The system of passive location of a moving object

 

(57) Abstract:

The inventive system passive location of a moving object contains the direction finder 1 synchronizer 2, the set of coefficients 3, the buffer storage device 4, a block for solving systems of linear algebraic equations 5, block median assessment 6, the computing unit guides of the cosines of the velocity vector of the curvilinear motion of the object 7. 1-3-4-5-6-7: 1-2-4-7: 2-5: 2-6: 2-7. 13 the sludge.

The invention relates to radar systems and can be used, for example, in navigation, meteorology, geodesy.

It is known device for determining the velocity vector of a moving object, which involves the use of patterns of representation of the acceleration vector and the vector of absolute angular velocity of rotation of the natural triple in the projections on the axes of the moving coordinate system associated with the aircraft. However, the device is applicable only in navigation systems.

It is known device for determining the velocity of movement of the object, measuring the Doppler velocity with subsequent processing. The disadvantage of this device is the need for measurement at the receiving point of the radial velocity, or Yes the technical nature of the invention is a device for the passive location of a moving object, allows you to determine the direction cosines of the velocity vector of uniform and uniformly accelerated motion of the object containing the direction finder, the synchronizer.

However, this device has limited functionality, as it allows to determine the direction cosines of the velocity vector curvilinear motion of the object.

The purpose of the invention to enhance the functionality by simultaneously determining the direction of the curvilinear motion of the object.

This is achieved by the fact that in the device of the passive location of a moving object, containing the direction finder, the synchronizer entered the shaping unit coefficients, a buffer memory device, a unit for solving systems of linear algebraic equations, block median assessment, the evaluation unit guides of the cosines of the velocity vector curvilinear motion of the object, while the first output signal is connected to the clock input, the second output signal is connected to the input of the processing unit coefficients, the output of which is connected to the first input of the buffer storage device, the output of which is connected to the first input of the block for solving systems of linear algebraic uravnenii the om calculation module guides of the cosines of the velocity vector of the curvilinear motion of the object, the output which is the output device, the first, third outputs of the synchronizer connected respectively to the second inputs of the buffer storage device and a unit for solving systems of linear algebraic equations, the second output of the synchronizer is connected to the second input of the block median assessment and with the third input of the computing unit guides of the cosines of the velocity vector curvilinear motion of the object, the output buffer of the storage device is connected to the second input of the computing unit guides of the cosines of the velocity vector curvilinear motion of the object.

A device (prototype) determining the guides of the cosines of the velocity vector estimated angular coordinates and their derivatives in time, provided that the object is moving in a straight evenly or uniformly accelerated. In practice, however, this model has limited application, since it is valid only for small time intervals.

Let the Cartesian YZ coordinate system whose origin coincides with the geometric centre of the direction finder, kinematics goal describes a temporary polynomial of the k-th order

xaiti, ybiti, zciti, (1)

where da
j (2)

where aj0.

After simple transformations we represent the expression (2) in the equivalent form

(3)

Obviously, to find unknown quantities bi/ajwithi/aj,i=, ai/aj,i=, i j taking into account the expression (3) is sufficient to solve the following system of linear algebraic equations:

(4)

(5)

wherek(tk), k(tk), k , tkmoments of time, which is measured bearings.

Thus, taking into account expressions (4), (5) calculated ratios to determine the desired guiding vectors of curvilinear motion of the object have the following

blowing final form:

(6)

where desired value of ak/ajbk/ajck/ajare found as solutions of systems of linear algebraic equations (4), (5). When writing formulas of the system (6) is taken into account that

x(i)= tk-iak, y(i)= bk< / BR>
z(i)= tk-ick.

The introduction of additional blocks and connections allows together with common features to provide simultaneous measurement of the direction of the curvilinear motion of an object that extends the functionality of the proposed device.

In Fig. 1 shows a block diagram of a system for the passive location of a moving object on which the first output signal 1 is connected to the clock input 2, the second output signal 1 is connected to the input of the processing unit coefficients 3, the output of which is connected to the first input buffer of the storage device 4, the output of which is connected to the first input unit 5 solving systems of linear algebraic equations, the output of which is connected to the first input unit median assessment 6, the output of which is connected to the first input of the block 7 to calculate the guides of the cosines of the velocity vector of the curvilinear motion of the object, the output which is the output device is the first device 4 and unit 5 solving systems of linear algebraic equations, the second output of the synchronizer 2 is connected to a second input of the block median assessment 6 and the third input unit 7 calculate the guides of the cosines of the velocity vector curvilinear motion of the object, the output buffer of the storage device 4 is connected to a second input of the block 7 to calculate the guides of the cosines of the velocity vector curvilinear motion of the object.

In Fig. 2 presents a diagram of a possible implementation of block-forming factors 3, in which the first bus 11input connected to inputs of the first 81. (k 1)-th 8k-1converters codes and simultaneously forms the output 11unit 3, the second bus 12input connected to inputs of the k-th 8kand (k + 1)-th 8k+1converters codes, the third bus 13input connected to the input of the (k + 2)-th 8k+2the code Converter, the first bus 13input connected to the first input of the first 91multiplier, the outputs of the first 81.(k 1)-th 8k-1converters codes are connected respectively to the first inputs of the second 92.k-9kperennity and simultaneously form a outputs 12.1kunit 3, the output of the k-th 8kthe code Converter connected to the second inputs of the first 91.k-9kp is replaced with the first input of the (k + 1)-th 9k+1multiplier, the outputs of the first 81. (k 1)-th 8k-1converters codes are connected respectively to the first inputs (k + 2)-th 9k+2.(2k)-th 92kmultiplier products, the outputs of the (k + 1)-th 8k+1and (k + 2)-th 8k+2converters codes connected respectively with the first and second inputs (2k + 1)-th 92k+1multiplier, the output of which is connected to the second inputs of the (k + 1)-th 9k+1.(2k)-th 92kmultiplier products and at the same time forms the output 13K+2unit 3, the outputs of the first 91.k-9kmultiplier products formed respectively 1k+1th. 12kth output unit 3 outputs (k + 1)-th 9k+1. (2k)-th 92kmultiplier products formed respectively 12k+2th.13k+1th outputs of the block 3.

In Fig. 3 shows a possible implementation of the buffer storage device 4. When this first 11.(4k + 2)-I 14k+2tires first input buffer storage devices are the first inputs, respectively, of the first 41. (4k + 2) th 44k+2scratchpad memory devices (POPS). Bus 21the second input is connected to the second inputs of the first 41.(4k + 2) th 44k+2The POPS. Input 22connected to the third inputs of the first 41.(4k + 2) th 44k+2The POPS. Outputs .44k+2,2 k+1). The third bus 23the second input is connected to the second inputs of registers 41,1.44k+2,2 k+1, the outputs of which form the outputs 11,1.18,2 k+1block 4.

In Fig. 4 shows a diagram of a possible implementation of block for solving systems of linear algebraic equations 5, which consists of two devices for solving systems of linear algebraic equations (ORSLOW). The first bus 11the first input is connected with the first inputs of the first 51and the second 52ORSLOW. The second 12and the third 13tires first input connected respectively to the second inputs of the first 51and the second 52ORSLOW. The second input bus connected to the third inputs of the first 51and the second 52ORSLOW. The first outputs of the first 51and the second 52ORSLOW form first 11bus output unit 5. The second outputs of the first 51and the second 52ORSLOW form respectively a second 12and the third 13bus output unit 5.

In Fig. 5 shows a diagram of a possible implementation of block median assessment 6, which consists of three nodes median assessment 61.63. First 11bus the first input and the second input bus connected respectively is 11unit 6. The second 12and the third 13bus input are connected respectively to the inputs of the second 62and the third 63nodes median assessment, the outputs of which form, respectively, 12th and 13th output unit 6.

In Fig. 6 is a diagram of a possible implementation of the first 61site median assessment, which consists of k channels, the median assessment, and the tires 11.1kthe input node 61respectively connected with the first inputs of the first 61,1.k-61,kchannels median assessment, the outputs of which form respectively the outputs 11.1ksite median assessment 61. The tire of the second output unit 61connected with the second input channel 61,1.61kthe median assessment.

In Fig. 7 is a diagram of a possible implementation of the median channel estimation 61,i, i=. First 11and the second 12tires first input connected respectively with the first and second inputs of the multiplexer 10, the output of which is connected with the median filter 11, the output of which is the output of the channel median assessment 61,i, i 1,k. The second input bus connected to the third input of the multiplexer 10.

In Fig. 8 PR>SUB>+1bus input are connected respectively to the inputs of the first 6i,1.(k + 1)-th 6i,k+1median filters, the outputs of which form respectively the outputs 11.1k+1site median assessment 6ii 2,3.

In Fig. 9 is a diagram of a possible implementation of a computing unit guides of the cosines of the velocity vector curvilinear motion of the object (BUNK BWW) 7. When this tire 11the first input is connected to the first input of the first 71the computing device, the second input of the second 72the computing device, the third input of the third 73the computing device, the tire 12the first input is connected to the second inputs of the first 71and the third 73devices, computing, and with the first input of the second 72the computing device, the tire 13the first input is connected to third inputs of the first 71and the second 72devices, computing, and also to the first input of the third 73the computing device, the tires of the second and third inputs connected respectively to the fourth and fifth inputs of the first 71. the third 73of computing devices, the outputs of which form respectively the outputs 11.13BVN is th first bus, second and third inputs connected respectively to the first inputs of the first 121the second 122the third 123calculators, the tire of the fourth input connected to the second inputs of the first 121the second 122the third 123calculators, the tire of the fifth input connected to the third inputs of the first 121the second 122the third 123the solvers. The output of the first 121the computer is connected to the first input of the code Converter 13, the output of which is connected to the first input of the first multiplier 14 and the second input of the second multiplier 15, which outputs through the second 16 and third converters 17 codes connected respectively with the second and third inputs of the adder 18, the output of which through 19 fourth and fifth 20 converters codes connected with the output device of the computing 7i, i=. The output of the permanent memory (ROM) 21 connected to the first input of adder 18. The outputs of the second 122and the third 123calculators are connected respectively to the second input of the first multiplier 14 and the first input of the second multiplier 15.

In Fig. 11 is a diagram of a possible implementation of the transmitter 12i, i=. First 11. k-I 1ktires first WMOs.k-I 2kbus second input connected respectively to the second inputs of the first 221.k-22kmultiplier products, the outputs of which are connected respectively to the first inputs (k + 1)-th 22k+1.(2k)-th 222kmultiplier products, the outputs of which are connected respectively with the first.the k-th inputs of the adder 23, the output of which forms the output of the transmitter 12i, i=. The tire of the third input through the first 241.k-th 24kthe converters are connected to second inputs of the (k + 1)-th 22k+1.(2k)-th 222kmultiplier products.

In Fig. 12 is a diagram of a possible implementation of the Converter 24i, i= .

Bus 11input is connected to the second input of the adder 25 and through the first 26 of the code Converter to the first input of the multiplier 27, the output of which forms the output of the inverter 24i, i=. Bus 12input connected to the first input of the adder 25, the output of which through the second 28 and third 29 converters codes connected with the second input of the multiplier 27.

In Fig. 13 is a diagram of a possible implementation of the synchronizer 2. The clock input 2 is connected to the counting input of the first counter 30, and through the first delay element 31 to the first input of the first flip-flop 32, with a second input of the first is 5, the output of which is connected to a counter input of the third counter 36, the output of which is connected to the second inputs of the register 37, a comparator 38, with the first input of the first 391adder, as well as through the first 401.(2k)- 402kfrequency multipliers with the first inputs of the second 392. (2k + 1)-th 392k+1the sum of tori. The outputs of the first 391. (2k+1)-th 392K+1adders are connected respectively with the first.(2k + 1)-th inputs of the first multiplexer 41, the output of which is connected to the first input of the second multiplexer 42. The first output of the first flip-flop 32 is connected to the third input of the second multiplexer 42 and the second input of the first element And 43, the output of which is connected to the first input of the OR element 34.

The generator output clock pulses 44 is connected to a second input of the second element And 45, with the first input of the first element And 43, to the first input of the fourth counter 46, the output of which is connected to the first input of the fifth counter 47 with the input of the decoder 48, 49 through the third and fourth 50 elements of the delay of the first and second inputs of the second trigger 51, and with (2k + 2)-th input of the first multiplexer 41. The output of the first counter is connected to a second input of the second multiplexer 42, the second output of the first flip-flop 32 is connected to the fourth is showing connected to the first input of the comparator 38, the output of which is connected to the first input of the second element And 45, a second input of the fourth counter 46, a second input of the fifth counter 47, the output of which is connected to the second inputs of the first 391.(2k + 1)-th 392k+2adders. The output of the second multiplexer 42, the first and second outputs of the first flip-flop 32, the output of the OR element 34, the output of the decoder 48 is formed respectively outputs 11.15the first output of the synchronizer 2. The first and second outputs of the second trigger 51, the outputs of the first 52 and second 53 of permanent storage devices to form respectively the outputs 21.24the second output of the synchronizer 2. The output of the fourth counter 46 produces a third output of the synchronizer 2.

The system of passive location of a moving object (see Fig. 1) works as follows.

Received on the direction finder 1 smoothed values of the bearings is fed to the input of the processing unit 2 coefficients (see Fig. 2). Codes generated coefficients on the control signals from the first output of the synchronizer 2 is written in the buffer memory (BLT) 4 (see Fig, 3). In the intervals between beats of write BLT 4 is in the reading mode and on the measure reading information from the POPS 41. 44k+2The SUB> registers 41,1.44k+2,2 k+1controls the decoder 48 synchronizer 2 (see Fig. 13). In the registers 41,1.4k,2k+1and 43k+3,1.44k+2,2 k+1recorded time codes t1i.t2k+1ii= outputs 11.1kprocessing unit coefficients 3 registers 4k+1,1.42k+1,2 k+1codes t1itg1.t2k+1itg2k+1i= outputs 1k+1. 12k+1unit 3 registers 42k+2,1.43k+2,2 k+1codes t1isec11tg1t2k+1isec2k+1tg2k+1i= outputs 12k+2.13k+2unit 3.

After recording codes in registers 41,1.44k+2,2 k+1last on the control signal from the synchronizer 2 is written into the block for solving systems of linear algebraic equations (BRESLAU) 5 (see Fig. 4), which consists of two devices for solving systems of linear algebraic equations (ORSLOW) 51and 52. Codes numbers "1", "0" and "-1" (system (4), (5)) rely "protective" in the appropriate registers ORSLOW 51and 52in the manufacture of the device. On a start signal, which is supplied from the third output clock 2 input control units, ORSLOW 51and 52last atributy is 1 block median assessment 6 (see Fig. 5), which carries out the statistical estimation of calculated coefficients, as in real conditions, the process of finding inevitably accompanied fluctuation errors. Assessment of required factors from the output of the block median assessment 6 receives at the first input of the computing unit guides of the cosines of the velocity vector curvilinear motion of the object (BUNK BWW) 7 (see Fig. 9). To the second input unit 7 receives the codes are proportional to the moments of time t1i.t2k+1ioutput BLT 4. The block structure 7 hardware implements expression system (6). Consequently, at the output there are codes, guides proportional to the cosines of the velocity vector of an object moving along a curved trajectory.

Consider the operation of the processing unit coefficients 3 (Fig. 2). For definiteness put in expressions (2).(6) j 0, i.e., aja0. This is because the choice of the beginning of the coordinate system can always get values and00. On input 11processing unit coefficients 3 enters code, is proportional to the current time t on input 12enters code, is proportional to the azimuth of the target input 13enters code, is proportional to the.tkat the output of the code Converter 8kcode that is proportional to tg at the output of the code Converter 8k+1code, sec proportional to the output of the code Converter 8k+2code that is proportional to tg . At the output of the multiplier 92k+1is the code that is proportional to tg sec multiplier products 91.9kcode, proportional ttg , multiplier products 9k+1.9kcode, proportional ttg sec . Thus at time t2k+1outputs 11.13k+2unit 3 completes the formation of the coefficients of linear algebraic equations (4) and (5).

Consider a block of median assessment 6 (see Fig. 5). Because output 11BRESLAU 5 is the statistical redundancy through a twofold definition of the coefficients ai/a0, i=, block median assessment contains the first node 61(see Fig. 6) the median assessment, which consists of k channels median estimation (see Fig. 7). Codes calculated coefficients ai/a0output 11BRASLAU 5 are received at inputs 11, 12each channel of the median assessment. Under the influence of control signals from the second output of the synchronizer 2 multiplexer 10 succession of the LAU 51and 52. The second 62and the third 63nodes median estimation (see Fig. 8) carry out the statistical estimation of the coefficients of bi/a0and Ci/a0respectively. The coefficients bi/a0do output 12BRESLAU 5, the coefficients withi/a0output 13BRASLAU 5. Nodes median assessment 62and 63(see Fig. 8) consist of k + 1 median filters. Median filters are chosen because they allow you to get resistant to abnormal errors of measurement values of the estimates of required factors and do not require a priori knowledge of the model of noise in the channels of observation.

Consider the operation of the computing unit guides of the cosines of the velocity vector curvilinear motion of the object (BUNK BWW) 7 (see Fig. 9), which consists of three computing devices 71.73(see Fig. 10). The first computing device 71the hardware implements the expression

cosx(i)= second 72and the third 73the device is similar to expression (6). On the first inputs of the computers 121.123enter codes, respectively, are proportional to the coefficients andi/a0bi/a0ci/a0on second input wyczolkowski transformation y 1/x, is the code that is proportional to 1/(xi/a0), the output of multiplier products 14 and 15 codes, proportional to y(i)/x(i)and z(i)/x(i)accordingly, at the output of the converters codes 16 and 17 codes proportional to (y(i)/x(i))2and (z(i)/x(i))2accordingly, at the output of the adder 18 code, is proportional to l1 +(y(i)/x(i))2+ (z(i)/(x(i))2} at the output of the code Converter 19 code proportional to the Converter output codes code 20 is proportional to 1. The first transmitter 121the computing device 7ithe hardware implements the expression

x(i)/ao= tk-i(ak/ao), the second 122and the third 123solvers similar expressions for y(i)/a0and z(i)/a0system (6) (see Fig. 11). In the multiplier products 221.22kis the multiplication of codes corresponding coefficients to the input 11.1kand time codes received from inputs 21.2ktransmitter 12i. At the output of the multiplier products 222k+1.222kthere are codes, proportional to k!/(k i)!tk-i(ak/a0), which are summed in the adder 23. Generating codes k!/(k i)! carry out pre the lei do the values of k and i, respectively. The adder 25 generates at its output code is proportional to (k i), the Converter output codes 26 and 28 are codes that are proportional to k! and (k i)! accordingly, at the output of the code Converter 29 of the code is proportional to 1/(k-i)! at the output of the multiplier 27 code is proportional to k!(k i)!

Consider the operation of the synchronizer 2 (see Fig. 13). The pulses from the first output signal received at the counting input of the counter 30, which generates an address code supplied to the second input of the multiplexer 42.

The pulses from the first output signal 1 goes to the second input of the trigger 32, the output signal 2 which sets the POPS 41.44k+2in the recording mode. At the first input of the trigger 32 receives the pulses from the first output signal 1 through the delay element 31 forming output 1 trigger 32 signals to read information from the POPS 41.44k+2. Pulses from the output of the circuit 34 takeroot the POPS 41.44k+2. After counting the (2k + 1) pulses coming from the direction finder 1, the output of the counter 35 receives the impulse overflow, which through the counter 36 is supplied to the frequency multipliers 401.402kwhile the multiplier 401is a multiplier of two, the multiplier 402on three.the multiplier 402k1.392k+1by increasing their content per unit. Depending on the state of the output of the counter 46 to the output bus of the multiplexer 41 is switched one of the (2k + 1) inputs. As a result, the output of the multiplexer 41 are sequentially formed codes address maximally spaced in time measurements, which achieves the best accuracy characteristics determine the guides of the cosines of the velocity vector curvilinear motion of the object. The pulses from the outputs of the trigger 32 to control operation of the multiplexer 42, the pulse recording output 2 trigger 32 connects to the output of the multiplexer 42, the outputs of the counter 30. The decoder 48 controls the order of reading data from the registers 41,1.44k+2,2 k+1. The pulse output of the counter 46 is supplied to the third output of the synchronizer 2 and starts BRESLAU 5, and also through the delay elements 49 and 50 is supplied to the first and second inputs of the trigger 51. With the delay element 49ass*= tBRESLAU5where tBRESLAU5the time of calculation of coefficients in the block 5, the delay element 50ass>ass*. Thus, the first and second outputs of the trigger 51 is formed control signals 22and 21relevant to the Ana codes proportional to the values of k and i, respectively, which are fed to the input of inverter 24i.

All units and components of the proposed device passive location of a moving object can be easily implemented on the basis of standard units of computing: the counters on the basis of CIE, registers on the basis of CIR; adders based KIM, scheme, OR on the basis of CLE, triggers based KTM etc.

Thus, the expanded functionality of the device by simultaneously determining the guides of the cosines of the velocity vector curvilinear motion of the object.

The SYSTEM of PASSIVE LOCATION of a MOVING OBJECT, containing the direction finder and the synchronizer, wherein, with the intent of determining the direction of the curvilinear motion of the object is entered forming unit coefficients, a buffer memory device, a unit for solving systems of linear algebraic equations, block median assessment, the evaluation unit guides of the cosines of the velocity vector curvilinear motion of the object, while the first output signal is connected to the clock input, the second output signal is connected to the input of the processing unit coefficients, exit km block for solving systems of linear algebraic equations, the output of which is connected to the first input unit median estimation, the output of which is connected to the first input of the computing unit guides of the cosines of the velocity vector of the curvilinear motion of the object whose output is the output of the system is passive location, the first and third outputs of the synchronizer connected respectively to the second inputs of the buffer storage device and a unit for solving systems of linear algebraic equations, the second output of the synchronizer is connected to the second input of the block median assessment and the third input of the computing unit guides of the cosines of the velocity vector of the curvilinear motion of the object, a second input connected to the output of the buffer storage device.

 

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FIELD: radio engineering, communication.

SUBSTANCE: method of measuring the time of arrival of a four-position quadrature phase-shift keyed signal with a π/4 shift is characterised by that the signal is received, analogue-to-digital conversion of two signals is carried out using fast Fourier transform (FFT), spectrum values of one of the signals are multiplied with complex-conjugate spectrum values of the other signal, a discrete cross-correlation function (DCCF) of the signal is calculated using inverse FFT, a plurality of in-phase and quadrature readings are obtained and filtered with a cut-off frequency which corresponds to half the rate of the initial bit message, modulo 2π subtraction of the corresponding value of the delayed current signal phase from each obtained current phase is carried out, and the time of arrival of the signal is determined as an argument of the maximum of the DCCF of the signal by further correlation processing. The apparatus has units for implementing the method.

EFFECT: eliminating measurement errors caused by non-multiplicity of the duration of the signal symbol and sampling frequency of analogue-to-digital conversion of the received signal.

5 cl, 3 dwg

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