# Passive system of direction finding

FIELD: the invention refers to radiolocation and may be used in radio navigation, meteorology, geodesy.

SUBSTANCE: the declared arrangement allows determine the parameters of curvilinear trajectories on goniometrical data of a stationary direction finder and the initial distance to an object and this is an achievable technical result. The arrangement has a bearing forming block, an amplifiers block, a buffer storage device, a block of solving the system of linear algebraic equations, an evaluation block, a block of estimations of parameters of movement, a reflection arrangement, a synchronizer, a block of forming basic functions.

EFFECT: determines the parameters of curvilinear trajectories.

10 dwg

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

Known mobile direction finder [2], which allows to determine the location of the target angular data based on a priori information about the nature of the movement, containing the synchronizer device forming bearings, a unit for computing the coefficients, a buffer memory device, a unit for solving systems of linear algebraic equations, block median filter, the unit location, unit inertial navigation system, the display device.

A disadvantage of this device is the limited functionality because the device [2] will not allow us to determine the target location by goniometric data for curvilinear motion models.

The closest to the proposed device is a mobile direction finder [1], allowing to determine the location of the target angular data based on a priori information about the nature of motion for curvilinear motion models containing the device forming bearings, a buffer memory device, a unit for solving systems of linear algebraic equations, the display device, the unit inertial navigation system, clock, calculator-shaper unit assessment unit introduction the Cartesian coordinates C is Lee.

The disadvantages of the prototype are relatively low positional accuracy due to the accumulation of errors of the inertial navigation system and the need for highly dynamic media direction finder.

The proposed device allows to determine the parameters of curved trajectories on current goniometric data stationary direction finder and a priori data about the initial distance to the object, which is achieved technical result.

The problem of determining the parameters of a curved path of motion of the objects stationary direction finder is solved by excluding from the device containing the device forming bearings, a buffer memory device, a unit for solving systems of linear algebraic equations, the display device, the unit inertial navigation system, clock, calculator-shaper, the unit of estimation of the calculated coefficients, the computing unit Cartesian coordinates of the target, the following blocks: block inertial navigation systems, computer-driver, the unit for computing the Cartesian coordinates of the target, and introducing unit converters, block the formation of the basis functions, the unit of estimation of the motion parameters and the interaction between them.

Features passive direction-finding system containing the device fo the formation of the bearings,
unit converters, a buffer memory device, a unit for solving systems of linear algebraic equations, the unit of estimation of the calculated coefficients, the unit of estimation of the motion parameters, the display device synchronizer block the formation of the basis functions, the first output of the shaper bearings connected with the third input buffer of the storage device to write the corresponding code points in time bearing α(t_{k}and β(t_{k}and with the first input unit converters, the output of which is connected to the first input of a buffer memory device for recording the codes cosα(t_{k}), cosβ(t_{k}), sinα(t_{k}), sinβ(t_{k}and tgβ(t_{k}), the first output buffer memory for issuing codes cosα(t_{k}), cosβ(t_{k}), sinα(t_{k}), sinβ(t_{k}and tgβ(t_{k}) connected to the first input of the block for solving systems of linear algebraic equations, the first output of which through the block assessment calculated coefficients connected to the first input of the unit of estimation of motion parameters, the output of which through the display device connected to the output of the passive dynamical system, the second output buffer memory for issuing the relevant codes of times bearing α(t_{
and β(tk) connected to the first input of the block forming the basis functions and the second input unit of estimation of motion parameters, the first output unit forming the basis functions connected with the third input unit for solving systems of linear algebraic equations, the second output unit forming the basis functions connected with the third input of the unit of estimation of motion parameters, the second output of the device forming bearings is connected to the clock input, the first output of which is connected with the second input control signals of the buffer storage device, the second output from the second input unit of solving systems of linear algebraic equations, the third output to the second input of the conversion unit basis functions, where α(tk- the value of the azimuth angle depending on the time tkand β(tk- the value of the elevation angle depending on the time tk.}

As follows from the description of the combination of features of the claimed invention, the novelty of the solution of the problem consists in the exclusion calculator-shaper unit inertial navigation system, the unit for computing the Cartesian coordinates of the target, the unit of assessment and the introduction of unit converters codes, block the formation of the basis functions, unit estimates the motion parameters of the unit assessment calculated the coefficient is of icients, as well as the organization of connections between them that will improve the measurement accuracy and to eliminate highly dynamic media direction finder.

Figure 1 shows the structural diagram of the passive dynamical system. It contains the processing unit bearings 1, unit converters 2, a buffer memory device 3, the synchronizer 4, block solving a system of linear algebraic equations 5, block shapers basis functions 6 unit assessment calculated coefficients 7, the evaluation unit of the motion parameters 8, the display device 9.

Figure 2 presents a functional block circuit converters. It contains the first 10, second 11, third 12, 13 fourth, fifth converters 14 codes.

Figure 3 presents a functional diagram of a buffer memory device. It contains the first 15_{1}the second 15_{2}... sixth 15_{6}scratchpad memory device, the first 16^{1} _{1(1)}...6^{L} _{(3K+2)}th 6^{L} _{6(3K+2)}-register.

4 shows a functional diagram of the unit of assessment. It contains the first 17_{1}...17_{3K}th median filter.

Figure 5 presents the structural diagram of the unit of estimation of motion parameters. It contains the transmitter γ_{A}(t_{K}), α'(t_{K}), β'(t_{k}) 18, the transmitter ψ_{AJ}(t_{K}19,
the transmitter x, y, z 20.

Figure 6 presents a functional diagram of the transmitter γ_{A}(t_{K}), α'(t_{K}), β'(t_{K}). It contains the first 24, second 33, 41 third, fourth 21_{1}...21_{K}th differentiator, the first 34, 35 second, third 42 and fourth 43, 38 fifth, sixth, 37, 21_{1}...22_{K}th, 26_{1}...26_{K}th, 30_{1}...30_{K}th multiplier products. The first 23, 27 second, third, 31, 25 fourth, fifth, 36, 39 sixth adders, the first 29, second 32, third 40 dividers, the first 44 calculator square root.

Figure 7 presents a functional diagram of the transmitter ψ_{AJ}(t_{K}). It contains the first 45 and second 46, third 47, 48 fourth, fifth, 49, 50 sixth, seventh 51, eighth 53, ninth multipliers 52, the first 49, 54 second adders, the first 55 myCitadel, the first divider 56.

On Fig presents a functional diagram of the transmitter x(t), y(t), z(t). It contains a linear delay 57, the first 61, second 58, 59 third, 62 fourth, fifth, 65, 66 sixth, seventh 67, 68 eighth multipliers, the computer 60, an adder 63, exponentiator 64.

Figure 9 presents the functional block circuit diagram of the formation of basic functions. It consists of 68 first 69_{1}...6^{L} _{(3K+2)}th transducer of basic functions.

Figure 10 presents a functional diagram of the synchronizer. It contains a delay line 70, the trigger 71, the first counter 72, the Torah, the counter 74, the first 73, 75 second, third 76 decoders.

Figure 1 is a first output of the shaper bearings connected with the third input buffer of the storage device to write the corresponding code points in time bearing α(t_{k}and β(t_{k}and with the first input unit converters, the output of which is connected to the first input of a buffer memory device for recording the codes cosα(t_{k}), cosβ(t_{k}), sinα(t_{k}), sinβ(t_{k}and tgβ(t_{k}), the first output buffer memory for issuing codes cosα(t_{k}), cosβ(t_{k}), sinα(t_{k}), sinβ(t_{k}and tgβ(t_{k}) connected to the first input of the block for solving systems of linear algebraic equations, the first output of which through the block assessment calculated coefficients connected to the first input of the unit of estimation of motion parameters, the output of which through the display device connected to the output of the passive dynamical system, the second output buffer memory for issuing the relevant codes of times bearing α(t_{k}and β(t_{k}) connected to the first input of the block forming the basis functions and the second input unit of estimation of motion parameters, the first output unit forming the basis functions connected with the third input of the decision block is item of linear algebraic equations,
the second output unit forming the basis functions connected with the third input of the unit of estimation of motion parameters, the second output of the device forming bearings is connected to the clock input, the first output of which is connected with the second input control signals of the buffer storage device, the second output from the second input unit of solving systems of linear algebraic equations, the third output to the second input of the conversion unit basis functions, where α(t_{k}- the value of the azimuth angle depending on the time t_{k}and β(t_{k}- the value of the elevation angle depending on the time t_{k}.

Figure 2 bus to the first device forming bearings are connected to the input of the first 10, second 11 and third 12, 13 fourth, fifth 14 of the code Converter, the first output of the first 10, second 11 and third 12, 13 fourth, fifth 14 converters codes connected with the output unit, which is connected to the first input of a buffer memory device for recording the codes cosα(t_{k}), cosβ(t_{k}), sinα(t_{k}), sinβ(t_{k}and tgβ(t_{k}).

Figure 3 the output bus unit converters connecting the first input of the first 15_{1}the second 15_{2}third 15_{3}fourth 15_{4}fifth 15_{5}scratchpad memory device, the output is in the first 15_{
1}... the fifth 15_{5}scratchpad memory device are connected respectively to the first inputs of the 16^{1} _{1(1)}...L(3K+2)th 16^{L} _{5(3K+2)}the registers. Bus to the first device forming bearings connected to the first input of the sixth 15_{6}scratchpad memory device, the output of which is connected respectively to the first input of the 16^{1} _{1(1)}...L(3K+2)th 16^{L} _{6(3K+2)}the registers. The second inputs of the first 15_{1}...15_{6}scratchpad memory device connected to the first output of the synchronizer. The second inputs of the 16^{1} _{1(1)}...L(3K+2)th 16^{L} _{6(3K+2)}registers connected to the first output of the synchronizer.

The outputs of the registers 16^{1} _{1(1)}...16^{L} _{5(3K+2)}connected with the first input unit of solving systems of linear algebraic equations. The outputs of the registers 16^{1} _{1(1)}...16^{L} _{6(3K+2)}connected to the first input of the block forming the basis functions. The outputs of the registers 16^{1} _{1(1)}...16^{L} _{6(3K+2)}connected to the second input of the unit of estimation of motion parameters.

Figure 4 unit 1_{(1)}...1_{(3K)}connected respectively to the outputs 1_{(1)}...1_{(3K)}unit 7.

Figure 5 output bus unit assessment calculated coefficients soy is inane with the first input unit of estimation of motion parameters,
which is connected to the first input of the transmitter γ_{A}(t_{K}), α'(t_{K}), β'(t_{K}) 18, the output of which is connected to the first input of the transmitter ψ_{AJ}(t_{K}) 19, the output of which is connected to the first input of the transmitter x, y, z 20 whose output via a display device coupled to the output device.

The second inputs of the transmitter γ_{A}(t_{K}), α'(t_{K}), β'(t_{K}) 18, evaluator ψ_{AJ}(t_{K}) 19, transmitter x(t), y(t), z(t) 20 are connected respectively with the second output buffer of the storage device 3 for issuing the relevant codes of times bearing α(t_{k}and β(t_{k}).

The tire of the third input unit of estimation of motion parameters is connected to the output bus 2 blocks forming the basis functions.

Figure 6 inputs 21_{1}...21_{K}th differentiator connected with the second bus unit forming the basis functions, the inputs 21_{1}...21_{K}the second differentiator connected to the first input 22_{1}...22_{K}th multiplier products, second input which is connected to the output bus unit assessment, the outputs of the multipliers 22_{1}...22_{K}connected respectively with 1...K input of the adder 23, the output of which is connected to the first input of the adder 25, the output of the adder 23 is connected with the second input of the adder 36, the input of the differentiator 24 is connected to the output Shino is a block assessment,
the output of which is connected with the second input of the adder 25 and to the first input of the adder 36, the output of the adder 25 is connected to the first input of the divider 29, the output of the adder 36 is connected to the first input of the divider 40. The first inputs of the multipliers 26_{1}...26_{K}connected to the output bus 2 blocks forming the basis functions, the second inputs of the multiplier 26_{1}...26_{K}connected to the output of block assessment.

The outputs of the multipliers 26_{1}...26_{K}connected respectively with 1...K input of the adder 27, the output of which is connected with the second input of the divider 29, the output of which is connected to the first input of the transmitter ψ_{AJ}(t_{K}). The output bus unit assessment connected with the first inputs 30_{1}...30_{K}- multipliers, the second inputs of which are connected with the second output bus conversion unit basis functions, 30_{1}...30_{K}- multipliers connected respectively with 1...K to the input of the adder 31, the output of which is connected to the first input of the divider 32, the first and second inputs of the multiplier 34 is connected to the output bus 2 buffer storage device, the second input of the divider 32 is connected to the output of the adder 27, the output of the adder 31 is connected to the first and the second input of the multiplier 38, the output of the adder 27 is connected to the first and the second input of the multiplier 37, the output of multiplier 38 is connected to the first input of the adder 39, the output of multiplier 37 is connected to the second input of the adder 39,
the output of which is connected to the input of the calculator square root 44.

The output of divider 32 is connected to the input of the differentiator 33, the output of which is connected to the first input of multiplier 35, the output of multiplier 34 is connected to a second input of multiplier 35, the output of which is connected to the output bus unit and bus the first input of the transmitter ψ_{AJ}(t_{K}). The output of the calculator square root 44 is connected with the second input of the divider 40, the output of which is connected to the input of the differentiator 41, the output of which is connected to the first input of multiplier 42. The first and second inputs of the multiplier 43 is connected respectively with the second output buffer of the storage device 3 for issuing the relevant codes of times bearing α(t_{k}and β(t_{k}), the output of the multiplier 43 is connected to a second input of multiplier 42, the output of which is connected to the first input bus of the computer ψ_{AJ}(t_{K}).

7 first and second inputs of multiplier 45 is connected respectively with the second output buffer of the storage device 3 for issuing the relevant codes of times bearing α(t_{k}and β(t_{k}), the first and second inputs of the multiplier 46 is connected to the output bus 2 BLT, the first inputs of the multipliers 47, 48 connected to the output bus of the computer 18, the first outputs of the multiplier 47, 48 are connected respectively with the first and second the moves of the adder 49,
the output of which is connected with the second input of the multiplier 52, the first input connected to the output bus of the computer 18. The first input of the multiplier 50, the first input of the multiplier 53, the second input of the multiplier 51, the second input of the transmitter are connected respectively with the second output buffer of the storage device 3 for issuing the relevant codes of times bearing α(t_{k}and β(t_{k}). The second input of multiplier 50, the first input of the multiplier 51 is connected to the output bus of the computer 18. The output of multiplier 52 is connected to the first input of the adder 54, a second input connected to the output of the multiplier 50. The output of the adder 54 is connected to the first input of the divider 56, the output of the multiplier 51 is connected with the second input of the multiplier 53, the output of which is connected to the first input of the transmitter 55, the output of which is connected with the second input of the divider 56, the output of which is connected to the output unit 19 and the input unit 20.

On Fig the input of the delay line is connected respectively with the second output buffer of the storage device 3 for issuing the relevant codes of times bearing α(t_{k}and β(t_{k}) with the second input vicites 60 and to the second input of the multiplier 61, the output of the delay line 57 connected to the first input of vicites 60, the output of which is connected to the first input of the multiplier 61, the output of which is connected to the first input of the multiplier 6,
a second input connected to the output line of the transmitter 19. The output of multiplier 62 through the adder 63 and exponentiator 64 connected to the first input of the multiplier 65, to the second input of which receives the code of the initial range, the first and second inputs of the multiplier 58 and the first, second inputs of the multiplier 59 is connected respectively with the second output buffer of the storage device 3 for issuing the relevant codes of times bearing α(t_{k}and β(t_{k}), the outputs of the multipliers 58, 59 are connected respectively with the second inputs of the multipliers 66, 68. The second input of the multiplier 67 is connected respectively with the second output buffer of the storage device 3 for issuing the relevant codes of times bearing α(t_{k}and β(t_{k}). The output of multiplier 65 is connected with the first inputs of the multipliers 66, 67, 68.

Figure 9 the input 69_{1}...69_{L(3K+2)}th inverter is connected respectively with the second output buffer of the storage device 3 for issuing the relevant codes of times bearing α(t_{k}and β(t_{k}), second input 69_{1}...69_{L(3K+2)}th inverter is connected to the third output bus synchronizer. The outputs 69_{1}...69_{L(3K+2)}th inverter is connected to third inputs of BRESLAU 5 and BOPD 8.

Figure 10 the clock input is connected to the input line is Ameriki 70, a second input of the trigger 71, the first input of the counter 72 and to the second input of the counter 74. The output of the delay line 70 is connected to the first input of the trigger 71. The first output of the counter 72 is connected to the first input of the counter 74 and the second bus output of the synchronizer, which is connected to the second bus input BRESLAU 5. The first output of the counter 74 is connected to a second input of the counter 72. Output 2 of counter 72 is connected to the input of the decoder 73. Output 2 of counter 74 is connected to the input of the decoder 75, 76. Outputs 1, 2 trigger 71, the output bus of the decoder 73 and the output bus decoder 75 form a first synchronizer 4. Output 1 counter 72 is connected to the first input of the trigger 77, the output of which is connected to the first input of the counter 74, the first output of which is connected to the input 2 trigger 77. The output bus of the decoder 76 forms an output bus of the third output of the synchronizer.

The claimed device implements the method of determination of object motion parameters from the angular measurements and the initial value range for the case of polynomial trajectories with unknown coefficients.

Let us assume that in the Cartesian coordinate system, the center of which is PPP, the movement of the object is described by a polynomial model with unknown coefficients

where x=x(t), y=y(t), z=z(t) be the Cartesian coordinates of the object;

A={a, i=0, 1, ..., K}, B={b, i=0, 1,..., K}, C={c, i=0, 1, ..., K} is the row vector of the coefficients of the model, movement;

Q={q, i=0, 1, ..., K}^{T}- a column vector of linearly independent functions q_{i}=q_{i}(t);

T - the sign of transposition.

With the fitness measured angles of azimuth α=α(t) and place β=β(t). In addition, it is assumed that at time t_{0}we know the initial value of the slant range r_{0}=r(t_{0}), which in practice is specified either absolutely (for example, at the time of the start of the aircraft), or approximately. The last example is typical of the situation when, in addition to the US has an active high-precision system locations, which periodically gives US the current measurement of slant range. In between measurements the CA operates offline.

Considering the fact that x=rcosαcosβy=rsinαcosβ, z=rsinβ, we write the ratio

Let us choose the vector With one nonzero component (for example, C_{j}, j ∈ 0, 1, ...K) and convert (2) to the form

where

A_{j}={a_{j}/c_{j}, j=0, 1, ..., K}={a_{ij}, j=0, 1, ..., K},

B_{j}={b_{j}/c_{j}, j=0, 1, ..., K}={b_{ij}, j=0, 1, ..., K},

C_{(j)}={c_{0}/c_{j}, ..., c_{j-1}/c_{j}c_{j+1}/c_{j}, ..., c_{K}/c_{j},}={c_{ij}, i=0, 1, ..., K, i≠j},

Q_{(j)}={q_{0}, ..., q_{j-1}, q_{j+1}, ..., q_{K}}={c_{ij}, 0, ,
..., K, i≠j}.

From (2) and (3) after simple transformations we get

We introduce a temporary grid {t_{0}, ..., t_{N}} (where t_{i}∈ [t_{0}, T], i=0, 1, ..., N), the nodes of which are tied measuring α(t_{i}), β(t_{i}), i=0, 1, ..., N, the running CONDITION. This grid will form L mismatched sets of T_{l}={t_{0(l)}, ..., t_{P(l)}}, where l=1, 2, ..., L, P≤N, t_{i(l)}∈ {t_{0}, ..., t_{N}}, t_{i+l(i)}>t_{i(i)}, T_{(l)}<T_{(m)}≠0, l, m ∈ {1, 2, ..., L}.

If we assume that for fixed l ∈ {1, 2, ..., L} there is an array of angular measurements {α(t_{k(l)},) β(t_{k(l)},) k=0, 1, ..., P}, where P=3K+2, then to nd the unknown vector of coefficients A_{(j)}B_{(j)}and C_{(j)}it is necessary to solve the system of linear algebraic equations

It should be remembered that the sets T_{l}(l={1, 2, ..., L}) are used only in the first stage and in the absence of measurement errors lead to the same solution of system (5). However, the presence of measurement errors allows to consider the problem of estimating the vector of coefficients A_{j}In_{j}and C_{(j)}as statistics.

The finding of (5) values of the vectors A_{j}B_{j}and C_{(j)}ends the first stage of determination of parameters of target motion in accordance with the development of the authorized method.

Differentiating separately the numerator and denominator of expression (3) at time t, can be written

where the symbol f^{(l)}refers to the first derivative of the function f(^{.}).

Separating variables, the system (6) is converted to the form

where dr and dt is the differential of the dependent and independent variables, respectively.

From (7) it follows that the task of determining the distance r=r(t) according to goniometric measurements is described by linear differential equations. Integrating (7), we obtain

wherematches eitheror

From(8)it follows

where r_{0}=r_{0}(t) the initial condition for the solution of the Cauchy problem.

In order to get rid of in the expression (9) is derived from α^{(l)}=α^{(l)}(τ) and β^{(l)}=β^{(l)}(τ), we will use the obvious relationships, which follow directly from(2), (3), (4) and (6)

,

,

,

Thus, from (9) it follows that the slant range r=r(t) can be found only on the angular measurements α(τ
), β(τ), τ ∈ [t_{0}t] and the initial value of r_{0}.

According to the found range can be restored movement of the object

In turn, defined in (10) Cartesian coordinates can easily be calculated vector coefficients a, b, C.

Taking into account the discrete nature of income measurement, the operation of integration in (9) can be replaced by a finite sum

Formulas (9) and (11) represent respectively the continuous and discrete versions of determining the distance.

Passive direction-finding system (figure 1) works as follows. Dimension codes bearings α(t_{k}), β(t_{k}), k=0, 1, ... 3K+2 output device-forming bearings 1 are received at the transducer block 2. The block 1 may be performed, as shown in [6]. The unit transducers 2 may be performed, as shown in figure 2. Codes α(t_{k}and β(t_{k}come on 10, 11, 12, 13, 14 converters codes, the output of the Converter 10 codes cosβ(t_{k}), at the output of the code Converter 12 are codes sinα(t_{k}), at the output of the code Converter 13 codes sinβ(t_{k}), the code Converter 14, respectively tgβ(t_{k}). The time bearing α(t_{k}and β(t_{k}come on 3 input buffer of the storage device is recorded on the control signals from the synthesizer 4 registers
. Codes cosα(t_{k}), cosβ(t_{k}), sinα(t_{k}), sinβ(t_{k}), tgβ(t_{k}) is recorded by the control signals from synchronizer 4 respectively in the registers,,,,After recording codes in all registers of the buffer memory device 3 of the last on the control signal from the synchronizer 4 is written into the block for solving systems of linear algebraic equations 5. Codes, time arrive at the first input of the block forming the basis functions 6 and to the second input of the evaluation unit of the motion parameters 8. Block solutions of systems of linear algebraic equations 5 can be performed in accordance with [8], the latter processes inherent in the procedure, and similar account codes And_{i}In_{i}With_{(i)}i=0, 1, ..., K is fed to the input of unit assessment 7 (4)performing a statistical evaluation of calculated coefficients, as in real conditions, the process of finding inevitably accompanied fluctuation errors. Assessment of required factors from the output of the unit assessment 7 (figure 4) are fed to the first input of the unit of estimation of motion parameters 8 (figure 5; 6; 7; Fig). The third input of the unit assessment, parametro the movement act codes of basis functions Q(t_{
k}from forming unit basis functions (Fig.9), the control signals from the synchronizer 4. The block structure 8 (figure 5) consists of computing 18, 19, 20. The transmitter 18 (6) of the apparatus implements the expression (6), and its output codes are proportionally γ_{A}(t_{k}), α'(t_{k}), β'(t_{k}). The transmitter 19 (7) of the apparatus implements the expression (7), and its output are codes in proportion Ψ_{Aj}(t_{k}). The transmitter 20 (Fig) apparatus implements the expression (10), (11), and its output are codes in proportion to the Cartesian coordinates of the target x, y, z at the current time, which is fed to the input of the display device 9.

Consider the operation of the synchronizer 4 (figure 10).

The pulse output 2 device forming bearings 1 (figure 1) are fed to the counting input of the counter 72, which generates an address code received at the input of the decoder 73. The pulses from the second input unit 1 go to the second input of the trigger 71, the output of which sets the POPS 15_{1}...15_{6}in the recording mode. At the first input of the trigger 71 receives the pulses from the second output unit 1 through the delay element 70, forming the output signals of the read information of the POPS 15_{1}...15_{6}. After counting 6 Ll(3k+2) pulses from unit 1, the output of the counter 72 will appear impulse overflow, which the village who shall serve at the input 1 of the counter 74 and the output 2 device synchronization
who gives the command "start" to start the calculation. Pulse overflow goes to 1 input trigger 77, the output of which sets the start signal of the counter 74, which generates a read address from the register 16_{1}...16^{L} _{6(3K+2)}. Address code is supplied to the decoders 75, 76, which define the procedure code reading from registers 16_{1}...16^{L} _{6(3K+2)}codes with BLT 3 1 and BSE 6 figure 1.

Pulse overflow with input 1 counter 74 is fed to the input 2 trigger 77, which sets the counter 74 in the mode disable accounts, and input 2 counter 72, which sets the mode to resolve the account, and the cycle repeats again.

LITERATURE

1. The patent of Russian Federation №2124222, C1, 6G01S 13/46.

2. The patent of Russian Federation №2012902, 5G01S 13/46, 1974.

3. USSR author's certificate No. 1508235, G06F 15/36, 1987.

4. USSR author's certificate No. 1097072, G01S /1352, 1987.

The device is passive dynamical system containing the device forming bearings, a buffer memory device, a unit for solving systems of linear algebraic equations, the display device, the synchronizer unit assessment calculated coefficients, characterized in that it additionally introduced unit converters, block the formation of the basis functions, the unit of estimation of the motion parameters, if this is m first output device forming bearings connected with the third input buffer of the storage device to write the corresponding code points in time bearing α
(t_{k}and β(t_{k}and with the first input unit converters, the output of which is connected to the first input of a buffer memory device for recording the codes cosα(t_{k}), cosβ(t_{k}), sinα(t_{k}), sinβ(t_{k}and tgβ(t_{k}), the first output buffer memory for issuing codes cosα(t_{k}), cosβ(t_{k}), sinα(t_{k}), sinβ(t_{k}and tgβ(t_{k}) connected to the first input of the block for solving systems of linear algebraic equations, the first output of which through the block assessment calculated coefficients connected to the first input of the unit of estimation of motion parameters, the output of which through the display device connected to the output of the passive dynamical system, the second output buffer memory for issuing the relevant codes of times bearing α(t_{k}and with β(t_{k}) connected to the first input of the block forming the basis functions and the second input unit of estimation of motion parameters, the first output unit forming the basis functions connected with the third input unit for solving systems of linear algebraic equations, the second output unit forming the basis functions connected with the third input of the unit of estimation of motion parameters, the second output of the device forming bearings connected to the input si is chronister,
the first output of which is connected with the second input control signals of the buffer storage device, the second output from the second input unit of solving systems of linear algebraic equations, the third output to the second input of the conversion unit basis functions, where α(t_{k}- the value of the azimuth angle depending on the time t_{k}and β(t_{k}- the value of the elevation angle depending on the time t_{k}.

**Same patents:**

FIELD: radio engineering, applicable for location of posthorizon objects by radiations of their radars, for example, of naval formations of battle ships with operating navigational radars with the aid of coastal stationary or mobile passive radars.

SUBSTANCE: the method consists in detection of radiations and measurement of the bearings (azimuths) with the use of minimum two spaced apart passive radars, and calculation of the coordinates of the sources of r.f. radiations by the triangulation method, determination of location is performed in three stages, in the first stage the posthorizon objects are searched and detected by the radiation of their radars at each passive radar, the radio engineering and time parameters of radar radiations are measured, the detected radars with posthorizon objects are identified by the radio engineering parameters of radiations and bearing, and continuous tracking of these objects is proceeded, the information on the objects located within the radio horizon obtained from each passive radar is eliminated, the working sector of angles is specified for guidance and tracking of the selected posthorizon object, in the second stage continuous tracking of one posthorizon object is performed at least by two passive radars, and the time of reception of each radar pulse of this object is fixed, in the third stage the period of scanning of this radar, the difference of the angles of radiation by the main radar beam of each passive radar and the range to the posthorizon object with due account made for the difference of the angles of radiation are determined by the bearings (azimuths) measured by the passive radar and the times of reception of each pulse of the tracked radar. The method is realized with the aid at least of two spaced apart passive radars, each of them has aerials of the channel of compensation of side and phone lobes, a narrow-band reflector-type aerial, series-connected noiseless radio-frequency amplifier, multichannel receiving device, device of primary information processing and measurement of carrier frequency, amplitude and time of reception of signals of the detected radar, device of static processing of information and measurement of the bearing, repetition period, duration of the train and repetition of the pulse trains and a device for calculation of the difference of the angle of radiation of the aerials of the passive radars by the detected radar.

EFFECT: reduced error of measurement of the coordinates of posthorizon sources of radio-frequency radiations.

3 cl, 5 dwg

FIELD: radio engineering.

SUBSTANCE: method can be used for systems for finding of location of radio signal radiation sources. Method includes receiving of radio signal by means of three non-directional aerials which form ring-shaped equidistant mesh, measuring phase difference among signals from aerials for all the bases formed by reference and other aerials of mesh and finding of primary estimation of direction finding to the source taking those phase differences into account. Aerial signals are additionally and simultaneously conversed into sum-difference signals due to subtraction of reference aerial signal from signals of other aerials. Then signal differences received are added in the first channel and subtracted in the other one and complex amplitude of sum-difference signals S_{m} are measured. Amplitudes are conversed in the neighborhood of primary estimation of direction finding θ^ into complex angular spectrum of , where m=1, 2 is number of sum-difference channel, θ is possible values of direction finding to source of θ^-π/2<θ<θ^+π/2, D^{·} _{1}(θ)= cos (√3πR/λ·sinθ)-exp(i3πR/λ·cosθ), D^{·} _{2}(θ)= isin(√3πR/λ·sinθ)are directional patterns of sum-difference channels, λ is radiation wavelength, R is radius of mesh. Direction finding is estimated from location of maximum of complex angular spectrum module. Location of maximum of complex angular spectrum module is estimated relatively primary estimation of direction finding by introducing correction in form of relation of first and second derivatives, V(θ^)' and V(θ^)'' correspondingly, of module of complex angular spectrum for direction finding in point of its primary estimation of ▵θ= V(θ^)'/V(θ^)''. Values of first and second derivatives V(θ^)' and V(θ^)'' of module of complex angular spectrum are determined from values of complex angular spectrum in close neighborhood of primary estimation of direction finding V(θ^)'=(V(θ^+δ)-V(θ^-δ))/2δ, V(θ^)''= =(V(θ^+δ)-V(θ^-δ-2V(θ^))/δ², where δ is differentiation constant.

EFFECT: improved precision of direction finding.

3 cl, 5 dwg

FIELD: radio engineering, applicable for determination of the bearing and frequency of the source of radio signals in the systems of automatic detection of radio emissions.

SUBSTANCE: the method is based on reception of the signal of the source of radio emission by two antennas, whose focal axes are shifted relative to each other approximately by the width of the directional pattern, measurement of the frequency and amplitudes of the received signals and approximate estimation of the bearing of the radio signal by comparison of the amplitudes of the signals received by the antennas, the centers of aperture of the antennas are spaced at a distance exceeding the wavelength of the signal under inspection, approximate estimation of the bearing of the radio signal source is effected by subtraction of the ratio of the difference of the amplitudes of the signals received by the antennas to their sum simultaneously with measurement of the frequency and amplitudes of the signals received by the antennas, the phase shift between them is measured, several values of the bearing of the source of radio signals are calculated according to the measured difference of phases, they are compared with their approximate estimation of the bearing, the value of the bearing is selected from those calculated according to the difference of the phases, the closest to that determined by the ratio of the difference of the amplitudes to their sums, and taken as a bearing to the source of radio signal.

EFFECT: enhanced efficiency of direction finding and simplified realization due to the reduced number of antennas and receiving channels.

1 dwg

**FIELD: radar engineering and cellular communication systems for locating mobile stations.**

**SUBSTANCE: proposed method is distinguished from prior art in saving satellite measurement results incorporating abnormal errors and reducing weight of these erroneous measurements followed by repeated searching for subscriber's mobile station location using corrected weighting coefficient. This operation is executed until sum of weighed error measures corresponding to corrected location of subscriber's mobile station using refined weighting coefficients reduces below threshold value. Corrected estimate of subscriber's mobile station location obtained in this way is assumed as final estimate of subscriber's mobile station location.**

**EFFECT: enhanced precision and reliability of locating subscriber's mobile station.**

**3 cl, 5 dwg**

FIELD: the invention refers to measuring technique and may be used for passive detection and direction finding of communications systems, location and control, using complex signals.

SUBSTANCE: the technical result is achieved due to using of the reliability criterion of detection-direction finding and solution of the problem of the "reference signal" at compression of signal spectrum with low spectral power density of an unknown form. That approached quality of matched filtering at low signal-to-noise ratios to maximum attainable quality for the completely known reference signal. At that sensitivity of detection and direction finding of signals with extended spectrum increases in relation to the prototype in N times where N - a number of antennas of the receiving array.

EFFECT: increases effectiveness of detection-direction finding of the sources radiating broad class signals with extended spectrum of unknown form having energy and time secretiveness.

2 cl, 1 dwg

FIELD: the invention refers to control-measuring technique and may be used by the Road-Patrol Service.

SUBSTANCE: the acoustic mode of definition of the speed of the movement of an automobile in conditions of bad visibility is in picking out a tone component out of the spectrum of the noise emitted by automobiles and changes of Doppler frequency in time of this tone component are measured. According to the changed meanings of Doppler frequency the speed of the automobile is defined and also the time of passing of the automobile past the station of the Road-Patrol Service and the number of the road stripe.

EFFECT: provides possibility of definition and control of kinematic characteristics of automobiles on multi-stripe route in conditions of bad visibility.

2 dwg

FIELD: computer engineering.

SUBSTANCE: device contains shift register, inputs, AND elements, OR element, trigger, AND element, OR element, NOT element, AND elements, trigger, reverse shift register, AND element, OR element; NOT element, clock impulses generator, counter, outputs, measuring impulses counter, trigger, AND element, inputs.

EFFECT: increased precision when measuring azimuth of targets with low effective dissipation area, located a long way off, due to decreased error of measurements of program measuring device with protection from effect of splitting of a stack of these targets.

6 dwg

FIELD: radio engineering.

SUBSTANCE: device has receiver, distance converter, synchronizer, azimuth and location angle transducer unit, indicator unit, TV distance transducer, TV coordinator unit, secondary processing unit and unit composed of two adders.

EFFECT: high accuracy in determining angular coordinates in optical visibility zone.

1 dwg

FIELD: system for determining distance or velocity.

SUBSTANCE: method comprises setting the acoustical receiver in front of the finis line out of the trace of the divers, recording the time moment when the divers pass through the finish line, and processing initial signals from the acoustical receiver by means of a unit for processing information and computer.

EFFECT: enhanced precision.

2 cl, 2 dwg

FIELD: systems for determining distance or velocity.

SUBSTANCE: method comprises setting the hydroacoustic receiver at the finish line out of the trajectory of the submarine objects and processing the output signals of the hydroacoustic receiver with the use of a computer.

EFFECT: expanded functional capabilities.

2 cl, 2 dwg

FIELD: radio engineering.

SUBSTANCE: system can be used for detection of radio radiation sources and for measurement of radiated signals frequency when they are directed onto source. Radio inspection naval system has N receiving channels mounted on boards - by N/2 at each board, even receiving channels signals adder, odd receiving channels signals adder, even receiving channels frequency-measuring unit, odd receiving channels frequency-measuring unit, unit for analog-to-digital conversion of results of measurements and for finding bearing onto radio radiation source, two switches and two high frequency amplifiers. Any receiving channel of the system has receiving aerial connected in series with high frequency amplifier, power divider, which has output to be first output of receiving channel, and receiver, which has output to second output of receiving channel. Radiation patterns of receiving aerials in plane of direction finding cross at level which is equal or higher than 0,5; in total they cover sector of 360 degrees. Inputs of even receiving channels signals adder are connected with first outputs of even receiving channels. Output of adder is connected with input of even receiving channels frequency measuring unit. Inputs of odd receiving channel signals adder are connected with first outputs of odd receiving channels. Output is connected with input of odd receiving channels frequency measuring unit. First N inputs of unit for conversion of results of measurements and for finding direction onto radiation source are connected with second outputs of receiving channels. (N+1)-st input is connected with output of even receiving channels frequency measuring unit. (N+2)-nd input is connected with output of odd receiving channels frequency-measuring unit. Output is connected with control inputs of first and second switches correspondingly. Outputs of switches are connected with inputs of first and second high frequency amplifiers correspondingly. Phase difference measuring unit is introduced into the system. First and second inputs of phase difference measuring unit are connected with outputs of first and second high frequency amplifiers correspondingly. Receiving channels power dividers are made four-channeled. Third and fourth outputs of power dividers have to be third and fourth outputs of receiving channels. Centers of opening of receiving aerials are spaced apart in direction finding plane for distance, which prevails wavelength of inspected signals, by one order. Third inputs of first to N-th receiving channels are connected with first to N-th signal inputs of first switch. N-th signal input of second switch is connected with fourth output of first receiving channel. Fourth inputs of second to N-th receiving channels are connected with first to (N+1)-st signal inputs of second switch. Output of phase difference meter is connected with (N+3)-rd input of device for analog-to-digital conversion and for finding bearing onto radiation source measurement results. Precise value of bearing is determined by phase method, which excludes errors caused by lack of identity of aerials and error in measurement of amplitudes of signals to be received.

EFFECT: simplified design; reduced number of aerials; high precision of direction finding; reduced errors.

2 dwg

FIELD: radio direction-finding, applicable for determination of direction to electromagnetic radiation.

SUBSTANCE: the direction finder uses a large-aperture receiving active phased array representing a set of modules positioned on the surface of the helicopter rotor. All-round view of the space is provided due to rotation of the helicopter rotor. Phasing in the antenna is realized by means of auxiliary radiation that is formed by the primary feed of the helicopter. The controlled phase in each module is set practically instantaneously irrespective of the other modules of the array, for provision of independent phasing of each radiator use is made of the information contained in the auxiliary radiation.

EFFECT: provided determination of the direction to the radiating objects and all-round view of the space at a high rate.

1 dwg

FIELD: radio engineering.

SUBSTANCE: method can be used for high precision measurement of coordinates of radio-frequency radiation sources which radiate continuous or quazi-continuous signals by means of flying vehicles. Method is based upon reception of signals from radio-frequency radiation sources at three flying vehicles, re-translation of signals to central processing board and calculation of coordinates of radio-frequency radiation sources from difference in radial velocities of flying vehicles. Signals being re-translated from flying vehicles are subject to additional mutual correlation processing. Difference in radial velocities is calculated on the base of measurement of compression factors determined by maximizing of mutual correlation function of signals re-translated from flying vehicles. Coordinates of radio-frequency radiation sources radiating wideband signals is provided.

EFFECT: widened functional capabilities.

FIELD: television, possible utilization for observing circular panoramic view of local area and determining direction towards an object, for example, forest fire, beacon, rocket launch and the like.

SUBSTANCE: circular panoramic image is generated in plane of sensitive area of photo-receiver. In the panoramic image all objects are represented by thin lines, moving along radius from scanning center towards objects. To create such an image, special mirror optical device is utilized, representing a system of circular spherical mirrors. Object produces an image of line, which is registered and its position is utilized to determine horizontal direction towards a new irregularity. Invention can be utilized in completely different spectrum range, depending on the type of radiation receiver and parameters utilized during manufacturing of optical device.

EFFECT: increased effective distance, resolution capacity, decreased probability of false response.

4 dwg

FIELD: radio engineering.

SUBSTANCE: proposed method and device can be used for measuring difference in signal arrival time from spaced receiving positions and in its reception frequency dispensing with a priori information about signal structure and about modulating message. Proposed device has two signal receiving means, device for defining arguments of signal two-dimensional digital cross-correlation function maximum , two analog-to-digital converters, three fast Fourier transform processors, cross-spectrum computer, and arithmetical unit. Proposed method depends on calculation of two-dimensional cross-correlation function using inverse fast Fourier transform of plurality of cross-spectrums, spectrum of one of signals being transformed for generating mentioned plurality of cross-spectrums by way of re-determining index variables.

EFFECT: enhanced computing efficiency, eliminated discreteness error.

3 cl, 1 dwg