electronic system for measuring target coordinates is installed;

[0084] – high sensitivity to weather conditions and optical interference, such as atmospheric haze, dust, and illumination from bright light sources of the optical-electronic system of the complex;

[0085] – a small-sized detection and tracking radar has high sensitivity to electronic warfare equipment and difficulty in operation at low elevation angles due to the proximity of terrain bends;

[0086] – low accuracy of automatic tracking of a small-sized moving target in range due to the influence on the radar operation of spatial inhomogeneity of passive interference received by the radar simultaneously with the signal of a small-sized moving target, formed by reflections from elementary reflectors (for example, from the surface of the Earth or clouds of dipole reflectors), spatially combined with the target.

[0087] Disclosure of the essence of the invention

[0088] The objective of the claimed invention is to ensure effective round-the-clock protection when protecting both military and civilian facilities from the penetration of multiple intruder aerial objects, including UAVs, simultaneously attacking the facility at different pitch and azimuth angles.

[0089] The technical result is:

[0090] –ensuring effective round-the-clock protection for the protection of both military and civilian facilities, ensuring the ability to repel a simultaneous attack by a large number of intruder air targets due to:

[0091] – selection, deployment and placement of assets from the complex:

[0092] – the use of components of the complex with different parameters, for example, radars with different detection ranges and target trajectory determination accuracies, and OES with high accuracy characteristics;

[0093] – implementation of a method for detecting, verifying, distributing, tracking and engaging air targets using means from the complex (distribution and sequence of operation of several radars, electronic warfare systems and remotely controlled combat modules with warheads).

[0094] The technical result also consists in the creation of a security zone, several detection zones, and destruction zones, when implementing the method of active protection of a protected object, with the possibility of simultaneous remote control of the fire of anti-aircraft weapons units.

[0095] The technical result also consists in the implementation of the possibility of using remotely controlled modules with various types and kinds of weapons, for example, a 30 mm cannon and a 12.7 or 7.62 mm machine gun, to perform various types of combat missions of destroying air targets, under the control of the fire control system of the complex, equipped with systems for searching, detecting, verifying, and tracking small-sized air targets.

[0096] The technical result is achieved in that the complex for protecting stationary objects from UAVs includes the means necessary and sufficient to implement the method for detecting, verifying, distributing, tracking and destroying multiple aerial targets, including:

[0097] – a control post (CP), for example, in the form of a container, which houses the automated workstation of the commander (AWS-K) and the automated workstation of the FCS of the remotely controlled module N (AWS-N) with software;

[0098] – a surveillance radar station (RLS-O) with remote-controlled electric drives for forming a “Detection Zone” around a “Security Zone” with protected objects, connected via a communication line to the ARM-K in the control center;

[0099] – remotely controlled modules (RCM-N) in quantities from 1 to N, each of which consists of: located on a support and rotary device, for example, a platform, closed from above by a cap, inside which is a swinging part with a weapons unit (WU) with the ability to install various types and kinds of weapons, for example, a large-caliber machine gun or a small-caliber artillery mount with a caliber of 30 mm, magazines for the ammunition supply and storage system (BK), electrical equipment, a rotating contact device (VKU), horizontal (GN) and vertical guidance (VN) drives;

[0100] – a fire control system (FCS) of a protection complex, consisting of a hardware and software complex, including ARM-K and ARM-N with software, connected by a communication line with the RLS-O, RLS-N, OES-N and DUM-N with their sensors;

[0101] – installed on the swinging part with the BV, a sensor of the initial velocity of the ammunition, for example, a Doppler meter of the initial velocity of the ammunition fired from the barrel of the weapon, and equipment for setting the fuse, designed to program the detonation time of the ammunition fired from the barrel of the weapon,

[0102] – an optical-electronic system of the sighting complex (OES-PK-N) with electric drives, a tracking radar station (RLS-N) with electric drives, each of which is installed, for example, on a mast welded from a metal profile and secured with anchor bolted connections to the foundation, and connected by a communication line to the corresponding ARM-N of the DUM-N module and to the ARM-K in the PU,

[0103] while:

[0104] – each N-radar is designed to track and determine the trajectory of the target in its “Near Tracking Zone”, determined by the N-radar’s coverage area, including the “Defeat Zone” of the DUM-N weapon;

[0105] – the optical-electronic system of the sighting complex of each OES-PK-N module, together with the radar-N, is designed to track and determine the coordinates of the target in the “Near Tracking Zone”, including in the “Destruction Zone”,

[0106] – the RLS-O surveillance radar station is designed to detect targets and conduct target verification (check for “falsehood”) together with the RLS-N, in a controlled “Security Zone”,

[0107] – the control post of the PU with ARM-K is designed to process data received from the RLS-O, RLS-N, ARM-N, OES-PK-N for the optimal distribution of targets between the DUM-N and the corresponding RLS-N, OES-PK-N and the selection of the sequence of target destruction;

[0108] – The BV is designed to hit the target after guiding the BV to the predicted point of meeting the target with a given accuracy,

[0109] – all components of each DUM-N (RLS-N, ARM-N, OES-PK-N) and complex (PU, RLS-O) are installed in the area of ​​the zone with protected stationary objects to form a “Security Zone” taking into account the firing range of the DUM-N combat weapons,

[0110] – all components of the complex for protecting stationary objects are connected by a cable communication line for information exchange and power supply cables, for example, from a stationary power supply source for protected stationary objects or from a mobile power supply center.

[0111] In order to expand the tracking and detection zone of air targets, the FCS of the complex provides the ability to receive target designations from the control systems of the regional air defense system (AD), while the control systems of the complex may include, for example, a remote radar station (RLS-D) and / or an integrated optical-electronic video surveillance system (OES-K), which, using the primary analysis subsystem, determines the target's class of aircraft, taking into account the n-dimensionality of the aircraft, determines: m-dimensional coordinates, binds the m-dimensional coordinates to the positioning system used in the "Security Zone", in the presence of a remote radar station RLS-D in the security zone of the protected object, a "Long-range detection zone" is formed taking into account the range of RLS-D, RLS-O and RLS-N, with the ability to configure the FCS to control any type of weapon in the DUM-N combat unit.

[0112] The method of detection, verification, distribution, tracking and destruction of air targets, which is implemented in a complex for the protection of stationary objects from attacks from the air by UAVs and other aircraft, is as follows:

[0113] – a single coordinate system for the entire stationary object protection complex (SCC) is defined, and the connection with it of the local coordinate systems (LCS) of all DUM-N, RLS-N, OES-PK-N, is determined by the complex adjustment operation;

[0114] – detection of targets, for example, UAVs, is carried out using the RLS-O and RLS-D radars, if available, the RLS-D radar, in the “Far Detection Zone” and in the controlled “Detection Zone”.

[0115] – when an aerial target appears in the “Security Zone” and is detected by the surveillance radar LS-O, the coordinates of the aerial target and its speed in the SCC are determined, the class of aircraft to which the target belongs is determined using the primary analysis subsystem, the target is verified, for which the radar stations LS-O and LS-N are used, and the coordinates and speed of the target are determined;

[0116] – after verification of the target, the ARM-K of the control post PU determines the time of arrival of this target (j) (TNj) to the “Defeat Zone” (ZP-N) of each DUM-N; in which it is possible to hit this target with a shot from the AU;

[0117] – if the target does not pass through the ZP-N of any DUM-N module, this time is conventionally determined to be the maximum (Tmax), while all target approach times are entered into the ARM-K table;

[0118] – after determining the approach time TNj of targets for all DUM-N modules, these times are entered into the ARM-K table, in which each row corresponds to a target with the number “j”, and each column corresponds to a module with the number “N”;

[0119] – initially all elements of the matrix table are equal to Tmax, but all times in the table are current, i.e. they are adjusted in accordance with the passage of time;

[0120] – the module (DUM-N), which has a minimum flight time TNj for this purpose, has its mode checked, and if it is in the “Standby” mode, that is, it is not yet participating in tracking another target, the target is transferred to it for tracking;

[0121] – the DUM-N module and, accordingly, the RLS-N and ARM-N, switch to the “Tracking” state of the “Combat” mode, and the ARM-N calculates the target trajectory based on the RLS-N and OES-PK-N data and transmits the coordinates of the meeting point with the target to the DUM-N,

[0122] – after the target hits the ZP-N of the DUM-N, it goes into the “Defeat” state and, according to the ARM-N data, aims the barrel at the point of impact, its ARM-N checks whether the barrel hits the “tolerance” zone and, if the result is positive, informs the ARM-K about the readiness to hit the target;

[0123] – when the barrel is in the “tolerance” zone, a shot is fired on the ARM-K command, for example, the AU BV DUM-N;

[0124] – after the shot is fired, the contactless sensor measures the initial velocity of the ammunition, calculates the optimal detonation time of the ammunition and enters the information into the programmable fuse;

[0125] – if the ARM-N misses, it adjusts the firing settings taking into account the initial velocity of the projectile and the miss, after which the DUM-N continues tracking, and if its ARM-N determines that the target has entered the “tolerance” zone, it is ready to fire the next shot,

[0126] – in the event of a target being hit, which is determined either automatically (by the disappearance of the target in the “Tracking Zone” of the radar-N and radar-O) or by the PU operator, the DUM-N and OES-PK-N switch to the “Waiting” mode and are ready, upon instruction from the PU, to track the next target;

[0127] – if the RUM-N selected for tracking is in the “Combat” mode, another of the remaining RUM modules with the minimum flight time of this target is determined, and the RUM module that meets this condition is checked to see if it is in the “Standby” mode, after which it switches to the “Tracking” state of the “Combat” mode and the target is transferred to it for tracking;

[0128] – if none of the RUM modules can track this target (it is in the “Combat” mode or the target’s trajectory does not pass through its “Defeat Zone”), the priority of this target is checked in relation to the targets already tracked;

[0129] – if the flight time of a given target to the “Defeat Zone” is greater than the flight time of all targets already previously taken for tracking by any of the DUM modules, ARM-K places this target in the “queue” (until some other targets are either hit or leave the “Defeat Zone”);

[0130] – if the time of flight of a given target to the “Defeat Zone” (DZ-N) of any DUM-N module is less than the time of flight of other targets already taken by it for tracking by this DUM-N, it is checked whether the target taken earlier for tracking has reached the “Near Tracking Zone” (NTSZ), and if it has reached it, then the new target is put “in the queue” in the ARM-K, and if it has not reached it, then the new target is taken by this DUM-N module for tracking, and the “old” one is put “in the queue” in the ARM-K,

[0131] – The BZS is “separated” from the “Defeat Zone” by a distance equal to the distance that the target can travel during the time it takes to construct the target’s flight trajectory, which is determined by the complex’s fire control system;

[0132] – if all targets are being tracked and there are RMS modules in the “Waiting” mode (there are fewer targets than modules), ARM-K checks them for the possibility of tracking and hitting targets that are already being tracked (whether these targets pass through their kill zones) and, if the check results are positive, the highest-priority target is transferred for tracking to the “free” RMS module, while measurements to determine the trajectory of a given target are determined by all modules participating in tracking a given target, based on this, the calculation of the target trajectory (to improve the accuracy of the calculated trajectory) is carried out by ARM-K based on the measurement data of all RLS-N and OES-RK-N radars participating in determining the trajectory;

[0133] – when all detected targets are distributed (transferred for tracking or queued in ARM-K), the RLS-O moves on to detecting the next target.

[0134] The destruction of each detected aerial intruder by the weapons installed in the combat unit of each RUM included in the complex occurs independently in accordance with the algorithm embedded in the complex's fire control system, which improves the tactical and technical characteristics of the entire protection complex (both operational and combat) compared to analogues, expressed in early detection, tracking, verification and distribution of targets, which reduces the targeting time of the combat unit of each RUM.

[0135] Detection of intruder aerial objects by means of multiple range-selective detection radar stations, simultaneously observing the entire upper hemisphere in all attack directions, ensures effective round-the-clock protection against multiple, low-observable, small-sized intruder aerial objects.

[0136] The increased effectiveness of protection is also due to the fact that the analysis of the degree of threat to the protected object is carried out simultaneously for all targets registered by the specified systems for verification, followed by the selection of a remote-controlled module with its own firing sector and weapons to counter each intruder object.

[0137] In order to destroy an intruder aerial object heading towards a protected object, fire from weapons is carried out in the direction of the predicted position of the intruder aerial object from the closest remote-controlled module.

[0138] The increased effectiveness of combat use of weapons is ensured by the fact that projectiles with non-contact fuses, programmable upon firing, are used as a means of destruction.

[0139] Also, an additional result is the expansion of the range of used (integrated) weapons, for example, an artillery mount of 30 mm caliber or a machine gun of 12.7 or 7.62 mm caliber, while simultaneously ensuring their rapid replacement, due to the use of a modular design of the BV, ease of replacement, and increased maintainability.

[0140] The claimed stationary object protection system and method are illustrated by the drawings presented in Figs. 1-4.

[0141] Fig. 1 – General view of the complex for implementing the method (one of the options).

[0142] Fig. 2 – General view of the control post (CP).

[0143] Fig. 3 – General view of the remote-controlled module (RCM-N with OES-PK-N and RLS-N).

[0144] Fig. 4 – Structural design of the remote-controlled module (RCM-N)

[0145] The following designations are used in the drawings:

[0146] 1 – control post (CP);

[0147] 2 – automated commander’s workstation (ARM-K);

[0148] 3 – surveillance radar station (RLS-O);

[0149] 4 – integrated optical-electronic video surveillance system with all-round visibility (OES-K);

[0150] 5 – remote-controlled module (RCM);

[0151] 6 – remote-controlled module fire control system (ARM-N);

[0152] 7 – optical-electronic system of the sighting complex (OES-PK-N);

[0153] 8 – tracking radar station DUM-N(RLS-N);

[0154] 9 – remote radar station (RLS-D);

[0155] 10 – platform;

[0156] 11 – slewing bearing;

[0157] 12 – cap;

[0158] 13 – weapons block (WB);

[0159] 14 – ammunition (Ammo);

[0160] 15 – rotating contact device (RCD);

[0161] 16 – horizontal guidance drive (HG);

[0162] 17 – vertical guidance drive (VG);

[0163] 18 – initial velocity sensor of ammunition;

[0164] 19 – fuse installation equipment;

[0165] 20 – Automatic cannon with electric trigger;

[0166] 21 – mast;

[0167] 22 – communication line cable;

[0168] 23 – stationary guarded object;

[0169] 24 – “Defeat zone” of remote-controlled module N (ZP-N);

[0170] 25 – “Near field of view”;

[0171] 26 – “Long-range detection zone”;

[0172] 27 – “Security zone”;

[0173] 28 – "Forbidden Zone"

[0174] Description of drawings

[0175] The method of detecting, verifying, distributing, tracking and destroying air targets is carried out by means of a protection complex, the general appearance of which is shown in the drawing Fig. 1.

[0176] To protect and guard a stationary guarded object 23, remotely controlled modules 5 are installed around it in the required quantity.

[0177] Each DUM 5 (see drawing Fig. 4) is a platform 10, made, for example, in the form of a prefabricated welded metal structure with mounting places for securing magazines of the ammunition supply system - BK 14, electric drives VN 17 of the weapon block - BV 13 and electric drives GN 16 on a support and rotary device 11 with the possibility of securing on a foundation next to a stationary protected object 23

[0178] At the bottom of the DUM 5, the VKU 15 is secured with connectors for connecting power supply cables and communication line cables 22.

[0179] The protective cap 12, which covers the rotating platform of the DUM 5 from above, is made, for example, in the form of a welded metal structure, on the inside of which the ankles for fastening the trunnion assemblies for installing the mask of the swinging part on which the BV 13 is installed are fixed.

[0180] The swinging part of the BV 13 is made, for example, in the form of a welded metal mask, on which brackets for installing various types of BV weapons are attached with bolted connections, for example, a large-caliber machine gun or an automatic cannon with an electric trigger 20, for example, a small-caliber artillery mount with a caliber of 30 mm.

[0181] Special brackets are rigidly fixed to the swinging part of the BV 13 for mounting the initial velocity sensor of the ammunition 18, for example, a Doppler meter of the initial velocity of the ammunition fired from the barrel of an automatic cannon with an electric trigger 20, and the equipment for setting the fuse 19, designed for programming the detonation time of the ammunition fired from the barrel of an automatic cannon with an electric trigger 20.

[0182] Power supply is provided through the contacts and connectors of VKU 15, and signals from the digital control system ARM-K 2 and the fire control system of the remote-controlled module - ARM-N 6 are transmitted through the cables of the communication line 22 located in PU 1;

[0183] All devices, electric drives GN16 and VN 18, position angle sensors BV 13 and platform 10, sensors of initial velocity of ammunition 18, contactors, units of equipment for installing the fuse 19, are connected by cable routes to each other and to the contacts of VKU 15. Cables of communication line 22 and power supply are connected to the connectors on the outside of VKU 15.

[0184] For control and guidance of the DUM-N 5 at the target, an optical-electronic system of the sighting complex - OES-PK-N 7 with electric drives, connected to the ARM-N 6 of each DUM-N 5 module and to the ARM-K 2 in PU 1, and a tracking radar station - RLS-N 8 with electric drives, also connected to the ARM-N 6 of each DUM-N 5 module and to the ARM-K 2 in PU 1 by cables of the communication line 22 are installed on mast 21.

[0185] Mast 21, on which the OES-PK-N 7 and RLS-N 8 are installed, is made, for example, welded from a metal profile and secured with anchor bolted connections on the same foundation with the DUM-N 5. Mast 21 is installed behind the DUM-N 5 along the line to the center of the protected stationary protected object 23.

[0186] All OES-PK-N 7, RLS-N 8 of each DUM-N 5 module are connected by cable routes of the communication line 22 with ARM-N 6 and ARM-K 2 in PU 1.

[0187] In the center or at the edge of the stationary protected object 23, a control post PU 1 is installed, for example, in a container in which the software and hardware complex of the fire alarm system with ARM-K 2 and ARM-N 6 of all DUM 5 is located.

[0188] Next to the PU 1 container, for example, on mast 21, a RLS-O 3 surveillance radar station with remote-controlled electric drives is installed.

[0189] The control system of the complex for protecting stationary objects from unmanned aerial vehicles provides the ability to receive target designations from the control systems of the regional air defense system (AD), while the control systems of the complex may include, for example, a remote radar station RLS-D 9 and an integrated optical-electronic video surveillance system of circular review OES-K 4, which, with the help of the primary analysis subsystem, determines the class of aircraft that the target belongs to, taking into account the n-dimensionality of the aircraft, determines: m-dimensional coordinates, and binds the m-dimensional coordinates to the positioning system used in the "Security Zone" 27.

[0190] If there is a remote radar station RLS-D 9 in the security zone of the protected facility, a “Long-range detection zone” 26 is formed taking into account the operating range of RLS-D 9, RLS-O 3 and RLS-N 8.

[0191] Remote radar station - RLS-D 9, and integrated optical-electronic video surveillance system OES-K 4 with remote control electric drives, can be installed on a mast outside the security zone of the complex with stationary protected objects 23, with the possibility of connecting via a cable communication line 22 to ARM-K 2 in PU 1.

[0192] Each N-8 radar is designed to track and determine the trajectory of the target in the “Near Tracking Zone” 25. OES-PK-N 7 together with the N-8 radar is designed to determine the coordinates of the target on its trajectory and track the target in the “Near Tracking Zone” 25 and the “Destruction Zone” 24 for the use of weapons.

[0193] RLS-O 3 is designed to detect targets and verify (check targets for “falseness”) of targets, together with the Radar-N 8 in a controlled “Security Zone”. 27

[0194] PU 1 with ARM-K 2 is designed to process data received from the RLS-O 3, RLS-N 8, ARM-N 6, OES-K 4, OES-PK-N 7 and, together with ARM-N 6, control the electric drives GN 16 and VN 17 of each DUM-N 5, taking into account the sequence of their combat operation on targets and the accuracy of guidance. BV 13, for example, with an automatic cannon of 30 mm caliber with an electric trigger 20, is designed to hit the target after guiding BV 13 to the predicted point of meeting the target with a given accuracy,

[0195] All objects of each DUM-N 5 (RLS-N 8, ARM-N 6, OES-PK-N 7) and complex (PU 1, RLS-O 3) are installed in the zone with a stationary protected object 23 to form a “Security Zone” 27 taking into account the firing range of the BV 13 DUM-N 5.

[0196] In the presence of a remote D-9 radar, a “Long-range detection zone” 26 is formed taking into account the operating range of the O-3 radar and the N-8 radar. Due to the presence of a firing sector for each DUM-N 5, a “Near tracking zone” 25, a “Defeat zone” 24 and a “Restricted zone” 28 are formed. The “Restricted zone” 28 is formed from the sectors in which the nearby DUM-N 5 or other means of the protection system are located.

[0197] All objects of the complex for the protection of stationary objects are connected by cables of communication line 22 for information exchange and power supply, for example, from a stationary power supply source of the protected stationary objects or from a mobile power supply center.

[0198] Implementation of the invention

[0199] The method of detection, verification, distribution, tracking and destruction of air targets is implemented in a complex for the protection of stationary objects from attacks from the air by UAVs and consists of the following:

[0200] – a single coordinate system for the entire stationary object protection complex (SCC) is determined, as well as the connection with it of the local coordinate systems (LCS) of all DUM-N 5, RLS-N 8, OES-PK-N 7, which is ensured by the complex adjustment operation;

[0201] – detection of targets, for example, UAVs, is carried out using the RLS-O 3 and RLS-D 9, if available, in the “Far Detection Zone” 26 and in the controlled “Security Zone” 27;

[0202] – when an air target appears in the “Security Zone” 27 and is detected by the surveillance radar RLS-O 3, the coordinates of the air target and its speed in the SCC are determined, the class of aircraft the target belongs to is determined using the primary analysis subsystem, verification is carried out, for which the radar stations RLS-O 3 and RLS-N 8 are used,

[0203] – after verification of the automated workstation – K 2 of the control post PU 1 determines the time of approach of this target (j) T Nj to the “Defeat Zone” 24 ZP-N 24 of each DUM-N 5;

[0204] – if the target does not pass through the ZP-N 24 of any DUM-N 5 module, this time is conventionally determined by the maximum T макс , while all target approach times are entered into the ARM-K 2 table;

[0205] – after determining the arrival time T Nj for all DUM-N 5 modules, these times are entered into the ARM-K 2 table, in which each row corresponds to a target with the number “j”, and each column corresponds to a module with the number “N”;

[0206] – initially all elements of the matrix table are equal to T макс , but all times in the table are current, i.e. adjusted in accordance with the passage of time;

[0207] – after confirming the validity of the target, ARM-K 2 of the control post PU 1 determines the time of approach of this target (j) T Nj to the “Defeat Zone” 24 of each DUM-N 5;

[0208] – for the DUM-N 5 module, which has a minimum flight time T for this purpose Nj, the mode is checked, and if it is in the “Standby” mode, that is, it is not yet involved in tracking another target, the target is transferred to it for tracking;

[0209] – the DUM-N 5 module and, accordingly, the RLS-N 8 and ARM-N 6, switch to the “Tracking” state of the “Combat” mode, and ARM-N 6 calculates the target trajectory based on the data from the RLS-N 8 and OES-PK-N 7 and transmits the coordinates of the meeting point with the target to the DUM-N 5,

[0210] – after the target hits the ZP-N 24, in which it is possible to hit this target with a shot, for example, from an automatic gun with an electric trigger 20, the DUM-N 5 goes into the “Defeat” state and, according to the data from ARM-N 6, aims the barrel at the meeting point, its ARM-N 6 checks whether the barrel hits the “tolerance” zone and, if the result is positive, reports to ARM-K 2 about the readiness to hit the target;

[0211] – when the barrel is in the “tolerance” zone, a shot is fired on command ARM-K 2, for example, from an automatic cannon with an electric trigger 20 BV 13 DUM-N 5;

[0212] – after firing a shot, the non-contact initial velocity sensor of the ammunition 18 measures the initial velocity of the ammunition, calculates the value of the optimal time for detonating the ammunition and enters the information into the programmable fuse using the fuse installation equipment 19;

[0213] – if the ARM-N 6 misses, it adjusts the firing settings taking into account the initial velocity of the projectile and the miss, after which the DUM-N 5 continues tracking, and if its ARM-N 6 determines that the target has entered the “tolerance” zone, it is ready to fire the next shot,

[0214] – in the event of a target being hit, which is determined either automatically (by the target disappearing (“disappearing” in the “Tracking Zone” of the RLS-N 8 and RLS-O 3) or by the operator of the ARM-K 2 in PU 1, the DUM-N 5 and OES-PK-N 7 switch to the “Waiting” mode and are ready, upon instruction from PU 1, to track the next target;

[0215] – if the DUM-N 5 selected for tracking is in the “Combat” mode, another of the remaining DUM-N 5 modules with the minimum flight time of this target is determined, and the DUM-N 5 module that meets this condition is checked to see if it is in the “Standby” mode, after which it switches to the “Tracking” state of the “Combat” mode and the target is transferred to it for tracking;

[0216] – if none of the DUM-N 5 modules can track this target (it is in the “Combat” mode or the target’s trajectory does not pass through its “Defeat Zone” 24), the priority of this target is checked in relation to the targets already tracked;

[0217] – if the time it takes for a given target to reach “Defeat Zone” 24 is greater than the time it takes for all targets already previously tracked by any of the DUM-N 5 modules, ARM-K 2 places this target in the “queue” (until some other targets are either hit or leave “Defeat Zone” 24);

[0218] – if the time of flight of a given target to the “Defeat Zone” 24 of any module of the DUM-N 5 is less than the time of flight of other targets already taken by it earlier for tracking by this DUM-N 5, it is checked whether the target taken earlier for tracking has reached the “Near Tracking Zone” 25, and if it has reached it, then the new target is put “in the queue” in ARM-K 2, and if it has not reached it, then the new target is taken by this module of the DUM-N 5 for tracking, and the “old” one is put “in the queue” in ARM-K 2,

[0219] – “Near tracking zone” 25 is “separated” from “Defeat zone” 24 by a distance that the target can travel during the time it takes to construct the target’s flight trajectory, which is determined by the complex’s fire control system;

[0220] – if all targets are being tracked and there are DUM-N 5 modules in the “Waiting” mode (there are fewer targets than modules), ARM-K 2 checks them for the possibility of tracking and hitting targets that are already being tracked (whether these targets pass through their kill zones) and, if the check results are positive, the highest-priority target is transferred for tracking to the “free” DUM-N 5 module, but measurements to determine the trajectory of a given target are determined by all modules participating in tracking a given target, based on this, the calculation of the target trajectory (to improve the accuracy of the calculated trajectory) is carried out by ARM-K 2 based on the measurement data of all RLS-N 8 and OES-PK-N 7 radars participating in determining the trajectory;

[0221] – when all detected targets are distributed (transferred for tracking or queued in ARM-K 2), RLS-O 3 moves on to detecting the next target.

[0222] The prototype of the remote-controlled mechanical module, manufactured at JSC Central Research Institute Burevestnik, was tested with the installation of a 2A42 automatic cannon and connection via the VKU to the cable power supply network and to the communication line.

[0223] A sighting system mounted on a mast, equipped with a radar and an optical-electronic sight, is connected to the cable communication line.

[0224] Additionally, a control post is connected to the cable communication line, which houses the software and hardware complex of the digital control system with a remote control panel and an additional surveillance radar station with remote control electric drives, which made it possible to implement remote control of the vertical and horizontal guidance drives of the weapon unit of the mechanical module when detecting and tracking air targets in a narrow guidance sector, to measure the speed of the ammunition after firing and to enter information about the detonation time of the projectile.

Claims

1. A system for protecting stationary objects from unmanned aerial vehicles, comprising: – a control post (CP), for example, in the form of a container in which the automated commander’s workstation (ARM-K) and the fire control system of the remotely controlled modules N (ARM-N) are located; - a surveillance radar station (RLS-O) with remote-controlled electric drives for forming a “Detection Zone” around a “Security Zone” with protected objects, connected via a communication line to the ARM-K in the control center; – remotely controlled modules (RCM-N) in quantities from 1 to N, each of which consists of: a platform located on a rotary support device, for example, closed on top by a cap, inside which is a swinging part with a weapons unit (WU) with the ability to install various types and kinds of weapons, for example, a large-caliber machine gun or a small-caliber artillery mount with a caliber of 30 mm, magazines for the ammunition supply and storage system (BK), electrical equipment, a rotating contact device (VKU), horizontal (GN) and vertical guidance (VN) drives; – a fire control system (FCS) of the protection complex, consisting of a software and hardware complex, including ARM-K and ARM-N with software, connected by a communication line with the RLS-O, RLS-N, OES-N and DUM-N with their sensors; - a sensor of the initial velocity of the ammunition, installed on the swinging part with the BV, for example a Doppler meter of the initial velocity of the ammunition fired from the barrel of the weapon, and equipment for setting the fuse, designed to program the detonation time of the ammunition fired from the barrel of the weapon; - an optical-electronic system of the sighting complex (OES-PK-N) with electric drives, a tracking radar station (RLS-N) with electric drives, each of which is installed, for example, on a mast welded from a metal profile and secured with anchor bolted connections to the foundation, and connected by a communication line to the corresponding ARM-N of the DUM-N module and to the ARM-K in the PU, while: each radar-N is designed with the ability to track and determine the trajectory of the target in the tracking zone determined by the radar-N operating zone, as well as in the engagement zone of the DUM-N weapons; The optical-electronic system of the targeting complex of each OES-PK-N module, together with the radar-N, is designed with the ability to track and determine the coordinates of a target in the tracking zone, as well as in the destruction zone, the RLS-O surveillance radar station is designed with the ability to detect targets and conduct target verification together with the RLS-N in a controlled area, the control post of the PU with the ARM-K is designed with the ability to process data received from the RLS-O, RLS-N, ARM-N, OES-PK-N, for the optimal distribution of targets between the DUM-N and the corresponding RLS-N, OES-PK-N and the selection of the sequence of target destruction; The BV is designed with the ability to hit a target after the BV is directed to the predicted point of meeting the target with a given accuracy, all components of each DUM-N, including the RLS-N, ARM-N, OES-PK-N and the complex, including the PU, RLS-O, are installed in the area of ​​the zone with protected stationary objects to form a security zone taking into account the firing range of the DUM-N combat weapons, All components of the complex for protecting stationary objects are connected by a cable communication line for information exchange and power supply cables, for example, from a stationary power supply source for the protected stationary objects or from a mobile power supply center.

2. A system for protecting stationary objects from UAVs according to paragraph 1, characterized in that The FCS, which is part of the stationary object protection system, provides the ability to receive target designations from the control systems of the regional air defense system with the ability to configure the FCS to control any type of weapon in the DUM-N combat unit, The complex's fire control system includes, for example, a remote radar station (RLS-D) and / or a comprehensive optical-electronic video surveillance system with a circular view (OES-K), which, using a primary analysis subsystem, determines the target's class of aircraft taking into account the n-dimensionality of the aircraft, determines m-dimensional coordinates, links the m-dimensional coordinates to the positioning system used in the security zone, and, if there is a remote radar station RLS-D in the security zone of the protected facility, forms a long-range detection zone taking into account the operating range of RLS-D, RLS-O, and RLSN.

3. A method for protecting stationary objects from unmanned aerial vehicles, carried out in a complex according to paragraph 1, consisting of the following: – define a single coordinate system for the entire stationary object protection complex (SCC) and the connection with it of the local coordinate systems (LCS) of all DUM-N, RLS-N, OES-PK-N, which is ensured by the adjustment operation of the complex; – carry out detection of targets, such as UAVs, using the RLS-O and RLS-D radars, if available, in the long-range detection zone and in the controlled detection zone; – when an aerial target appears and is detected in the “Security Zone”, the surveillance radar LS-O determines the coordinates of the aerial target, its speed in the SCC, using the primary analysis subsystem to determine the class of aircraft the target belongs to, verifies the target, for which the radar stations LS-O and LS-N are used, and determines the coordinates and speed of the target; – after verification of the target ARM-K, the control post PU determines the time of flight of this target (j) (TNj) to the “Defeat Zone” (ZP-N) of each DUM-N, in which it is possible to hit this target with a shot from the AU; – if the target does not pass through the ZP-N of any DUM-N module, this time is conventionally determined to be the maximum (Tmax), while all target approach times are entered into the ARM-K table; – after determining the approach time TNj of targets, these times for all DUM-N modules are entered into the ARM-K table, in which each row corresponds to the target with the number “j”, and each column corresponds to the module with the number “N”; – initially all elements of the matrix table are equal to Tmax, but all times in the table are current, i.e. they are adjusted in accordance with the passage of time; – the module (DUM-N), which has a minimum flight time TNj for this purpose, has its mode checked and, if it is in the “Standby” mode, that is, it is not yet participating in tracking another target, the target is transferred to it for tracking; – the DUM-N module and, accordingly, the RLS-N and ARM-N are switched to the “Tracking” state of the “Combat” mode, and by means of the ARM-N, the target trajectory is calculated based on the RLS-N and OES-PK-N data and the coordinates of the meeting point with the target are transmitted to the DUM-N; – after the target hits the ZP-N of the DUM-N, it goes into the “Defeat” state and, based on the ARM-N data, aims the barrel at the point of impact, its ARM-N checks whether the barrel hits the “tolerance” zone and, if the result is positive, reports to the ARM-K about its readiness to hit the target; – when the barrel is in the “tolerance” zone, a shot is fired on the ARM-K command, for example, the AU BV DUM-N; – after the shot is fired, the initial velocity of the ammunition is measured using a contactless speed sensor, the optimal time for detonating the ammunition is calculated, and the information is entered into the programmable fuse using the fuse setting equipment; – if the ARM-N misses, the firing settings are adjusted taking into account the initial velocity of the projectile and the miss, after which the DUM-N continues tracking and, if its ARM-N determines that the target has entered the “tolerance” zone, it is ready to fire the next shot; – in the event of a target being hit, which is determined either automatically by the loss or disappearance of the target in the “Tracking Zone” of the radar-N and radar-O, or by the control unit operator, the DUM-N and OES-PK-N are switched to the “Waiting” mode to track the next target as directed by the control unit; - if the DUM-N selected for tracking is in the “Combat” mode, another of the remaining DUM modules with the minimum flight time for this target is determined and the DUM module that meets this condition is checked to see if it is in the “Standby” mode, after which it is transferred to the “Tracking” state of the “Combat” mode and the target is transferred to it for tracking; – if none of the DUM modules can take on this target for tracking, the priority of this target is checked in relation to the targets already taken on for tracking; – if the time it takes for a given target to reach the kill zone is longer than the time it takes for all targets already previously tracked by any of the DUM modules, ARM-K places this target in a queue until some other targets are either hit or leave the kill zone; – if the time of approach of a given target to the "Defeat Zone" (DZ-N) of any DUM-N module is less than the time of approach of other targets already taken by it for tracking by this DUM-N, it is checked whether the target taken earlier for tracking has reached the "Near Tracking Zone" (NTS), and if it has reached it, then the new target is queued in the ARM-K, and if it has not reached it, then the new target is taken by this DUM-N module for tracking, and the old one is queued in the ARM-K; the NTS is located from the "Defeat Zone" at a distance that the target can travel during the time of plotting the target's flight trajectory, which is determined by the FCS of the complex; – if all targets are being tracked and there are RMS modules in the “Standby” mode, the ARM-K checks them for the possibility of tracking and hitting targets already being tracked, namely whether these targets pass through their kill zones, and if the check results are positive, the highest-priority target is transferred for tracking to a free RMS module, while measurements to determine the trajectory of this target are determined by all modules participating in tracking this target, based on this, the calculation of the target trajectory is carried out by the ARM-K based on the measurement data of all radars-N and OES-RK-N participating in determining the trajectory; – when all detected targets have been distributed, the RLS-O is transferred to detecting the next target.

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