Scientific-Technical Review,Vol.LV,No.

1,2005 23

UDK: 623.4.081.2, 623.451.8: 004.388.3: 004.915

COSATI: 16-04

Choice and analysis of the command and launch unit optimal solution
for an anti-tank guided missile

Miodrag Kobilarev, PhD, (Eng.)1)

This paper describes the CLU working principles for an anti-tank guided missile which gunner can fire either from
his shoulder or tripod. The main functional parts and design of the CLU are described for the case when CCD cam-
eras are used as the sensors in a coordinator. The analysis and operational presentation of the CLU are made, as well
as the software main functions related to the missile launching sequence control, picture acquisition and processing,
flare pixel coordinates determination and the missile guidance and control. The CLU basic characteristics, the meth-
ods for their verification and the factors influencing them, are also defined.

Key words: anti-tank missile, guided missile, guide missile, coordinator, flare, CCD camera, software, structural
scheme.

Notation and symbols a, b - flare coordinates on the target

A/D - analog to digital converter α, β - sight angles of the lenses in vertical and
BRM - booster rocket motor horizontal direction
CCD - charge coupled device x - distance passed by the missile
CLU - command and launching unit xD - proper distance from CLU up to the target
Dn , n - gyroscope signal at every 45o of angular xvmin - distance passed by the missile from the
position moment when guidance starts
DSP - digital signal processor href - reference flight height
FPGA - field programmable gate arrays h, y - missile position metric coordinates in
ICG - impulsive command generator reference to the line of sight
IR - infrared mh , m y - number of the camera working pixels in
K - resultant command coefficient vertical and horizontal direction
K max , K min - maximum and minimum command nh , n y - pixel coordinates of the flare image at the
coefficients picture
LCD - liquid crystal display f - lens focus distance
LED - light emitted diode
LOK - picture acquisition and processing program η, ζ - command coefficients in the vertical and
LS - line of sight horizontal plane
LT - launching tube ∆ηk , ∆ζ k - command coefficients increments in the
NAL - narrow angle lens vertical and horizontal plane
OS - optical sight ηmin , ζ min - minimum command coefficients in the
PIC - program for the impulsive command vertical and horizontal plane
generation ηmax , ζ max - maximum command coefficients in the
PGC - program for guidance and control vertical and horizontal plane
PTL - pyrotechnic lock ηr - Earth gravity force compensation
SRM - sustainer rocket motor coefficient
SRAM - static random access memory ζr - Magnus force and momentum
START - program for the entry data readings compensation coefficient
TB - thermal battery ∆hk , ∆yk - linear errors of guidance in the vertical and
TBL - test before launching horizontal plane
TBL1,TBL2 - test before launching εh , ε y - angular errors of guidance in the vertical
TV - television and horizontal plane
TVC - thrust vector control δh , δ y - lens resolutions in the vertical and
U k1 , U k2 - impulsive command coefficients horizontal direction
eh0 , eh1 , eh2 , - digital recursive filter coefficients in
Vn - gyroscope vertical signal vertical plane
f h1 , f h2
WAL - wide angle lens

1)
Military Technical Institute (VTI), Ratka Resanovića 1, 11132 Belgrade
24 M.KOBILAREV: CHOICE AND ANALYSIS OF THE COMMAND AND LAUNCH UNIT OPTIMAL SOLUTION FOR AN ANTI-TANK GUIDED MISSILE

e y0 , e y1 , e y2 , - digital recursive filter coefficients in the Fig.2. Opto-electronical design of the OS solves the com-
f y1 , f y2 horizontal plane plex ergonomic problem of flexibility in order to compro-
mise the sniper and telescope types depending upon the
ϕ1 , ϕ2 - “ON” angles of the first and the second pair gunner's combat position during the firing.
of interceptors within TVC system The launching trigger has all of the necessary brakes and
ψ1, ψ 2 - “OFF” angles of the first and the second safeties in order to prevent any accidental firing. At the
pair of interceptors within TVC system same time, it serves as the support when the missile has to
be fired from the gunner's shoulder at various combat posi-
Introduction tions.
The CLU electronically structure comprises four cards of
C LU is an optoelecronical device intended for the second
generation anti-tank missiles launching and guidance to
the line of sight defined by the gunner while aiming the tar-
euro-format and mother board (MB-10). Those four cards
are:
– missile launching sequence control (LA-10),
get. The CLU, presented in this paper, has CCD cameras,
measures the rocket angular deviation from the LS, calcula- – CLU computer (AM-10),
tes the angular and linear deviations, generates command – impulsive command generator (GIK-10) and
signals proportional to the linear deviations and sends them – CLU DC power supply (DC-10).
to the missile which is to execute commands in order to ac-
hieve the desired flight corrections. OPTOELECTRONICAL COORDINATOR

CLU can see the missile as a bright spot at the CCD MECHANICAL PROTECTION

camera picture, which, in fact, represents the image of the HANDLE 2

flare at the missile bottom and radiating light energy to-

ELECTRONICAL GROUP

wards coordinator. In order to be protected against jam-

ming, coordinator and flare are working in time synchroni-
zation which is established during the launching preparation
phase. In odd half pictures of the CCD camera, the flare is
turned on, together with the interferences at the back-
ground. In even half-pictures, the flare is turned off and the
OPTICAL SIGHT

background with the interferences exists only. In a differ- COORDINATOR MOUNT

ence between odd and even half-picture, only the image of

flare remains distinguished at the background. The act of
CLU MOUNT WITH CONNECTOR

the flare image coordinates determination is reduced to the

bright spot center of gravity coordinates calculation, [1] . HANDLE 1 WITH TRIGGER MECHANISM

Then, the CLU generates command signals, in intensity

proportional to the missile linear deviation from the LS and
which satisfy phase and gain criteria of stability for the
closed-loop control system. Utilizing the communication
channel, CLU sends the command signals to the missile,
which, in the form of the commands, are executed by the
Figure 1. CLU general overview
TVC system and brings the missile to the LS, [ 2] , [3] .
Mechanical connection and locking of the CLU on to the
LT and electrical connection between CLU and LT and
Design and functional parts of CLU missile within LT, is achieved by utilizing the CLU mount
The CLU design is shown in Fig.1. The main functional and connector. All parts of the CLU design are integrated
parts of CLU are: with the CLU mount and ergonomically shaped. As a
– Optoelectronic coordinator with two CCD cameras, the whole, it represents the compact functional entirety which
first one with WAL and the second with NAL. is mechanically and environmentally protected during the
– Electronical group for the video signal processing and
handling and transporting.
the missile launching and flight control. LCD LCD OCULAR WITH RUBBER ABSORBER

– OS for the target acquisition, identification and tracking. HOUSING

– Trigger for the missile launching sequence initiation.

The CCD camera with WAL is tracking the missile from
the moment when it enters the lens field of view (about 1 m
from the LT front end) up to the moment when it reaches
the distance xvmin (about 50 m from the LT front end). On
the CLU command, the missile tracking is taken over by the LCD ELECTRONICAL GROUP

CCD camera with NAL from the distance xvmin up to the PROTECTION LCD MOUNT

target, [ 4] .
Figure 2. Optical sight
OS is of optoelectronical structure and consists of low-
illumination CCD camera with WAL, in optoelectronic co-
ordinator, and LCD with simple ocular equipped with a
rubber shock absorber for the gunner's eye focus distance
adaptation according to his diopter, in the OS housing,
 M.KOBILAREV: CHOICE AND ANALYSIS OF THE COMMAND AND LAUNCH UNIT OPTIMAL SOLUTION FOR AN ANTI-TANK GUIDED MISSILE 25

CLU computer
The main tasks of the CLU computer based on AM-10
card are:
1. FPGA circuit operation control in the sense of the pic-
ture parameters choice and selection (the number of
points in line, numbers of lines, etc.). It also starts and
stops the process of the video signal sampling.
2. CCD cameras video signal processing in order to calcu-
late, in real time, coordinates of the flare during the mis-
sile flight utilizing an anti-jamming algorithm for the co-
ordinator protection.
3. Calculation of the commands based upon the guidance
law, determined in advance, and sending them to the
GIK-10 card in the form of control words. The GIK-10
card generates the command signals to the missile at the
moment when missile is able to execute them. Figure 4. Video and control signals
4. Missile launching sequence control via LA-10 card.
The block diagram of the AM-10 card and connection While the CCD camera cells integrate an odd half-
with other cards within the CLU electronical structure is picture, A/D converter makes the digitalization of the pixels
shown in Fig.3 and it consists of four functional blocks: from previous even half-picture memorized within the cam-
digital processor (DSP TMS-320 F240), programmable era registers. As the result of A/D conversion, unsigned 8-
logical circuit FPGA for the video signal sampling process, bit numbers appear, which value is the digital equivalent of
block for CCD cameras video signal analogue processing the corresponding pixel illumination. The second automat
and finally, block for DC power supply (+12V and +5V), realized within FPGA circuit, takes all of the samples and
sets them in SRAM-A, 512 KB memory chip. For the time
[ 5] . of even half-picture duration, the flare is turned off. A/D
converter than makes again the pixel digitalization of the
previous odd half-picture which is memorized in camera
registers. From every single incoming odd half-picture
sample, with the flare on, the corresponding even half-
picture sample, with the flare off, is subtracted from
SRAM-A, and the difference between odd and even half-
picture is placed into the SRAM-B. For the time of the odd
half-pictures duration, DSP is reading the half-picture dif-
ference from SRAM-B and, utilizing a centroidal method,
calculates the coordinates of the center of gravity of bright
point (the flare), [1] .
The information distribution between the DSP and
FPGA circuits is made by 16-bit data bus and 16-bit adress
bus of DSP and command signals W/R and DS. The FGPA
is connected with memories SRAM-A and SRAM-B via
19-bit address buses RAA and RAB, 8-bit bus of the RDA
Figure 3. CLU computer structural scheme and RDB subsystems and via standardized command sig-
nals for working with memories RCSA, RWEA, ROEA,
The cameras selection is done by the command word RCSB, RWEB and ROEB.
(SiO) generated by DSP. The standardized composite video On the basis of the guidance law adopted, the DSP cal-
signals from CCD cameras (VIDEO 1 and VIDEO 2) are culates commands and in the form of command words
led to the synchronized impulses separation circuits sends them to the GIK-10 card, [ 6] , [ 7 ] , [8] . DSP also
(SEPARATOR 1 and SEPARATOR 2) and to the fast A/D
converter input. From incoming video signal, impulses for controls LA-10 card, which, in the other hand, controls the
vertical (VR) and horizontal (SN) synchronization are se- sequence of the missile launching, [ 4] .
perated and signal (OE) is generated, due to which is possi-
ble to recognize the odd from the even half-picture, Fig.4.
The camera synchronization impulses determine the work- CLU software
ing rhythm of the entire system. A software shown in Fig.5, is supporting three CLU
The video signal digitalization is done by the fast video working modes: combat, testing, training, the first one be-
A/D converter, which is controlled by automat in FPGA ing analyzed here in details.
circuit (on the base of OE, VR and SN impulses), using the
command signals SCLK, SCLP and SiO. The result of the
A/D conversion is sent to the FPGA circuit using the SD
bus.
26 M.KOBILAREV: CHOICE AND ANALYSIS OF THE COMMAND AND LAUNCH UNIT OPTIMAL SOLUTION FOR AN ANTI-TANK GUIDED MISSILE

CLU turnning on or the

proccesor reset Missile
Vn + Dn,n Communication link
TBL1
Processor initiation (microcable)
and
selftesting U k1 U k2

Logical signal "the TVC system

NO processor is not
Processor is
ready" is emitted and
ready?
the work is stopped Vn
GYROSCOPE Dn,n

Working mode choice?

TESTING TRAINING
COMBAT

START
Figure 5. CLU software structural scheme
Input data reading
CLU software comprises the following parts:
NO 1. START, a program for incoming data reading from data
Flare synchornized
with coordinator?
library, such as: constants and time delays in the guid-
ance and control system, optical systems parameters,
digital recursive filter coefficients, etc.
Signal for the NO
missile launching 2. TBL, test before launching, consisting of two parts:
exists?
– TBL1 is the CLU functional test which prevents the mis-
sile launching sequence for the case when CLU is im-
TBL2 proper or the flare is not synchronized with the coordina-
tor, [ 4] .
NO
TB achieved its 2s passed from
operational mode? TB activation?

YES – TBL2 is the launching sequence control test, via LA-10

PTL is unlocked?
NO Missile launching card, which prevents the BRM ignition if the rocket TB
stops
did not achieve it's working mode or PTL on the LT was
not unlocked, [ 4] .
LOK 3. LOK, picture acquisition and processing program for the
Picture digitalization and flare pixel coordinates determination, [1] .
processing

4. PGC, program for guidance and control which has to ob-

Flare pixel coordinates
tain the following:
– the flare pixel coordinates transformation into the metric
coordinates of the rocket position relative to the LS,
nh , n y
PGC Fig.6, according to the following expressions:
Flare metric coordinates

h = nh x
in refference to the LS
(1)
h, y f
Flare deviation YES
greather than Coordinates filtering
∆hk , ∆yk
y = ny x
permitted?
η kr , ζ k
r
∆ η k , ∆ζ k (2)
+ f
ηk , ζ k
Condition for
switching from
YES
Appropriate signal – to calculate the command coefficients in the vertical and
WAL to NAL?
generation
horizontal planes, as the functions of the distance passed
by the missile, [9] , [10] :
Resultant command
coefficient calculating
⎧η r , x <xv min ⎫
η=⎨ ⎬ (3)
Calculation of the TVC first and ∆
⎩ k η + η r
, x >xv min ⎭
the second pair of interceptors
"ON" and "OFF" angles
ϕ1 ,ψ 1, ϕ 2 ,ψ 2
⎧ζ r , x <xv min ⎫
ζ =⎨ ⎬ (4)
∆
⎩ kζ + ζ r
, x >xv min ⎭
PIC
Vn
Condition for the
command signals
NO and the resultant command coefficient:
generation satisfied?
Dn,n
K = η2 +ζ 2 (5)
Bi-polar command signal
generated and sent
towards the missile where:
U k1 + U k2
 M.KOBILAREV: CHOICE AND ANALYSIS OF THE COMMAND AND LAUNCH UNIT OPTIMAL SOLUTION FOR AN ANTI-TANK GUIDED MISSILE 27

⎧0, K <0,5 K min ⎫ which the pixel coordinates of the flare image, measured
⎪ ⎪ with WAL and NAL, have the same value (proper dis-
⎪K , 0,5 K min ≤ K ≤ K min ⎪ tance X D ). The resolution depends upon the number of
⎪ min ⎪ CCD sensors pixels, number of points in the line and
K =⎨ ⎬ (6)
⎪K , K min ≤ K ≤ K max ⎪ number of lines of digitalized TV picture. Also, depends
⎪ ⎪ upon the view angles of lenses in vertical and horizontal
⎪ ⎪ direction, the OS cross-chair width, the video amplifier
⎩ K max , K >K max ⎭ band pass, the flare radiation intensivity and frequency,
If the guidance error exceeds the permitted value, than time of the CCD sensors exposition, the flare image
the command coefficients increments ∆ηk and ∆ζ k is to blooming on the CCD sensor, the lens geometrical dis-
tortion and, finally, upon the visibility conditions in the
be calculated due to the adopted law of guidance, in the
IR communication channel between flare and the CLU.
form of digital recursive filter according to the following:
For the coordinator linear resolution measurement, the
∆ηk = eh0 ∆hk + eh1 ∆hk −1 + eh2 ∆hk − 2 − f h1 ∆ηk −1 − f h2η k − 2 (7) target shown in Fig.7a is used and it is positioned at the
proper distance ( X D ) from the CLU. This target is used
∆ζ k = ey0 ∆yk + e y1 ∆yk −1 + ey2 ∆yk − 2 − f y1 ∆ζ k −1 − f y2 ζ k − 2 (8) for the resolution measurements both in vertical and
horizontal directions and is the same as the graph for the
where the linear guidance errors with respect to the SL are standard TV picture resolution testing, when it is illumi-
given by the expressions: nated from the back side.
Moving the flare to the positions of known coordinates
∆hk = x ⋅ ε h − href (9) on target (Fig.7b), one is searching which is the mini-
mum distance between two positions of the flare emitter
∆yk = x ⋅ ε y (10) in horizontal and vertical direction which can be recog-
nized by CLU on the basis of the pixel coordinates of the
and the angular guidance errors with respect to the picture flare image, for WAL and NAL.
center are:
ε h = ( 0,5 mh − nh ) δ h (11)

ε y = ( n y − 0,5 m y ) δ y (12)

– to calculate the “ON” angles (ϕ1 , ϕ 2 ) and the “OFF” an-

gles (ψ 1 ,ψ 2 ) for the both pairs of the TVC system inter-
ceptors in order to eliminate the guidance errors by im-
plementation of the command coefficients calculated as
shown above, [ 6] , [9] , [10] .
Figure 7. Targets for CLU characteristics testing
5. PIC, a program which generates impulsive command a) resolution; b) linearity; c) frequency response
signals ( U k1 and U k2 ) by GIK-10 card and sends them
2. The CLU coordinator linearity is the linear deviation of
to the TVC system (via communication channel) only
the flare image pixel coordinates with respect to the
when they could be executed, depending upon the mis-
CCD sensor (picture) center, as the function of flare po-
sile angular position.
sition in the view fields of WAL and NAL, at the proper
distance from CLU. It is dependent on the same influen-
tial factors as the coordinator linear resolution is. For the
coordinator linearity measurements, the target from
Fig.7b is used, at the proper distance from the CLU. The
OS cross-chair has to be positioned at the flare center,
whose position is at the target center, and the flare image
pixel coordinates, on the CCD sensor, have the zero val-
ues. Than, CLU must be fixed and WAL and NAL are
measuring the image pixel coordinates, at the moments
when the flare is turned on at the positions of the known
Figure 6. Flare and it image position on the CCD sensor in vertical plane coordinates on the target, for all of the four quadrants of
the CLU coordinate system.
3. The CLU coordinator “zero” error is expressed as an er-
CLU characteristics ror signal at the coordinator input even when the flare,
The main CLU characteristics which are identified by simulating a target, is situated at the cross-chair center.
the calibration during testing mode of it operation are: This error is generated when the WAL, NAL and OS op-
tical axes are not parallel, due to the CLU mechanical
1. The CLU coordinator linear resolution is the minimal
deformations during the long period of exploitation, dis-
disposition of IR radiation source (flare) which causes
placement of the optical axes of lenses, lenses dilatation,
the change in the flare image pixel coordinates value at
nonverticallity of the lenses axes on to the appropriate
the minimum distance between the emitter and CLU at
CCD sensor plane, etc. This error is eliminated either in
28 M.KOBILAREV: CHOICE AND ANALYSIS OF THE COMMAND AND LAUNCH UNIT OPTIMAL SOLUTION FOR AN ANTI-TANK GUIDED MISSILE

“hardware” way by removing the mechanical deforma- 8. The CLU minimal command threshold is the flare angu-
tions, or in “software” way by correction of the coordi- lar position minimum change, in reference to the LS,
nates measured during the missile flight for the “zero” which causes the minimum intensity command signal
error value, which has to be memorized as a CLU input (Kmin) at the CLU exit. The flare angular position mini-
parameter. mum change is measured utilizing the target in Fig. 7c,
The “zero” error is determined by measuring the flare placed at the proper distance from the CLU and is calcu-
image pixel coordinates deviation from zero position on lated in accordance with expressions (13) and (14). The
the WAL and NAL CCD sensors, when the OS cross- OS cross-chair is positioned at the target center. Then,
chair is settled at the flare center on the target, at the the flare minimal distance from LS has to be found in
proper distance from CLU. vertical and horizontal directions, at which, the minimal
4. The CLU coordinator sensitivity is defined as the flare command signal is generated. The minimal command
minimal necessary radiation intensity which, in depend- threshold is depending on the CLU coordinator
ence on the missile maximum range, does not cause deg- resolution, the TVC system response rate and efficiency,
radation in the CLU coordinator linearity and resolution, the missile mass, the missile guidance “tunnel” diameter,
nor the change in the pulse width modulated command etc.
impulses. Sensibility depends upon the WAL and NAL 9. The CLU exit characteristics are:
pupil diameter and optical efficiency, the band pass and – The TB and the gyroscope igniting impulse voltage and
transitivity of IR filter in front of CCD sensors, time of width, generated by the pressing of the CLU triggering
exposure and the CCD sensors frequency response and button.
sensitivity. – The PTL igniting impulse voltage and width, if CLU re-
For the CLU coordinator sensitivity measurement, it is ceived the information that TB achieved it operational
necessary to identify the minimum of the flare radiation regime.
power which does not cause the degradation of charac-
– The BRM igniting impulse voltage and width, if CLU
teristics mentioned, at the maximum distance from the
received the information that PTL is unlocked and the
CLU to the target in Fig.7b.
BRM ignition circuit switch is closed.
5. The CLU coordinator spectral response or the CLU co-
– Impulses voltage, width and frequency, for the CCD
ordinator band pass is the spectral range of input radia-
camera synchronization with the flare.
tion at the CLU lenses which is enough for CCD sensors
to generate response signals greater than proposed sig- – Pulse modulated command impulses of constant voltage,
nal/noise ratio, expressed in dB. The input radiation with variable duration (from Kmin to Kmax) and the po-
spectrum of the flare, near to the IR spectrum, has to be sition depending upon the missile angular position dur-
harmonized with the WAL and NAL CCD sensors spec- ing it every single rotation.
tral responses. For the CLU coordinator spectral re- 10.The CLU input characteristics are:
sponse measurements, a collimator and the set of instru- – The CLU working voltage, obtained from the lithium
ments and optical accessories are exploited, according battery by activation of the switch on the CLU trigger.
to the rules and methods specially defined. – The flare radiation energy in IR spectrum, of certain fre-
6. Sighting angles of the CLU lenses are the optical charac- quency which, via WAL and NAL, is transmitted to the
teristics of WAL, NAL and OS and are defined as the CCD sensors of corresponding spectral responses.
sighting field of certain dimension in function of the dis-
tance from input aperture of corresponding lens. For the
sighting angles measurement, the target shown in Fig. 7b Conculusion
could be used, located at the proper distance from the The CLU main functional parts are: optoelectronical co-
CLU. The sighting lens cross-chair has to be settled at ordinator, electronical block, OS, and trigger. The OS is of
the target center and the flare has to be moved to the po- optoelectronical structure. The electronical block consists
sitions of the sighting lens view limits, both in vertical of few euro-formatted cards: LA-10, AM-10, GIK-10, DC-
and horizontal directions. The CLU lenses sighting an- 10 and mother board MB-10. The primary function of the
gles are calculated according to the following expres- computer based on AM-10 card is the CCD cameras signals
sion: processing in order to calculate the flare coordinates in real
time, during the missile flight with the coordinator anti-
α = tan −1 2a (13) jamming algorithm implementation.
xD
The calculator is realized through the digital processor
DSP TMS-320 F240. The video signals digitalization is
β = tan −1 2b (14) achieved by the fast video A/D converter, controlled by the
xD automat in the FPGA circuit.
The software supports three of the CLU operation mo-
7. The CLU frequency response is defined as the maximum des: combat, testing and training. In the combat mode, the
allowed rate of the flare angular position displacement CLU software consists of the following programs: for the
(rad/s) at which amplitude and phase errors of the width processor starting and self-testing, for the input data file
modulated command impulses stay within missile closed (START) reading, for the launching sequence control
loop guidance stability margin. Besides the other factors, (TPL), for the picture acquisition and processing (LOK),
it is dependant upon the CLU coordinator operation rate for the missile guidance and control (PGC), for the impulse
(T=20ms). For the CLU frequency response measure- command signals generation and sending them to the mis-
ments, the target from the Fig.7c is used, placed at the sile by the communication link (PIC).
proper distance from CLU, where the flare angular ve- The CLU basic characteristics are: the coordinator linear
locity of rotation can be changed on purpose. resolution, linearity, “zero” error, sensitivity, spectral re-
 M.KOBILAREV: CHOICE AND ANALYSIS OF THE COMMAND AND LAUNCH UNIT OPTIMAL SOLUTION FOR AN ANTI-TANK GUIDED MISSILE 29

sponse, as well as the lenses sighting angles, frequency re- [5] VUKOSAVIĆ,S. sa sardnicima: Primopredajna dokumentacija loka-
tora AM-10, int.dok., VTI-03-03-0173, Beograd, 2002.
sponse, the minimal command threshold, incoming and exit
characteristics of the CLU. [6] KOBILAREV,M., LAZIĆ,R.: Prilog upravljanju protivoklopnim
raketama, Naučnotehnički pregled, 1998, Vol. 48, No.1, pp.17-23.
[7] KOBILAREV,M.: Realizacija i ispitivanje generatora impulsne ko-
References mande protivoklopne rakete, Naučnotehnički pregled, 2000, Vol. 50,
No.4-5, pp.112-117.
[1] KOBILAREV,M., LAZIĆ,R., NIKITOVIĆ,B.: Prikaz algoritma za [8] KOBILAREV,M.: Analiza signala vođenja i upravljanja pri letnim
određivanje položaja trasera i zaštitu lokatora od ometanja, Nauč- ispitivanjima protivoklopne rakete, Naučnotehnički pregled, 2001,
notehnički pregled, 1995, Vol.45, No.1-2, pp.50-56. Vol.51, No.4, pp.5-8.
[2] KOBILAREV,M., BJELOGRLIĆ,Z.: Identifikacija parametara [9] ĆURČIN,M., GAĆEŠA,M.: Projektni zahtevi za procesorsku ploču
snažnog sistema za upravljanje vektorom potiska protivoklopne vođenja AM-20, int.dok. VTI-03-01-0739, Beograd, 2003.
rakete, Naučnotehnički pregled, 1999, Vol.49, No.4, pp.3-7.
[10] PAVKOVIĆ,B.: Sinteza zakona vođenja i analiza performansi POVR
[3] KOBILAREV,M.: Dinamička analiza snažnog sistema za MD „BUMBAR“ – faza PK-2, int.dok. VTI-03-01-0738, Beograd,
upravljanje vektorom potiska protivoklopne rakete, Naučnotehnički 2004.
pregled, 2000, Vol.50, No.6, pp.5-11.
[4] KOBILAREV,M.: Analysis and choice of the launching process op- Received: 01.02.2005.
timal sequence for an anti-tank guided missile, Scientific Technical
Review, 2003, Vol.53, No.2, pp.13-18.

Izbor i analiza optimalnog rešenja uređaja za vođenje i lansiranje

protivoklopne rakete

Prikazan je princip rada UVL protivoklopne vođene rakete koju strelac može da lansira sa ramena ili postolja. Opi-
sane su osnovne funkcionalne celine i konstrukcija UVL, koji koristi CCD kamere kao senzore u koordinatoru. Izvr-
šen je prikaz i analiza rada računara UVL i osnovne funkcije softvera koje se odnose na: kontrolu sekvence lansira-
nja rakete, akviziciju i obradu slike u cilju određivanja pikselskih koordinata trasera, vođenje i upravljanje raketom.
Definisane su osnovne karakteristike UVL, metode za njihovu verifikaciju i faktori koji na njih utiču.

Ključne reči: protivoklopna raketa, vođena raketa, vođenje rakete, koordinator, traser, CCD kamera, softer, blok šema

Le choix et l’analyse de la solution optimale pour le guidage et le

lancement d’un missile antichar
On a présenté le principe du fonctionnement de UVL d’un missile antichar guidé que le tireur peut lancer de son épaule
où à partir d’un support. On a également décrit les foncti-ons principales de l’ensamble et la construction UVL qui utilise
les caméras CCD comme senseurs dans le coordinateur. On a fait une analyse du fonctionnement de l’ordinateur UVL et
des principales fonctions telles que: controle de séquence du lancement de missile, acquisition et traitement de l’image
dans le but de déterminer les coordonées pixel de traceur, guidage et direction du missile. Les principales caractéristiques
de UVL ont été définies ainsi que les méthodes de leur vérification et les facteurs y influents.

Mots clés: missile antichar, missile guidé, guidage de missile, coordinateur, traceur,CCD caméra, logiciel, blocschéma,
bloc-diagramme

Vwbor i analiz optimalxnogo re{eni} ustrojstva dl}

navedeni} i zapuska protivobronirovannoj raketw
V nasto}Èej rabote pokazan princip rabotw puskovoj ustanovki protivobronirovannoj upravl}emoj raketw, kotoruy
strelok mo`et zapuskatx so ple~a ili so kron{tejna. Zdesx opisanw osnovnwe funkcionalxnwe celostnosti i konstruk-
ci} puskovoj ustanovki, kotora} polxzuets} CCD kamera v roli ~uvstvitelxnogo &lementa v soglasuy|em ustrojstve.
To`e sdelanw demonstraci} i analiz rabotw vw~islitel} puskovoj ustanovki i osnovnwe funkcii programmnogo obes-
pe~eni}, kotorwe otnos}ts} k kontroly posledovatelxnosti zapuska raketw, k vosproizvedeniy i obrabotke izobra`eni}
s celxy opredeleni} koordinat sled}|ego ustrojstva, i k navedeniy i upravleniy raketoj. Zdesx uto~nenw osnovnwe ha-
rakteristiki puskovoj ustanovki, metodw dl} ih udostvoreni} i faktorw kotorwe na nih vli}yt.

Kly~evwe slova: protivobronirovanna} raketa, upravl}ema} raketa, navedenie raketw, koordinator, sled}|ee ustrojs-
tvo, CCD kamera, programmnoe obespe~enie, blok-shema