# Arrangement for radio navigational determination of the coordinates and the speed of a moving object in conditions of action of unfavorable geometric factor

FIELD: the invention refers to radio navigation and may be used for solving the task of radio navigational determination of the coordinates and the speed of a moving object as a user of radio navigational information of the cosmic navigational system(CNS) in conditions of action of unfavorable geometric factor.

SUBSTANCE: the arrangement has four blocks of aboard equipment of navigational cosmic apparatus(NCA), two blocks of navigational equipment of the user(NEU), a block of correcting evaluations of the coordinates and the velocity component of the object, a demodulator, a receiver, two antennas, a block of computation of evaluations of the navigational equipment of the user each of which has two accumulating summation units with reset, a block of computing weight coefficients, nine blocks of subtraction, a meter of cycle impulses, eight elements ĞIğ, six blocks of remultiplication and a block of multiplication on a constant coefficient.

EFFECT: expands the functions of the arrangement.

1 dwg

The invention relates to radio navigation systems and can be used for solving the problem radionavigation determination of the coordinates and velocity of a moving object (vehicle, marine vessel, aircraft, spacecraft) as a consumer radionavigation information space navigation system (SNS) in conditions unfavourable geometrical factor.

A device for radionavigation determination of the coordinates and velocity of a moving object, operating in differential mode and containing blocks of on-Board equipment, placed on four or more of the visible object and placed in a certain way with regard to him navigation space vehicles (NSV), two blocks of navigation equipment of the consumer (EmOC), placed on the object, and the control and adjustment unit (CCF), which converts the received radio-navigation signals emitted by blocks of on-Board equipment of the Agency, in assessing the coordinates and velocities of a moving object and CCF, the evaluation unit of the amendments, the correction unit estimates the coordinates and velocities of the object, modulator, demodulator, transmitter, receiver and two antennas of a moving object and CCF. A disadvantage of the known device is a high level of random errors in the estimates of the coordinates and velocity of the object under neblagopriyatnykh factor radionavigation definitions for example, when you have four visible moving object NSV their geometry position relative to the object is significantly different from the optimal geometry: one of the NSV placed at the Zenith of the object, and three of the other is closer to the plane of its local horizon.

The closest in technical essence and the achieved effect is a device for radionavigation determine the speed of a moving object in differential mode in conditions unfavourable geometrical factor, containing the first, second, third and fourth blocks of on-Board equipment NCA, the first unit voltage of a moving object, the second block voltage CCF, the evaluation unit of the amendments, the correction unit estimates the components of the velocity of the object, a modulator, a demodulator, a transmitter, a receiver, first and second antennas, the first and second blocks into account the correlation between the scores NAB containing each accumulating adder reset, first, second, third and fourth blocks subtraction, the counter clock pulses, the first, second, third and fourth elements "And"unit weight calculation, the first, second and third blocks of the multiplication, and outputs first, second, third and fourth blocks of on-Board equipment NSV connected respectively to the first, second, third and fourth inputs of the first and second units of voltage, first, second the second and third outputs of the computing unit of the amendments connected respectively to the first, the second and third outputs of the modulator is connected through the transmitter, the first and the second antenna, the receiver demodulator, the first, second and third output of which is connected respectively to the first, second and third inputs of the correction block estimates the components of the velocity of the object, the first output of the first unit voltage connected to the input of the accumulating adder reset and the first input of the first element And the second output of the first unit voltage through the meter clock pulses connected to the second inputs of the first, second, third and fourth elements And, third, fourth and fifth outputs of the first unit voltage connected respectively to the first inputs of the second, third and fourth elements And the outputs are connected respectively to the first inputs of the second, third and fourth blocks subtracting the outputs are connected respectively to the fourth, fifth, and sixth inputs of the correction block estimates the components of the velocity of the object, the first, second and third outputs of which are the outputs of the device, sixth, seventh, eighth, ninth, tenth, eleventh and twelfth outputs of the first unit voltage connected respectively to the first, second, third, fourth, fifth, sixth and seventh inputs of the computing unit weights, the first, second and third the outputs of which are connected respectively with p the pout inputs of the first, the second and third sides of multiplication, the outputs of which are connected respectively with the second inputs of the second, third and fourth blocks subtraction, the output of the accumulating adder reset is connected to the input of the first subtraction unit, which is connected to the output of the first NAND gate, and the output of the first subtraction unit is connected to the second inputs of the first, second and third blocks of multiplication, the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh and twelfth outputs of the second unit voltage are connected respectively to the first, second, third, fourth, fifth, the sixth, seventh, eighth, ninth, tenth, eleventh and twelfth inputs of the second unit of account for the correlation between the scores voltage, first, second and third outputs of which are connected respectively to the fourth, fifth, and sixth inputs of the computing unit of the amendments, the first, second and third inputs which are input devices.

A disadvantage of the known device is the lack of channel determine the coordinates of a moving object in differential mode in conditions unfavourable geometrical factor.

The aim of the invention is the extension of the functions of the known device is the determination of the coordinates of a moving object in addition to determining the components of its velocity in the differential d is the ima in conditions unfavourable geometrical factor. This goal is achieved by the fact that in the device for radionavigation determine the speed of a moving object in differential mode in conditions unfavourable geometrical factor, containing the first, second, third and fourth blocks of on-Board equipment NCA, the first unit voltage of a moving object, the second block voltage CCF, the evaluation unit of the amendments, the correction unit estimates the components of the velocity of the object, a modulator, a demodulator, a transmitter, a receiver, first and second antennas, the first and second blocks into account the correlation between the scores NAB containing each accumulating adder reset, first, second, third and fourth blocks of the subtraction counter clock pulses, the first, second, third and fourth elements "And"unit weight calculation, the first, second and third blocks of the multiplication, and outputs first, second, third and fourth blocks of on-Board equipment NSV connected respectively to the first, second, third and fourth inputs of the first and second blocks voltage, the first output of the first unit voltage connected to the input of the accumulating adder reset and the first input of the first element And the second output of the first unit voltage through the meter clock pulses connected to the second inputs of the first, second, third and fourth elements "And, third, fourth and fifth outputs of the first blokada connected respectively to the first inputs of the second, the third and fourth elements And the outputs are connected respectively to the first inputs of the second, third and fourth blocks subtracting the outputs are connected respectively to the fourth, fifth, and sixth inputs of the correction block estimates the components of the velocity of the object, the first, second and third outputs of which are the outputs of the device, sixth, seventh, eighth, ninth, tenth, eleventh and twelfth outputs of the first unit voltage connected respectively to the first, second, third, fourth, fifth, sixth and seventh inputs of the computing unit weights, the first, second and third outputs of which are connected respectively with the first inputs of the first, second and third sides of multiplication, the outputs of which are connected respectively with the second inputs of the second, third and fourth blocks subtraction, the output of the accumulating adder reset is connected to the input of the first subtraction unit, which is connected to the output of the first NAND gate, and the output of the first subtraction unit is connected to the second inputs of the first, second and third blocks of multiplication, the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh and twelfth outputs of the second unit voltage are connected respectively to the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth is a diversified, the tenth, eleventh and twelfth inputs of the second unit of account for the correlation between the scores voltage, first, second and third outputs of which are connected respectively to the fourth, fifth, and sixth inputs of the computing unit of the amendments, the first, second and third inputs which are input devices, introduced in the first and second blocks into account the correlation of the estimated voltage of the fourth, fifth and sixth blocks multiplication, fifth, sixth, seventh, eighth and ninth blocks subtraction, fifth, sixth, seventh and eighth elements And, second accumulating adder reset and block multiplication by a constant factor, and the output first accumulating adder through the block multiplication by a constant factor and the ninth subtraction unit is connected to the second inputs of the fourth, fifth, and sixth blocks the multiplication, the first inputs of which are connected respectively with the fourth, fifth and sixth inputs of the computing unit weights, the output of the counter clock pulses are connected to the inputs of the fifth, sixth, seventh and eighth elements And, second inputs of which are connected respectively with the seventeenth, eighteenth, nineteenth and twentieth outputs of the computing unit weights, the outputs of the fifth, sixth and seventh elements And respectively through the fifth, sixth and seventh blocks subtracting connected accordingly, the tenth is, the eleventh and twelfth inlet correction estimates of the coordinates and velocity components of the object, the fourth, fifth and sixth outputs of which are respectively the fourth, fifth and sixth outputs, the outputs of the fourth, fifth, and sixth blocks multiply connected respectively to the second inputs of the seventh, sixth and fifth blocks subtraction, twentieth, the output of the computing unit weights through the second accumulating adder and eighth subtraction unit is connected to the second input of the ninth unit of the subtraction, the output of the eighth element And is connected to a second input of the eighth block subtraction, thirteenth, fourteenth, fifteenth and sixteenth outputs of the first unit voltage are connected respectively with the eighth, ninth, tenth and eleventh unit weight calculation, the thirteenth, fourteenth, fifteenth, sixteenth, seventeenth, eighteenth, nineteenth and twentieth outputs of the second unit voltage are connected respectively with the thirteenth, fourteenth, fifteenth, sixteenth, seventeenth, eighteenth, nineteenth and twentieth inputs of the second unit of accounting for correlation NAP, fourth, fifth and sixth outputs of which are connected to the tenth, eleventh and twelfth inputs of the computing unit of the amendments, seventh, eighth and ninth input of which is the tsya input device, the fourth, fifth and sixth outputs of the computing unit of the amendments connected respectively with the fourth, fifth and sixth inputs of the modulator, the fourth, fifth and sixth outputs of the demodulator are connected respectively with the seventh, eighth and ninth input correction unit estimates the coordinates and velocity components of the object.

Such a collection of characteristics of the device compared with the prototype shows that it has new elements: three blocks multiplication, five blocks subtraction, the four elements "And"which is accumulating adder reset, block multiplication by a constant factor and their relationships among themselves and with other circuit elements. Thus, the proposed device meets the criterion of "novelty."

The comparison of the proposed solutions with other technical solutions shows that the input elements are widely known. However, their introduction in the specified communication among themselves and with other circuit elements in the inventive device for radionavigation determination of the coordinates and velocity components of a moving object, these elements exhibit new properties, consisting in taking into account the correlation of the random components of the estimated object coordinates and temporary amendments to its on-Board time scale arising from the adverse effect of the geometric factor, as well as the filtering of the random component estimates the temporary amendments to the onboard time scale of the object using the results of the filtering random components estimates of the rate of change of the temporary amendments to the side the timeline object. This allows to conclude that the technical solutions according to the criterion of "inventive step".

Filtering random components of the estimated temporary amendments to the onboard time scale of the object using the results of the filtering random components estimates of the rate of change of the temporary amendments to the onboard time scale of the object, and the correlation of these estimates with random components of the estimated coordinates of the object can significantly improve the accuracy of determining the coordinates of a moving object in differential mode in conditions unfavourable geometrical factor in comparison with the known device.

Really appreciate the gain in precision of the claimed device in comparison with the known as the ratio of marginal errors of estimates (accuracy 0,997), for example, for the x coordinate of the object:

where δ_{ml}- the "residual" (when using differential mode, navigation and time definitions) systematic measurement error ranges from consumer to NSV (or from CCF to NSV);

σ_{d}- standard deviation (RMS) random component of measurement error ranges;

r_{xd}the correlation coefficient of the random component estimates CCW is dinate x object and the temporary amendments to the onboard time scale of the object;

N is the number of averaged estimated time correction and speed of change;

σ_{d}and σ_{dv}The RMS errors of the estimated temporary amendments to the onboard time scale of the object and the speed of its change.

The correlation coefficient r_{xd}increases with increasing geometric factor, for example, increasing it from 5 to 40 or more, the correlation coefficient increases from 0.95 to 0.99, and more []. For such values of r_{xd}the gain in accuracy of determining the coordinates of the claimed device in comparison with the known, according to the expression (1)will be the value from 2,87 to 4,88 or more times in the following real practice radionavigation definitions using the GLONASS and GPS data: δ_{ml}=0.2 m (deleting CCF from an object at a distance of 500 km); σ_{d}=1.5m; Δt=0,2; σ_{dv}/σ_{d}=3·10^{-3}; N=64. This, as well as the feasibility of blocks of the device on a standard, commercially available items allows to conclude that the technical solutions according to the criterion of "industrial applicability".

The drawing shows a block diagram of the device for navigation coordinates and velocity of a moving object under unfavorable geometrical factor.

The device contains blocks 2, 3 and 4 on-Board equipment NCA, the first block of 5 voltage of a moving object, the first block 6 into account the correlation between the scores NAP, block 7 correction estimates, the demodulator 8, a receiver 9, a second antenna 10; a second block 11 voltage, the second block 12 into account the correlation between the scores NAP, block 13 calculation of the amendments, the modulator 14, the transmitter 15, the first antenna 16, the first accumulating adder 17 with the discharge, the first block 18 of the subtracting counter of clock pulses 19, the first item And 20, block 21 calculation of weight coefficients, second 22, the third 23 and fourth 24 elements And, second 25, the third 26 and fourth 27 blocks subtraction, the first 28 and second 29, 30 third, fourth, 31, 32 fifth and sixth 33 blocks the multiplication, fifth, 34, 35 sixth and seventh 36 blocks subtraction, fifth, 37, 38 sixth, seventh 39 and 40 eighth elements And, second accumulating adder 41 with discharge, 42 eighth and ninth 43 blocks subtraction unit 44 multiplication by a constant factor.

The outputs of blocks 1, 2, 3, and 4 on-Board equipment NSV connected respectively to the inputs of the first 5 and 11 blocks of the second voltage, the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh, twelfth, thirteenth, fourteenth, fifteenth, sixteenth, seventeenth, eighteenth, nineteenth and twentieth outputs of the second unit 11 voltage connected to the corresponding inputs of the second unit 12 into account the correlation of the estimates of N Is P, the first, second, third, fourth, fifth and sixth outputs of which are connected respectively to the fourth, fifth, sixth, tenth, eleventh and twelfth input unit 13 calculation of the amendments, the first, second, third, fourth, fifth and sixth outputs of the block 13 calculation of the amendments, the first, second, third, seventh, eighth and ninth inputs which are input devices that are connected respectively to the first, second, third, fourth, fifth, and sixth inputs of the modulator 14 is connected through the transmitter 15, the first 16 and the second antenna 10, the receiver 9 the demodulator 8, the first, second, third, fourth, fifth and sixth outputs of which are connected respectively to the first, second, third, seventh, eighth and ninth input unit 7 correction estimates, the first, second, third, fourth, fifth and sixth outputs of which are the outputs of the device, the first output of the first block 5 voltage connected to the input of the first accumulating adder 17 with the discharge and the first input of the first element And 20, the second output of the first block 5 EmOC over the counter clock pulses 19 are connected to the second inputs of the first 20, second 22, third 23, 24 fourth, fifth, 37, 38 sixth, seventh 39 and 40 eighth elements And, third, fourth and fifth outputs of the first block 5 EmOC connected respectively to the first inputs of the second 22, third 23 and fourth is th 24 elements "And", the outputs are connected respectively to the first inputs of the second 25, the third 26 and fourth 27 blocks subtraction, sixth, seventh, eighth, ninth, tenth, eleventh, twelfth, thirteenth, fourteenth, fifteenth and sixteenth outputs of the first block 5 EmOC connected respectively to the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth and eleventh input unit 21 of the weight calculation, the seventeenth, eighteenth and nineteenth outputs of the first block 5 EmOC connected respectively to the first inputs of the fifth 37, 38 sixth and seventh 39 items And"the outputs of which are connected respectively to the first inputs of the fifth 34, 35 sixth and seventh blocks 36 subtraction, the twentieth release of the first block 5 voltage connected to the input of the second accumulating adder 41 is reset and the first input of the eighth element "And" 40, the first, second, third, fourth, fifth and sixth outputs of the block 21 calculation of weight coefficients respectively connected with the first inputs of the first 28 and second 29, 30 third, fourth, 31, 32 fifth and sixth blocks 33 multiplying the outputs are connected respectively to the second inputs of the second 25, 26 third, fourth 27, 36 seventh, 35 sixth and fifth blocks 34 subtracting the outputs are connected respectively to the fourth, fifth, sixth, who asatoma, the eleventh and twelfth input unit 7 correction estimates, the output of the first accumulating adder 17 with discharge through the first block 18 of the subtractor is connected to the second inputs of the first 28 and second 29 and 30 third block multiplication, as well as through the block 44 multiplication by a constant factor and the ninth block 43 of the subtractor is connected to the second inputs of the fourth 31, 32 fifth and sixth blocks 33 multiplication, the output of the first item And 20 are connected to the second input of the first unit 18 subtraction, the output of the second accumulating adder 41 with discharge through eighth subtraction unit 42 is connected to the second input of the ninth block 43 subtracting the output of the eighth element "And" 40 is connected to a second input of the eighth unit 42 of the subtraction.

Device for radionavigation determination of the coordinates and velocity of a moving object under unfavorable geometrical factor is as follows.

Radionavigation signals generated by the blocks 1, 2, 3, and 4 on-Board equipment of the Agency, received and processed by the blocks 5 and 11 of the POPES of the object and CCF. The processing results are the seventeenth, eighteenth, nineteenth and twentieth outputs of blocks 5 and 11 NAB, digital codes, respectively, estimates of the three coordinates of the object and CCF and temporary amendments to flight time scales NAP, third, fourth, fifth, and first is hodam - digital codes, respectively, estimates of the three components of the velocity of the object and CCF and velocity changes temporary amendments to flight time scales NAP. By the second outputs of the blocks 5 and 11 receives the clock pulses, on the thirteenth, fourteenth, fifteenth and sixteenth outputs digital codes of the values of the RMS errors of the estimates of the three coordinates of the object and CCF and temporary amendments to flight time scales NAP, sixth, seventh, eighth and ninth outputs digital codes of the values of the RMS errors of the estimates of the three components of the velocity of the object and CCF and velocity changes temporary amendments to flight time scales NAP, tenth, eleventh and twelfth outputs digital codes of the values of the correlation coefficients of the three coordinates of the object and CCF estimates of temporary amendments to flight time scales NAB, coinciding with the values of the coefficients of correlation between the scores of the three components of the velocity of the object and CCF (the same object and CCF) with estimates of rates of change of temporary amendments to flight time scales NAP.

In blocks 6 and 12 account for the correlation between the scores voltage generated digital codes of the estimates of the three coordinates and three velocity components of the object and CCF, taking into account the correlation of the estimates of the coordinates and velocity components of the object and CCF estimates of temporary amendments to flight time scales NAP and velocities of the x changes.

In block 13 the calculation of the corrections are generated digital codes amendments to the estimates of the three coordinates and three velocity components of CCF with regard to the true values of the coordinates and three velocity components of CCF, arriving at the inputs of the device. Next, the digital codes of the amendments come to the modulator 14, which, as well as with the transmitter 15 and the first antenna 15 is formed by a radio signal to transmit information about the amendments. This signal is received the second antenna 10, a receiver 9, is demodulated by the demodulator 8 with the release of the digital codes of the amendments, which are received by the first, second, third, seventh, eighth and ninth inputs in block 7 correction of the estimated values of the coordinates and velocity components of a moving object, on the fourth, fifth, sixth, tenth, eleventh and twelfth input of which receives digital codes of the estimates of the three coordinates and three velocity components of the object based on the correlation of the estimates of the coordinates and velocity components of the object and the rate of change of the temporary amendments to its on-Board time scale.

The results of the operation of the device in the form of digital codes adjusted estimates of the three coordinates and three velocity components of the object are received at the output of block 7 correction of the estimated values of the coordinates and velocity components of the object.

Block 7 to the correction of the estimates of the coordinates and velocity components of a moving object under unfavorable geometrical factor has twelve inputs and six outputs for so, taking the information in three dimensions of coordinates (X, Y, Z) and three components of velocity of a moving object according to the six inputs from blocks 6 and 12 account for the correlation estimates NAP, as well as taking information about the amendments in three dimensions of coordinates (X, Y, Z) and on amendments on all three components of the velocity of a moving object according to the six inputs from block 13 calculation of the correction of the control and correction stations, to provide the consumer with information on the updated coordinates (X, Y, Z) and velocity components for each of the coordinates.

Functionally, the unit 7 correction of the estimates of the coordinates and velocity components of a moving object under unfavorable geometrical factor will include six channels, each of which provides accounting adjustments on one of the components of the coordinates and velocities of the object and consists of an adder with two inputs (from units 6 and 12 account for the correlation estimates NAB, and block 13 calculation of the correction of the control and correction stations) and one output.

Operation of units 6 and 12 account for the correlation estimates NAP in the composition of the claimed device, such as block 6 consists in the following. First accumulating adder reset 17, the first element "And" 20 and the first subtraction unit 18, and the second accumulating adder reset 41, the eighth element "And" 40, eighth subtraction unit 42, the ninth subtraction unit 43 and blockumentary by a constant factor 44 form the difference between the (N+1)th estimate of the rate of change in time of the amendment and the simple average of N previous estimates of the rate of change of the temporary amendments to the on-Board scale time (BSW) object.

The computing unit weights 21 generates digital codes of weights as the ratio of the product of the correlation coefficient estimates the position or velocity of the object and the rate of change of the temporary amendments to its BSV, the RMS error of the estimation of this component and the number N of averaged estimates of the rate of change of the temporary amendments to the product of RMS error of estimating the rate of change of the temporary amendments to BSW object and the number N+1.

"Weighing" obtained at the output of the first unit 18 subtracting the difference between the (N+1)th estimate of the rate of change of the temporary amendments have BSW object and the result of averaging N previous estimates of the rate of change of the temporary amendments to BSW object occurs in the first 28 and second 29, 30 third, fourth, 31, 32 fifth and sixth 33 blocks the multiplication.

Weighted difference shall be deducted on the N+1 cycle of operation of the device, defined by the joint work of the counter clock pulses 19 and the second 22, third 23, 24 fourth, fifth, 37, 38 sixth and seventh 39 elements And, in the second 25, the third 26, 27 fourth, fifth, 34, 35 sixth and seventh 36 blocks subtraction. Refined, thus, evaluation of three coordinates and velocity components come in the form of digital codes at fourth, fifth, sixth, tenth, eleventh and twelfth in the odes of block 7 correction of the estimated values of the coordinates and velocity components of the object.

Device for radionavigation determination of the coordinates and velocity of a moving object under unfavorable geometrical factor, consisting of four blocks of on-Board equipment navigation of space vehicles (NSV), two blocks of navigation equipment of the consumer (EmOC), two units of accounting for correlation estimates NAP, the computing unit of the amendments, modulator, transmitter, two antenna, receiver, demodulator, error correction block estimates of the coordinates and velocity components of the object, each of the blocks into account the correlation between the scores NAP contains four elements And accumulating adder with discharge, four blocks subtraction counter of clock pulses, the block weight calculation, three block multiplication, the outputs of the first, second, third and fourth blocks of on-Board equipment NSV connected respectively to the first, second, third and fourth inputs of the first and second blocks voltage, characterized in that each unit of accounting for correlation estimates NAB additionally introduced the four elements And the second accumulating adder reset, five blocks subtraction, three blocks multiplication unit multiplying by a constant factor, the first, second, third, fourth, fifth and sixth outputs of the computing unit of the amendments connected respectively to the first, second, third, fourth, fifth and sixth the inputs of the modulator, United through the transmitter, the first and second antennas and a receiver with a demodulator, which demodulates and highlights digital code amendments that come with first, second, third, fourth, fifth and sixth outputs of the demodulator respectively on the first, second, third, seventh, eighth and ninth input correction unit estimates the position and velocity of a moving object, the first output of the first unit voltage connected to the input of the first accumulating adder reset and the first input of the first element And the second output of the first unit voltage through the meter clock pulses connected to the second inputs of the first, second, third, fourth the fifth, sixth, seventh and eighth elements And, third, fourth and fifth outputs of the first unit voltage connected respectively to the first inputs of the second, third and fourth elements And the outputs of which are connected respectively to the first inputs of the second, third and fourth blocks subtraction, sixth, seventh, eighth, ninth, tenth, eleventh, twelfth, thirteenth, fourteenth, fifteenth and sixteenth outputs of the first unit voltage connected respectively to the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth and eleventh inputs of the computing unit weights, seventeenth, eighteenth, and evetnually outputs of the first unit voltage connected respectively to the first inputs of the fifth, the sixth and seventh elements And the outputs of which are connected respectively to the first inputs of the fifth, sixth and seventh blocks subtraction, twentieth, the output of the first unit voltage connected to the input of the second accumulating adder reset and the first input of the eighth element, And the first, second, third, fourth, fifth and sixth outputs of the computing unit weights are connected respectively to the first inputs of the first, second, third, fourth, fifth, and sixth blocks multiplying the outputs are connected respectively to the second inputs of the second, third, fourth, seventh, sixth and fifth blocks subtraction, the output of the first accumulating adder with discharge through the first subtraction unit is connected to the second inputs of the first, second and third blocks of multiplication, as well as through the block multiplication by a constant factor and the ninth subtraction unit is connected to the second inputs of the fourth, fifth, and sixth blocks the multiplication, the output of the first element And connected to the second input of the first subtraction unit, the output of the second accumulating adder with discharge through eighth subtraction unit is connected to the second input of the ninth unit of the subtraction, the output of the eighth element And is connected to a second input of the eighth block subtraction, the first accumulating adder reset, the first element And the first blackmachine, and second accumulating adder reset, the eighth element, And the eighth block subtraction, the ninth block subtraction and multiplication by a constant factor form the difference between the (N+1)th estimate of the rate of change in time of the amendment and the simple average of N previous estimates of the rate of change of the temporary amendments to the onboard time scale of the object, an updated assessment of the three coordinates and velocity components come in the form of digital codes from the second, third, fourth, seventh, sixth and fifth blocks subtracting respectively the fourth, fifth, sixth, tenth, eleventh and twelfth unit coordinates correction and the components of the velocity of the object, the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh, twelfth, thirteenth, fourteenth, fifteenth, sixteenth, seventeenth, eighteenth, nineteenth and twentieth outputs of the second unit voltage are connected respectively to the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh, twelfth, thirteenth, fourteenth, fifteenth, sixteenth, seventeenth, eighteenth, nineteenth and twentieth inputs of the second unit of account for the correlation between the scores voltage, the first, second the third, fourth, fifth and sixth outputs of which are connected to the respective what about the fourth, fifth, sixth, tenth, eleventh and twelfth inputs of the computing unit of the amendments, the first, second, third, seventh, eighth and ninth inputs which are input devices.

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5 cl, 8 dwg

FIELD: navigation.

SUBSTANCE: method can be used for designing of control system for rockets and radio altimeter for getting information on relative altitude of flight of rocket without irradiating radio signals at low and high frequencies and at irradiating of low energy at extremely low altitude flights. Before flight airplane-carrier of "air-surface" class rockets is placed into position with well known coordinates. Airplane-carrier is equipped with consumer navigation instrumentation which receives radio signals of GLONASS or GPS either both systems. Coordinates of position of aerial of consumer navigation instrumentation are calculated on the base of radio signals. Differential corrections if coordinates of airplane-carrier on the base of known real coordinates airplane-carrier. Values of differential corrections are introduced into consumer navigation instrumentation placed onto rocket before taking off. During flight of consumer navigation instrumentation rocket the plane coordinates of rocket and absolute altitude of flight of rocket are determined when taking differential corrections into account. Plane coordinates of rocket achieved during flight are introduced into digital map of region and height of region above which the rocket moves instantly is determined from plane coordinates. Relative altitude of flight is calculated and radio altimeter is switched on if relative altitude drops lower than calculated altitude of safe flight.

EFFECT: improved precision of measurement.

1 dwg

FIELD: applicable in instrument engineering, in particular, in instruments using remote control of the actions of the observer-operator on the ground.

SUBSTANCE: the method consists in measurement of the object coordinates, observer's coordinates and transmission of them for further use, as well as in finding of the observer's bearings with due account of obtaining of target designation and determination of the error of the preset and current coordinates. The observer performs scanning of the ground with fixation of the readings of the azimuth and elevation angle sensors, readings of the device for determination of the observer's own coordinates at detection by it of the object of observation. These data are transmitted to an individual control device of the observer. The own coordinates of each observer via individual transceivers are transmitted to the control and computations device of a group equipment, having a storage unit, which contains a digital model of the ground relief of observation and a data base for target distribution and renewal. The obtained data on location of the observers, as well as of the targets from the data base for target distribution are applied to the relief digital model. The data on the relative location of the observer and the target distributed to him are transmitted via the transceivers to the observer's control device, in which they are compared with the data obtained from the azimuth and elevation is transmitted to the indicators of the vertical and horizontal turning of the observer's scanning device. The device for finding one's bearings on the ground has location and orientation sensors, control and computations device, transceivers, scanning device for the observer with indicators of vertical and horizontal turning, sensors of the location in space in azimuth and angle of elevation, device for determination of the observer's own coordinates, having a navigational equipment linked with a satellite. The observer's transceiver is coupled to a group transceiving device connected to the control and computations device of the group equipment. The control and computations device of the group equipment comprises a storage unit, having a ground relief digital model and a data base for target distribution.

EFFECT: simplified and enhanced reliability of use of the system of transmission to the operator of the information on the direction on the ground.

3 cl, 2 dwg

FIELD: applicable in instrument engineering, in particular, in instruments using remote control of the actions of the observer-operator on the ground.

SUBSTANCE: the method consists in measurement of the object coordinates, observer's coordinates and transmission of them for further use, as well as in finding of the observer's bearings with due account of obtaining of target designation and determination of the error of the preset and current coordinates. The observer performs scanning of the ground with fixation of the readings of the azimuth and elevation angle sensors, readings of the device for determination of the observer's own coordinates at detection by it of the object of observation. These data are transmitted to an individual control device of the observer. The own coordinates of each observer via individual transceivers are transmitted to the control and computations device of a group equipment, having a storage unit, which contains a digital model of the ground relief of observation and a data base for target distribution and renewal. The obtained data on location of the observers, as well as of the targets from the data base for target distribution are applied to the relief digital model. The data on the relative location of the observer and the target distributed to him are transmitted via the transceivers to the observer's control device, in which they are compared with the data obtained from the azimuth and elevation is transmitted to the indicators of the vertical and horizontal turning of the observer's scanning device. The device for finding one's bearings on the ground has location and orientation sensors, control and computations device, transceivers, scanning device for the observer with indicators of vertical and horizontal turning, sensors of the location in space in azimuth and angle of elevation, device for determination of the observer's own coordinates, having a navigational equipment linked with a satellite. The observer's transceiver is coupled to a group transceiving device connected to the control and computations device of the group equipment. The control and computations device of the group equipment comprises a storage unit, having a ground relief digital model and a data base for target distribution.

EFFECT: simplified and enhanced reliability of use of the system of transmission to the operator of the information on the direction on the ground.

3 cl, 2 dwg

FIELD: navigation.

SUBSTANCE: method can be used for designing of control system for rockets and radio altimeter for getting information on relative altitude of flight of rocket without irradiating radio signals at low and high frequencies and at irradiating of low energy at extremely low altitude flights. Before flight airplane-carrier of "air-surface" class rockets is placed into position with well known coordinates. Airplane-carrier is equipped with consumer navigation instrumentation which receives radio signals of GLONASS or GPS either both systems. Coordinates of position of aerial of consumer navigation instrumentation are calculated on the base of radio signals. Differential corrections if coordinates of airplane-carrier on the base of known real coordinates airplane-carrier. Values of differential corrections are introduced into consumer navigation instrumentation placed onto rocket before taking off. During flight of consumer navigation instrumentation rocket the plane coordinates of rocket and absolute altitude of flight of rocket are determined when taking differential corrections into account. Plane coordinates of rocket achieved during flight are introduced into digital map of region and height of region above which the rocket moves instantly is determined from plane coordinates. Relative altitude of flight is calculated and radio altimeter is switched on if relative altitude drops lower than calculated altitude of safe flight.

EFFECT: improved precision of measurement.

1 dwg

FIELD: radiolocation.

SUBSTANCE: method can be used in cellular communication systems for finding location of mobile station. Maximal precision of location is achieved at minimal total energy of signals transmitted during location procedure. Correction of errors is provided which errors relate to absence of signal propagation direct beam. Decision of location completeness is made upon forming estimation of coordinates of mobile station. For the purpose the data is used which are available at any base station immediately after reception of location signal as well as estimations of coordinates formed later. Moreover, step of correction of measured times of arrival of location signal is introduced to correct errors. Correction is based upon detecting of absence of propagation direct beam and on subtracting value of compensation being proportional to average radius r of area of objects of dissipation close to mobile station.

EFFECT: increased precision.

5 cl, 8 dwg

FIELD: information and telecommunication engineering, applicable for determination of object location.

SUBSTANCE: the united universal control system has an integrating control center with a central server, party dispatching system and party control centers, the interconnected by communication means integrating control center has an additional cartographic server and a router, the cartographic server and the central server are connected to the router, which, in its turn is connected to the dispatching system and party control centers via communication means, for example, via wire ones via modems. Each party control center has a server connected via a modem to the communication line. The party control systems have: a party navigation system, party remote measurement system, party telecontrol system and a monitoring system of object travel.

EFFECT: expanded functional potentialities of the system.

5 dwg

FIELD: location of wireless terminal in cellular communication network.

SUBSTANCE: novelty is that request on location includes information about quality for determining desired quality of location service quality, checkup of information about quality in location request transmission channel of cellular communication network, and selection of network component to be used for locating wireless terminal basing on requirement to quality indicated by means of information about quality, network component being chosen out of base network and cellular communications radio access network components in which location can be found.

EFFECT: enhanced throughput capacity of network concerning location requests.

14 cl, 4 dwg

FIELD: radio engineering.

SUBSTANCE: signal U_{1} is converted from analog form to frequency form, forming its frequency spectrum S_{1}, received frequency spectrum S_{1} is converted to frequency spectrum S_{2} by multiplication of each component of spectrum S_{1} on transformation coefficient N - constant, value of which is selected on basis of providing of necessary length of output signal, frequency spectrum S_{2} is scaled by division of amplitude of each component on compression coefficient N, thereby forming scaled frequency spectrum S_{2m}, scaled frequency spectrum S_{2m} is converted from frequency zone to time zone, thereby forming a digital signal, which is then converted from digital form to analog with parameters different from base signal.

EFFECT: simplified construction, broader functional capabilities, higher efficiency.

5 dwg

FIELD: location of objects, in particular, user's terminals, with employment of means of satellite communication system.

SUBSTANCE: the offered system has a mobile telephone set, interline integration unit, at least two satellites with known orbits, means for determination of such parameters as the distance from the user's terminals to each of the satellites and their difference. Provision is also made for means (one or both) for determination of such parameters as the radial velocity of one of the satellites relative to the user's terminal and the difference between the radial velocities of one and the other satellite relative to the user's terminals. The means for location of the user terminal in the interline integration unit is engageable with the above means. It acts on the basis of the known positions and velocities (orbits) of the satellites and the above parameters: distances of satellites from the user's terminals, radial velocities and the their differences. Estimations of the positions of the satellites are specified on the basis of processing of the results of measurements of the given parameters.

EFFECT: provided unambiguous location of the user's terminal with a high speed of response.

28 cl, 13 dwg

FIELD: radio communications.

SUBSTANCE: method includes emission of packet of M radio pulses, each on own frequency, different from frequency of adjacent radio pulse for frequency Δ_{f}. radio signals reflected from radio-contrast objects, which amplify and digitize, are received, while frequency of discretization for analog-digital conversion is set equal to F_{adc}=MΔ_{f}, to form M·K amplitudes of received radio signals, which are subjected to amplitude weighing operations and discontinuous Fourier transformation for M points. Resulting signals are compressed in M times compared to received ones.

EFFECT: higher efficiency, broader functional capabilities.

4 dwg

FIELD: railway transport.

SUBSTANCE: proposed system has "n" navigational satellites, checking-and-correcting station determining information on satellites required for operation of railway train which contains navigational receiver and position computer. Checking-and-correcting station contains additionally input unit whose output is connected with second input of modulator and series connected section-between-stations computer, block section computer and interface unit whose output is connected with locomotive control system, section-between stations memory unit whose output is connected with first input of section-between-stations computer, second input of which is connected with output of position computer, block section memory unit whose output is connected with second input of block section computer whose third input is connected with output of demodulator.

EFFECT: improved accuracy of checking and safety of traffic.

3 dwg

FIELD: the invention refers to radio navigation and may be used for solving the task of radio navigational determination of the coordinates and the speed of a moving object as a user of radio navigational information of the cosmic navigational system(CNS) in conditions of action of unfavorable geometric factor.

SUBSTANCE: the arrangement has four blocks of aboard equipment of navigational cosmic apparatus(NCA), two blocks of navigational equipment of the user(NEU), a block of correcting evaluations of the coordinates and the velocity component of the object, a demodulator, a receiver, two antennas, a block of computation of evaluations of the navigational equipment of the user each of which has two accumulating summation units with reset, a block of computing weight coefficients, nine blocks of subtraction, a meter of cycle impulses, eight elements ĞIğ, six blocks of remultiplication and a block of multiplication on a constant coefficient.

EFFECT: expands the functions of the arrangement.

1 dwg