MULTIFUNCTIONAL METHOD OF SELF-HOMING WITH DISCRETE CORRECTIONS OF TRAJECTORY Russian patent published in 2017 - IPC F41G7/22 

FIELD: physics.

SUBSTANCE: multifunctional method of self-homing with discrete corrections of the trajectory of a moving object is characterized by the fact that the trajectory of the object is formed in the form of successive arc segments-semicycles, along which the object moves with a constant along the module but opposite on the sign of the current (maximum possible) angular velocity. Two semicycles are combined into a cycle that starts and ends with the coincidence of the vector of the linear velocity of the object and the line of the target sight, and the change in the sign of the angular velocity at the end of the initial semicycle (that is, in the middle of the cycle) is made after the parallelism of the lines connecting the instantaneous finding of the object and the target in the initial and current times, provided that the slope angles of the maximum sensitivity line of the locator and the vector of the linear velocity of the object relative to the inertial coordinate system are equal. In addition, for the implementation of the zero slip, the distance to the target is measured at the beginning and at the end of each cycle or the semicycle of the object trajectory, after which, at the current time, a corrective action is taken in the form of a regular turn with a smaller magnitude of the angular velocity.

EFFECT: constant average lead angle of the object trajectory in the event of immutability convergence conditions, the minimum kinematic slip, no impermissible overload on the object during the self-homing of approaching the target at the end portion at positions longer meet or more in pursuit of, ensuring guaranteed slip, when abnormality in positions convergence from above or below, bypass material obstructions during self-homing, convergence with a view to the corrected zero arc segment with the zero slip in the case of constant conditions of the self-homing process.

5 cl, 15 dwg