Card update determination system
FIELD: tool engineering.
SUBSTANCE: map update determination system includes a motion plan generation module forming a route plan of a vehicle based on the target route and map information and specified in advance. The plan includes the target control value for the vehicle according to the position on the target route, a detection value acquisition module which in association with a position on the target route receives a control results detection value which is produced as a result of automatic driving control for the vehicle performed on the basis of the road environment surrounding the vehicle, situations during the movement of the vehicle, the position of the vehicle and the motion plan, an evaluation value calculation module calculating a motion plan estimation value for each area, and a map update determination module determining the need to update the map information for each area.
EFFECT: expansion of functional capabilities.
4 cl, 13 dwg
FIELD: radio engineering, communication.
SUBSTANCE: method includes measuring parameters of signals of global navigation system satellites at the beginning and end of travel; converting said parameters into coordinates of the ship at said moments in time and determining the distance of travel; from the obtained overhead information, determining the composition of operating satellite constellations at said moments in time; selecting a group of satellites which is common for both constellations and denoting said group as a single operating constellation for the entire travel time; for the entire travel time, while simultaneously receiving radio signals from spacecraft, receiving radio signals from coastal stations operating in differential mode, and making corresponding adjustments; when measuring radio navigation parameters of signals, estimating the error caused by multipath propagation of radio signals from the spacecraft.
EFFECT: higher accuracy of determining the distance of travel of a ship by eliminating systematic components from the general error of measuring said distance.
FIELD: physics, computer engineering.
SUBSTANCE: group of inventions relates to self-contained digital integrated systems of on-board equipment of multi-engine aircraft. The on-board information support system comprises a take-off dynamics module, an altitude-speed and meteorological parameter module, a flight characteristics module, an aerodynamics module, an engine thrust module, an aerodrome database module and a global database of the topography of the underlying surface EGPWS of high precision in 3D format and minimum safe altitude, an analysis and decision-making module and other modules. The disclosed cognitive format of presenting information on a flight display includes a synthesized display of the runway with an axial line, the runway threshold, display of the boundaries of maximum allowed lateral deviation of aircraft take-off run and other vital displays. The flight display, on the background of the windscreen, further displays commands to raise the nose wheel, take-off, accelerate the aircraft to safe climbing speeds and commands to maintain an optimum pitch angle at the airborne part of the take-off distance, as well as commands to turn and emergency climb to prevent collision with the underlying surface and manmade obstacles. The formats of said parameters are displayed using principles of activating visual perception of information in information support of the crew in cognitive operations of the crew using principles of artificial intelligence, completeness of information presentation, relevancy and interactivity.
EFFECT: easier control of aircraft and safer flights.
20 cl, 10 dwg, 3 tbl
FIELD: physics, navigation.
SUBSTANCE: invention relates to marine navigation and can be used particularly to determine velocity of a ship. The disclosed method of determining the true velocity of a ship from measurements of the travel distance of the ship on tack from a fixed constellation of spacecraft of a mid-orbit satellite radio navigation system includes receiving spacecraft radio signals; picking up overhead information from the radio signals; determining, based on the overhead information, the composition of working constellations of spacecraft of the system for the time of the beginning and end of the travel; measuring radio navigation parameters of signals of spacecraft of working constellations at said time of the beginning and end of the travel; converting the measured parameters into coordinates of the ship at the beginning and end of travel and determining the travel distance as the distance between points with the obtained coordinates, wherein after determining, based on the overhead information, the composition of working constellations of spacecraft of the system for the beginning and end of the travel, the composition of said constellations is compared by selecting a group that is common for both constellations of spacecraft and designating the selected group as the signal working constellation for the entire duration of travel, wherein for the entire duration of travel while simultaneously receiving radio signals from spacecraft, the method includes further determining and estimating residual error of the Doppler radio log in the primary velocity mode; calculating posterior mean-square error of velocity from the log to compensate for roll and pitch; calculating the desired horizontal components of the velocity vector.
EFFECT: invention is aimed at broadening functional capabilities of the method of determining the travel distance of a ship on tack based on location while simultaneously reducing the effect of negative factors on determining the true velocity of the ship.
FIELD: test equipment.
SUBSTANCE: invention refers to tests of remote controlled devices equipped with weapons system and mounted on land vehicle chassis. Test method for combat remote controlled module involves process adjustment and calibration operations performed before control operations. Before tests, weapons system is adjusted for standard combat, centre of impact is determined, and alignment is performed if required, then video cameras of technical vision system and thermal imaging unit of rotating platform are adjusted. Control process is divided into six control operation blocks including check of combat remote controlled module operability in intended application, check of monitoring and target designation, check of item controllability and set parameter maintenance, check of control unit, check of operator work, check of data transfer between control unit and rotating platform, check of accuracy parameters.
EFFECT: high efficiency of combat remote controlled module tests.
FIELD: physics, navigation.
SUBSTANCE: invention relates to gyroscopy and can be used to improve precision and operational characteristics of solid-state fibre gyroscopes in gimballess inertial navigation systems. The apparatus for suspending a block of sensitive elements of an inertial navigation system based on solid-state fibre gyroscopes comprises a base on which there are four pairs of guide posts, mounted such that each pair of posts mounted on the base opposite each other lie on the same axis; rubber bushings are attached to the guide posts by their internal diameter, the block of sensitive elements is attached to the external diameter of the rubber bushings, said block comprising three solid-state fibre gyroscopes, and a sealed cover which covers the whole structure.
EFFECT: improved precision and operational characteristics of solid-state fibre gyroscopes in gimballes inertial navigation systems.
SUBSTANCE: method includes selecting areas of neotectonic blocks on a map of the latest block boundaries; grouping the selected areas into classes close on morphometric characteristics, soil nature and vegetation; calibrating the selected classes based on the standard type of tactical properties; merging regions with identical tactical properties; creating resultant maps for each type of tactical properties.
EFFECT: better managerial decisions owing to more complete accounting of information, faster decision making owing to use of the required information in a rendered and generalised form prepared in advance.
2 cl, 7 dwg
SUBSTANCE: in compliance with method of partitioning of map info for navigation of industrial vehicles, effected is partitioning info of map related with physical medium including static details describing the objects not varying in said physical medium and dynamic parts which do it, into multiple map segments. Segment corresponding to current location of vehicle is defined to allow navigation of industrial vehicle with the help of selected map segment.
EFFECT: efficient of route selection for industrial vehicles.
14 cl, 9 dwg
FIELD: physics, navigation.
SUBSTANCE: invention relates to instrument-making and can be used in systems for indicating flight conditions of an aircraft. The method comprises first installing a backup altitude controller on the instrument panel according to mounting points, then using a switching device to display the "backup altitude controller installation" mode on a liquid crystal screen through a process frame in a menu, during which a computer automatically compares values of banking and pitching angles generated by the backup altitude controller with values of the main system obtained via an external interface, and inputting the difference into the ROM of the backup altitude controller, and in the absence of information on the values of angles through the external interface, installing the backup altitude controller through a tilting meter with minimal deviations from the zero position on the aircraft instrument panel located on a horizontal plane, using the switching device to display on the liquid crystal screen, through a process frame in a menu, the "self-contained alignment" mode by initiating self-contained alignment, during which the banking and pitching angles calculated by the backup altitude controller are output from the ROM and subsequently used to calculate the vertical line during operation.
EFFECT: high accuracy.
FIELD: aircraft engineering.
SUBSTANCE: device comprises rotary transformer, unit of primary data transducers, ADC, computer, external interface shaper, microcontroller with ADC, null device, galvanic isolation unit, synchroniser, inverter and two conversion channels. Each of aforesaid components incorporates switch buffers connected in series with null device input. Comparator output is connected to microcontroller and switch control input. Switch control unit output is connected to ADC input while its outputs are connected to inverter input and output, said ADC being built in said microcontroller. Note here that buffer input of one channel is connected to sine winding of rotary transformer. Buffer input of the other channel is connected to sine winding of rotary transformer. Galvanic isolation unit input is connected to external reference voltage source which supplies the rotary transformer excitation winding incorporated with aircraft instrumentation complex.
EFFECT: enhanced performances.
FIELD: radio, communication.
SUBSTANCE: invention relates to the field of aircraft (AC) navigation with use of integrated method of navigation, functionally combining the inertial navigation method and the satellite navigation method, and can be used in implementation of the AC navigation, including highly dynamic AC navigation in difficult navigation conditions, characterized by increased level of variability of structure of working constellation of navigation satellites. The method consists in the fact that between the input and output processing of data of inertial sensor and the satellite receiver with use for the integrated processing the Kalman filter the intermediate processing is carried out, taking into account the AC orientation in space. It comprises: the formation of data of the working constellation on the basis of the clarified position of the AC and the information about the AC orientation, the almanac of satellites, the antenna directional pattern of the satellite receiver, as well as the formation of the correlation matrix of the measurement errors of the satellite receiver based on the data of working constellation of the satellites. The embodiment of the method is proposed, in which in the intermediate processing the choice of working constellation of satellites is carried out, the formation of vectors of direction to the satellites, the satellite weighting coefficients are determined, comparing the directions to the satellites and the antenna directional pattern of the satellite receiver, and the correlation matrix of the errors of satellite mode is generated taking into account the weight coefficients and relationships of signal/noise ratio for satellites of the working constellation. The embodiment of the method is proposed with a target controlled search of working constellation of the satellites.
EFFECT: estimation of coordinates of AC with greater accuracy and continuity.
3 cl, 3 dwg
FIELD: indirect measurement of flying vehicle attitude.
SUBSTANCE: proposed system includes angular velocity and linear acceleration sensors, satellite navigation system and digital computer which is used for synchronous reception of data from information systems for matching the trajectory formed by signal of angular velocity and linear acceleration sensors with trajectory measured by satellite navigation system. Besides that, computer ensure functioning of recurrent algorithm of estimation of bank, pitch and yawing angles at sliding time interval.
EFFECT: enhanced accuracy.
FIELD: location finding.
SUBSTANCE: according to the method module and angle of increment vectors of motion are determined which vectors relate to motion of transportation vehicle. Then correspondent position of transportation vehicle is determined automatically at specified points within specific area when the transportation vehicle passes those points. Current position of transportation vehicle within area is found by means of vector addition of increment vectors of motion with vector of position of current position. Automatical finding of the position of transportation vehicle is performed by means of pick-up unit mounted on transportation vehicle which unit interacts with corresponding control mark without having contact with it. Control mark has reflecting and non-reflecting surfaces which are subject to scanning simultaneously by means of two signals sent from transportation vehicle. Coordinates of control position of transportation vehicle and angle of movement are determined due to estimation of reflected signals depending on time.
EFFECT: improved precision; improved reliability.
13 cl, 5 dwg
FIELD: gyro instrument engineering.
SUBSTANCE: components of apparent acceleration are measured by means of accelerometers mounted onto at least two gyro platforms, signals for controlling gyro platforms are formed and formed signals are controlled in response by means of gyros. Gyro platform is controlled by signals, which provide non-linear communication between value of speed deviation and value of horizontal component of absolute angular speed.
EFFECT: improved precision data; widened dynamic capabilities.
FIELD: navigation of moving objects.
SUBSTANCE: proposed method includes measurement of phantom acceleration by means of accelerometers, forming the gyro-platform control signals and following these signals by means of gyroscope. Gyro-platform is used for controlling the signals which contain signals proportional to components of phantom acceleration generated by accelerometers ensuring invariance of generation of speed deviation of gyro-platform relative to horizon plane. Compass heading is generated by means of optical follow-up system. Components of absolute angular velocity of Darbu trihedral as well as components of speed deviation of gyro-platform relative to horizon plane are generated by accelerometer signals. Navigation parameters such as heading of object and its local coordinates are determined by components of absolute angular velocity of Darbu trihedral.
EFFECT: enhanced efficiency.
SUBSTANCE: method comprises processing the signals from the gyroscope or pickups of absolute angular velocity. The gyroscopic platform controls the signals, which include the signals proportional to the components of the virtual acceleration generated by accelerometers, keeping the gyroscopic platform at a given angle with respect to the horizontal plane. The outer axis of the double-axle gimbal suspension is perpendicular to the base plane. The base is made of a platform stabilized in the horizontal plane.
EFFECT: enhanced reliability of determining.
FIELD: measurement engineering.
SUBSTANCE: coordinates of current position of moving object are determined on the base of GPS system of way scale of notation. Current coordinates are corrected by usage of shift correction. Coordinates are matched with map by using already corrected current coordinates. Deviations in correction angle are calculated basing on measurements of current correction angle. Coordinates of movable object are conversed and corrected when taking angle of previous shift correction into account.
EFFECT: improved precision.
17 cl, 5 dwg
FIELD: instrumentation engineering; navigational instruments for determination of navigational parameters in positioning aircraft and ground objects.
SUBSTANCE: proposed method includes shaping the gyroplatform control signals in such way that non-linear coupling should be ensured between magnitude of speed deviation and magnitude of horizontal component of absolute angular velocity. Information and properties of inertial system are additionally used at integral correction; gyroplatforms are mounted on common gimbal ring with vertical external axis.
EFFECT: enhanced accuracy due to extended measurement range of gyroscopic vertical.
FIELD: measurement technology.
SUBSTANCE: method is based upon determining characteristics of platform-free inertial measuring units (PFIMU) under conditions of simultaneous influence of dynamic and temperature test parameters. Direction of axis of combined dynamic influence onto PFIMU preset in advance and PFIMU is installed in such a manner that it geometric center coincides with axis of combined dynamic influence onto PFIMU. Test are conducted for any preset direction of spatial orientation of measurement coordinate system of PFIMU relatively axis of combined dynamic influence which is achieved due to rotation of PFIMU around mentioned geometric center of its measurement coordinate system. Device has testing platform for fixing PFIMU on it. Vertically oriented axis of rotation of single-axis bed provided with turning platform is built into space of thermal chamber through the hole in its lower part. Vibration-testing machine is fastened tightly to the platform by means of rigid bad provided with load compensation low-frequency isolation and automatic compensation system. Axis of defining of vibration acceleration of vibration-testing machine is aligned with axis of rotation of single-axis bed. Two-axis gimbal suspension is tightly fixed onto working surface of vibration-testing machine. Testing platform for fixing PFIMU is mounted onto the gimbal suspension. Internal axis of rotation of the platform is aligned with axis of rotation of single-axis bed and with axis of defining of vibration accelerations of vibration-testing machine. Precision characteristic of micromechanical of gyroscopic sensitive elements of PFIMU can be calibrated as well as resource testing of PFIMU can conducted within wider temperature and speed range. Vibration influence and linear overloads can be applied also.
EFFECT: ten times shorter time for conducting test; reduced cost of testing.
5 cl, 1 dwg
FIELD: the invention refers to gyroscope instrument-making and may be used for providing navigation for moving objects.
SUBSTANCE: component apparent acceleration is measured with the aid of an accelerometer installed on no less than two gyroplatforms, signals for controlling of gyroplatforms are formed, signals formed with the aid of gyroscopes are worked-out. At that the gyroplatform is controlled with signals which provide nonlinear communication between the meaning of the velocity deviation and the meaning of horizontal component of the absolute angular speed. Gyroplatforms in cardan brackets are installed on the stabilized in the horizon platform made by inertial system with integral correction.
EFFECT: the invention increases point-to -point characteristics and expands dynamic possibilities of the mode.
FIELD: exploitation of hopper-cars.
SUBSTANCE: aid for controlling location of transportation vehicle is mounted onto transportation vehicle when doing logistic operations as loading and unloading of material into transportation vehicle. Transportation vehicle location control aid can be based onto global positioning system and in this case the linear displacement of transportation vehicle is controlled, in particular, displacement of car along permanent way. Control aid has electronic computer, which is connected with units for conducting logistical support.
EFFECT: reduced cost for logistical support; improved efficiency.
7 cl, 5 dwg