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Study on fuze-guidance integration technology for improving air target
striking capability of fortification storming/heat missiles
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The 2020 Spring International Conference on Defence Technology
Journal of Physics: Conference Series 1507 (2020) 032021
IOP Publishing
doi:10.1088/1742-6596/1507/3/032021
1
Study on fuze-guidance integration technology for improving
air target striking capability of fortification storming/heat
missiles
J M Zhao1,2,G H Hu2,X G Li1,J He1,Y Chen2and S Ch Chen2
1Northwestern Polytechnical University, Shaanxi, Xi' an 710072, China
2No. 203 Research Institute of China Ordnance Industries, Shaanxi, Xi' an 710065,
China
Email:419598092@qq.com
Abstract. In order to realize air-ground integration strike capability of the fortification
storming/HEAT missiles, with the study background of addition of a laser proximity fuze to
the missile, this paper proposes a fuze-guidance integration design method based on
combination of image guidance and laser proximity fuze detection. By utilizing the missile-
target encounter images, the gimbal angle of the seeker, the velocity and attitude of the missile,
as well as the bearing and distance of the target detected by the laser proximity fuze, our design
method establishes the space geometric equations of the relative motion of the missile and
target, and of the equivalent conical plane of the dispersion center of the warhead fragments in
the coordinate system of the missile body. Meanwhile, by solving the equations, a fully
formulaic optimal time delay model of fuze-warhead matching is obtained, and the optimal
detonation time of the warhead is given. The results show that this integration design method
can effectively improve the damage effect of the missile on the helicopter target under complex
encountering conditions, and realize the integrated air-to-ground strike capability of the
fortification storming/HEAT missile.
1. Introduction
In order to meet the multi-functional and multi-mission operational requirements for weapon
equipment put forwarded by new military revolution, it is an important research direction to improve
the missile’s air-ground integration strike capability. The image-guided fortification storming/HEAT
missile is mainly used to strike tanks, armored vehicles and reinforced fortifications. Mid-course
inertial guidance and terminal image-homing guidance are used. The warhead is multifunctional,
including fortification storming/HEAT/killing modes, which is composed of the main stage and the
follow-up killing stage. See figure 1 for the structure schematic. The two-stage warhead is equipped
with tungsten blocks and safety detonation device, which receive the detonation information
respectively and detonate independently. When striking a tank or an armored vehicle, the two-stage
warhead simultaneously detonates to form two clusters of fragments to fly away, assisting to kill the
instruments outside the tank or armored vehicle while the main warhead penetrates the armor. When
striking a fortification target, the follow-up killing projectile enters the fortification through the hole
penetrated by main warhead explosion, and detonates in a time delay, forming flying fragments to kill
the personnel and equipment inside.
The 2020 Spring International Conference on Defence Technology
Journal of Physics: Conference Series 1507 (2020) 032021
IOP Publishing
doi:10.1088/1742-6596/1507/3/032021
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Figure 1. Structure schematic of the multifunctional warhead.
The effective dispersion angle of the fragments of the main stage warhead and the follow-up
projectile are all about 4°~ 6°.The dispersion distribution density of single cluster of fragments at
the maximum miss distance is less than 5 pieces /m2, which can be used to strike armed helicopters.
The main problem is that the distribution density of single cluster of fragments is small and the
dispersion angle of single cluster of fragments is small, not effectively damaging the target. If the two
clusters of fragments can hit the same critical part of the target, then the problem of insufficient
fragment density can be solved, which puts forward higher requirements for the control accuracy of
ammunition initiation.
The fuze-guidance integration design is an effective method to improve ammunition initiation
control accuracy. In-depth and systematic research has been carried out in this field both at home and
abroad and has been applied practically, but mainly limited to the air defense missile field using the
radar homing guidance system. the United States patriot -3 (PAC-3), standard -6 (SM-6) and Russian
S-300V air defense missiles have adopted the fuze-guidance integration technology of the radar
homing guidance system [1-4]. At present, the research on the fuze-guidance integration guidance
technology of image-homing guidance systems is only limited to research on the fuze-warhead
matching technology of infrared homing air defense missiles [5-7].
Based on the research background of image-homing guided fortification storming/HEAT missiles,
taking the precondition of adding a laser proximity fuze to the missile, this paper puts forward the
design method for fuze-warhead matching of the fuze-guidance integration for air target striking of
fortification storming/HEAT missiles. The design idea is that, based on the seeker’s image in the
missile-target encounter phase, the seeker's missile-target line of sight angle, the missile speed, the
target position and distance detected by the laser proximity fuze and other information, the space
geometric equation of the equivalent conical plane of the fragmentation dispersion center of the
warhead is established in the coordinate system of the missile body. Meanwhile, by solving the
equations, a fully formulaic optimal delay time model of fuze-warhead matching is obtained, and the
optimal initiation timing is determined accurately and separate explosion of the two-stage warhead is
controlled, making the front-back clusters of fragments hit the same critical part of the target. By
comparing with the simulation results of the conventional fuze-warhead matching method, it is
verified that the method can effectively improve the initiation control accuracy and the fuze-warhead
matching efficiency, so as to realize the integrated air-ground strike capability of the fortification
storming/HEAT missiles.
2. Integration working principle of the fortification storming/HEAT missile
The integrated design of the fortification storming/HEAT missile is based on information integration.
In terms of hardware composition, the fuze and components of the guidance system exist
independently. This approach has the advantage of making minimal changes to the missile's hardware.
The fuze information processing unit comprehensively processes the information provided by the
The 2020 Spring International Conference on Defence Technology
Journal of Physics: Conference Series 1507 (2020) 032021
IOP Publishing
doi:10.1088/1742-6596/1507/3/032021
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guidance system and the fuze target detector, calculates the optimal delay time of the two-stage
warheads respectively, and outputs the detonation signal to detonate the warhead at the right time.
Figure 2 shows the composition and information flow relationship of the fuze-guidance integration
system of the fortification storming/HEAT missile, and figure 3 shows the working principle of the
system.
Figure 2. Composition and information flow
relationship of the fuze-guidance integration system
Figure 3. The working process of
GIF
After the missile turns into the image homing guidance phase, the seeker begins to determine
whether starting conditions of the laser proximity fuze are satisfied. When the target identified through
the image is an aircraft target and the target image pixels reach more than 30% of the image pixels of
the seeker detector, the seeker outputs the starting signal of the laser detection device and the arming
command, which is forwarded to the laser proximity fuse by the onboard computer. After the laser
proximity fuze receives the information, the laser proximity detection device turns on the target
detection function, and the safety detonating device is armed. The information processing unit begins
to query the target detection information. At this moment, the onboard computer begins to send the
guidance information to the information processing unit, including the missile-target relative velocity
vector information, the missile-target line-of-sight angle guidance information, etc. When the target
enters the laser detection beam and the laser proximity detection device confirms that it has detected
the target, according to the target detection information and guidance information, the information
processing unit solves the optimal fuze-warhead matching delay time, and safety detonation device
detonates the two-stage warheads in delay time to complete damage to the target.
3. Fuze-warhead matching model
3.1. Transformation matrix from missile body coordinate system to missile-target relative velocity
coordinate system
Because the missile adopts proportional guidance, and tilt stability control is employed during the
whole flight, the direction of missile-target line of sight is the relative velocity direction of the missile
during the missile-target encountering. According to the information of the seeker's pitching & yaw
ling-of-sight angles, the transformation matrix E from the missile body coordinate system [1] to the
relative velocity coordinate system [1] can be obtained
The 2020 Spring International Conference on Defence Technology
Journal of Physics: Conference Series 1507 (2020) 032021
IOP Publishing
doi:10.1088/1742-6596/1507/3/032021
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( ) ( )
z y
E M M
(1)
cos cos sin cos sin
sin cos cos sin sin
sin 0 cos
E
(2)
where
is the pitching gimbal angle of the seeker, and
is the yaw gimbal angle of the seeker.
3.2. Missile-target relative velocity
The target velocity can be obtained by real-time difference of the target position. The missile velocity
can be obtained from the inertial navigation unit. The relative velocity of the missile and the target is
calculated as follows:
2 2 2
( 1) ( )
( 1) ( ) ( 1) ( )
( ) ( ) ( )
y y
x x z z
r x x x
Rt i Rt i
Rt i Rt i Rt i Rt i
V Vm Vm Vm
T T T
(3)
where,
zyx RtRtRt ,,
are the X, Y and Z components of the real-time position of the target obtained by
the missile via a data link in the launch coordinate,
mi ,,3,2,1
,
, ,
x y z
V m Vm V m
are the X, Y and Z
components of the missile's flight velocity output by the inertial navigation unit in the launch
coordinate.
3.3. Miss distance and miss azimuth
The laser proximity fuze confirms the instant of target detection, and the target is located at point T. At
this time, the missile-target relative motion relationship at terminal phase of encounter is shown in
figure 4. The target position T in the missile body coordinate system
mmm zyox
is expressed as:
m 1
cos
sin cos
sin sin
x f f
my f f f
mz f f f
T R d
T R
T R
(4)
where
f
R
is target distance detected by the fuze,
f
is the central inclination of the beam detected by
the fuze,
f
is the target azimuth detected by the fuze,
1
d
is the distance between the fuze center and
the main-stage warhead center projected on the missile axis.
Figure 4. Missile-target relative motion relationship at the terminal phase of encounter.
At the encountering instant, the relative motion track of the target can be equivalent to a spatial
linear model, with the starting point being T and the direction being the target moving velocity
direction
r
V
relative to the missile. In the relative velocity coordinate system
rrr zyox
, the missile-
target relative motion track is a line parallel to the axis
r
ox
, and the coordinate of the starting point T
in the relative velocity coordinate system is:
The 2020 Spring International Conference on Defence Technology
Journal of Physics: Conference Series 1507 (2020) 032021
IOP Publishing
doi:10.1088/1742-6596/1507/3/032021
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r m
cos cos sin cos sin
sin cos cos sin sin
sin 0 cos
x x
ry my
rz mz
T T
T T
T T
(5)
The target's miss distance
relative to the missile in the relative velocity coordinate system is:
2 2
ry rz
T T
(6)
The target's miss azimuth relative to the missile
is:
tan rz
ry
T
T
(7)
3.4. Warhead dispersion model
The warhead dispersion model is established in the missile body coordinate system, and the origin of
coordinates is set at the center of the main-stage warhead. The fragment dispersion center of the
warhead tilts forward relative to the missile axis (the inclination angle of the fragment dispersion
center is less than 90 °), the fragments at the dispersion center of is equivalent to a conical plane
model with an included angle of
to the missile body axis
m
x
.The fragment dispersion center of the
follow-up projectile is perpendicular to the missile axis (the inclination angle of the fragment
dispersion center is 90 °), the fragments at the dispersion center are equivalent to a plane model
perpendicular to the missile body axis
m
x
.
Figure 5. The warhead dispersion model.
The equation for the dispersion conical plane of fragments of the main-stage warhead is:
2 2
2
2 2
tan tan
m m
m
y z x
(8)
where,
is the inclination angle of the fragment dispersion center.
The equation for the fragment dispersion plane of the follow-up projectile is
2m
x d
(9)
where
2
d
is the distance between the main-stage warhead center and the follow-up killing projectile
center projected on the missile axis.
3.5. Optimal fuze-warhead matching delay time model
The best time-delay criterion is that the fragment dispersion centers of two clusters of fragments
(direction of maximum fragmentation density) all hit the detection point T on the target detected by
the laser fuze. In order to facilitate modeling and equation solving, the solving model for optimal fuze-
warhead matching delay time is established in the relative velocity coordinate system.
The 2020 Spring International Conference on Defence Technology
Journal of Physics: Conference Series 1507 (2020) 032021
IOP Publishing
doi:10.1088/1742-6596/1507/3/032021
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Figure 6. Motion relationship between the target and fragments at optimal delay time.
According to the transformation matrix E from the missile body coordinate system to the relative
velocity coordinate system and equation (8) , the equation for the conical plane of fragment dispersion
of the main-stage warhead in the relative velocity coordinate system is
2 2
2 2
2
(sin cos ) ( sin cos sin sin cos )
tan tan
(cos cos cos sin sin )
r r r r r
r r r
x y x y z
x y z
(10)
According to the transformation matrix E from the missile body coordinate system to the relative
velocity coordinate system and equation (9) ,the equation for the fragment dispersion plane of the
follow-up killing projectile in the relative velocity coordinate system is
2 2
2
cos cos cos cos cos sin cos sin
sin sin 0
r r
r
x d y d
z d
（ ） （ ）
（ ）
(11)
The relative missile-target motion equation in the relative velocity coordinate system is
cos
sin
r rx r
r
r
x T V
y
z
(12)
According to equations and , the time for the point T on the target to reach the conical plane of the
main-stage warhead is:
2
1
4
2
rx
T
r r
T
b b ac
aV V
(13)
where
222222 coscostancossinsin a
)sincoscossintancoscossincostan
sincoscossincoscossinsincoscossin(2
222
2
b
22222222222
22222222222
sinsintancossincostancossinsincossintan2
sincoscossinsincossinsincossin2coscos
c
The time for the fragments of the main-stage warhead to reach the target point T is:
2 2
1
1
rx r T
f
e
T V
V
（ ）
(14)
where
e
V
is the average dispersion velocity of fragments.
The optimal fuze-warhead matching delay time of the main-stage warhead is:
1 1 1T f
(15)
According to equations (12) and (11), the time for the point T on the target to reach the fragment
dispersion plane of the follow-up killing projectile is:
The 2020 Spring International Conference on Defence Technology
Journal of Physics: Conference Series 1507 (2020) 032021
IOP Publishing
doi:10.1088/1742-6596/1507/3/032021
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2
2
cos sin cos sin sin
cos cos
rx
T
r r
d T
V V
(16)
The time for the fragments of the follow-up killing projectile to reach the target point T is:
2 2 2
2 2 2 2
2
( cos cos ) ( cos sin cos ) ( sin sin )
rx r T
f
e
T V d d d
V
(17)
The optimal fuze-warhead matching delay time of the follow-up killing projectile is:
2 2 2T f
(18)
4. Simulation verification
According to the fuze-guidance integration design scheme in this paper, typical missile- target
encountering conditions are selected for simulation verification.
At the same time, this scheme is compared with the conventional fuze-warhead matching method,
which uses the missile-target relative speed to realize the fuze-warhead matching delay time, to verify
the effectiveness of the fuze-guidance integration design scheme described in this paper.
4.1. Simulation conditions
The typical simulation conditions are shown in table 1, which mainly consider four encountering types:
heading on (A), chasing (B), lateral attack (C) and dive lateral attack (D).
Table 1. Typical simulation conditions.
Name
Encounter Condition
A
B
C
D
Relative Speed （m/s）
360
200
300
260
Pitch line-of-sight angle
-2
1
-2
2
Yaw line-of-sight angle
0
0
6
5
Pitch angle of missile
6
6
6
-30
Yaw angle of missile
0
0
45
45
Roll angle of missile
1
1
1
1
Yaw angle of target
180
0
145
145
Pitch angle of target
2
2
2
2
Roll angle of target
1
1
1
1
4.2. Simulation results and analysis
The simulation results for fuze-warhead matching are shown in table 2. In the table, "Scheme 1" refers
to the fuze-guidance integration scheme designed in this paper, and "Scheme 2" refers to the fuze-
warhead matching scheme using the missile-target relative speed to realize the fuze-warhead matching
delay time.
Table 2. Simulation results of the two fuze-warhead matching schemes.
Encounter
Condition
Miss
Distance
（m）
Miss
Azimuth
（°）
Total Number of Hit
Fragments
Fuze-Warhead
Matching Efficiency
Scheme 1
Scheme 2
Scheme 1
Scheme 2
A
2
90
23
22
1.00
0.99
5
90
11
11
0.99
0.81
8
90
6
6
0.85
0.43
B
2
-90
19
17
1.00
0.92
5
-90
7
6
0.89
0.42
8
-90
5
4
0.82
0.36
C
2
0
106
13
1.00
0.94
5
0
45
7
1.00
0.48
8
0
31
6
1.00
0.43
The 2020 Spring International Conference on Defence Technology
Journal of Physics: Conference Series 1507 (2020) 032021
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doi:10.1088/1742-6596/1507/3/032021
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D
2
0
132
13
1.00
0.88
5
0
56
8
1.00
0.61
8
0
38
7
1.00
0.49
0 5 10 15 20 25
0
5
10
15
20
25
30
Delay time of fuze-warhead coordination(ms)
Number of hit fragments
Main-stage warhead
Follow-up projectile
Main-stage warhead(Scheme 1)
Follow-up projectile(Scheme 1)
Main-stage warhead(Scheme 2)
Follow-up projectile(Scheme 2)
Figure 7. Delay time of fuze-warhead coordination and the number of hit fragments in condition
A(Miss Distance:5m).
0 5 10 15 20 25
0
5
10
15
20
25
30
Delay time of fuze-warhead coordination(ms)
Number of hit fragments
Main-stage warhead
Follow-up projectile
Main-stage warhead(Scheme 1)
Follow-up projectile(Scheme 1)
Main-stage warhead(Scheme 2)
Follow-up projectile(Scheme 2)
Figure 8. Delay time of fuze-warhead coordination and the number of hit fragments in condition
C(Miss Distance:5m).
It can be seen from table 2 that, under the encounter conditions of C and D, Scheme 1 can
significantly increase the number of hit fragments, but under the conditions of A and B, the numbers
of hit fragments of Scheme 1 and Scheme 2 are almost the same, and Scheme 1 has not obvious
advantage. This is because the conditions A and B belong to parallel encounter, while the conditions C
and D belong to vertical encounter. It can be seen from figure 7 and figure 8 that, under the conditions
of parallel encounter, the effective delay time range of fuze-warhead matching is wide, not requiring
The 2020 Spring International Conference on Defence Technology
Journal of Physics: Conference Series 1507 (2020) 032021
IOP Publishing
doi:10.1088/1742-6596/1507/3/032021
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high control accuracy of explosion point. However, the effective delay time range of fuze-warhead
matching is narrow under the condition of vertical encounter, which requires high control accuracy of
explosion point. The delay time solution results of Scheme 1 are all around the optimal delay time
point for each condition, which is more effective for Scheme 1 of complex encounter condition.
It can also be seen from table 2 that, under the encounter conditions of A and B, and in the case that
the numbers of hit fragments for the two plans are almost the same, the fuse-warhead matching
efficiency of Scheme 1 is higher than that of Scheme 2. This is because the optimal delay time is
calculated for the two-stage warheads respectively, so that the two clusters of fragments aim at the
same vital part of the target. The fragments of the two-stage warheads cannot aim at the same vital
part of the target, so the fragments cannot focus damage on the target.
5. Conclusion
With the requirement of realizing air-ground integration strike capability of the fortification
storming/HEAT missile, and with the study background of adding a laser proximity fuze, this paper
proposes a fuze-guidance integration design method for the fortification storming/HEAT missile based
on the combination of image guidance and laser proximity fuze detection. Through simulation analysis
and comparison, the conclusions are as follows:
1) The design method proposed in this paper can significantly improve the number of hit fragments
and fuze-warhead matching efficiency for complex encounter conditions such as lateral attack, dive
lateral attack and larger miss distance.
2) The design method proposed in this paper can significantly improve the fuze-warhead matching
efficiency for the encounter conditions of heading on and chasing under a larger miss distance.
3) The fuze-guidance integration design method proposed in this paper can effectively improve the
fuze-warhead matching efficiency of the missile under the complex encounter conditions such as
heading on, chasing, lateral attack and larger miss distance, so as to realize the integrated air-ground
strike capability of the fortification storming/HEAT missile.
Acknowledgments
This work was supported by the natural science foundation of Shaanxi Province (Grant 2018JQ6083).
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