# Mobile direction finder

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

SUBSTANCE: the declared arrangement allows determine the parameters of curvilinear trajectories on goniometrical data of the single-channel mobile direction finder. The arrangement has a device of forming a bearing, a coefficients calculation block, an inertial navigational system block, a buffer storage device, a block of solving the system of linear algebraic equations, a block of calculation of rectangular coordinates of the target, a reflection arrangement.

EFFECT: determines the parameters of curvilinear trajectories.

5 dwg

The invention relates to radiolocation 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, the block solving a system of linear algebraic equations, block Medianik filters, unit location, unit inertial navigation system, the display device.

A disadvantage of this device is to limit functionality as the device [2] is not possible to determine the target location by goniometric data for curvilinear motion models.

Closest to the claimed 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, the unit of assessment, the evaluation unit Cartesian coord. the t purpose.

The disadvantage of the prototype is the relative complexity of construction of the measuring channel, as well as the need to use antennas with narrow beam in azimuth and elevation.

The proposed device allows to determine the parameters of curved trajectories on current goniometric data rolling single-band direction finder, which is achieved technical result.

The problem of determining the parameters of curvilinear trajectories of objects moving single-channel 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-PREROUTING, unit of assessment, the evaluation unit Cartesian coordinates of the target, unit of assessment, and instead of computer-imaging unit introduction the unit for computing the coefficients, and the organization of communication between them.

Features mobile direction finder that contains the device forming bearings, a unit for computing the coefficients, a buffer memory device, the block of systems of linear algebraic equations, the evaluation unit Cartesian coordinates of the target, the display device, the synchronizer, the inertial unit is istemi navigation the first output device forming bearings connected to the first input of the computing unit coefficients, the output of which is connected to the first input buffer memory device, the first output of which is connected to the first input of the computing unit Cartesian coordinates of the target, the output of which codes proportional to the Cartesian coordinates of the target are transferred to a display device, the first device forming bearings connected to the third input of the buffer storage device, and after recording in the registers of the buffer memory device codes latter on the control signal from the synchronizer is recorded in the block solving a system of linear algebraic equations, the second output of the device forming bearings connected to the input synchronizer the first output of which is connected with the second input unit of solving the system of algebraic equations, the second output of the synchronizer is connected with the second input buffer of the storage device, the output unit inertial navigation system is connected with the second input of the computing unit coefficients, and output a block of solving the system of linear algebraic equations in the unit for computing the Cartesian coordinates of the target are estimates of required factors.

As follows from the description of the totality of the features of the invention, the novelty of the solution of the problem consists in the introduction instead of computer-shaper of the unit for computing the coefficients and the exception block assessment as well as communication between them that will allow us to determine the location of goniometric data single-channel direction finder, it will greatly simplify the design of the rolling direction finder compared to the prototype.

Figure 1 shows the structural diagram of the rolling direction finder, it contains: a device forming bearings 1, the unit for computing the coefficients 2, a buffer memory device 3, the block solving a system of linear algebraic equations 4, the computing unit Cartesian coordinates of the target 5, the display device 6, the unit inertial navigation system 7, the synchronizer 8. Figure 2 presents a structural diagram of a possible implementation of a computing unit coefficients (BVK) 2 (figure 1), it contains the first 11, second 12, 13 third, fourth 21_{1}...(3K+1)-th, 21_{K+1}, 22_{1}...22_{K+1}, 20_{1}...20_{K+1}th multiplier, the first 14 and second 15 adders, the first 16 and second 17, 18 third, fourth 19_{1}, (K+1)th 19_{K+1}th - converters codes.

Figure 3 presents a structural diagram of a possible implementation of the buffer storage device 3 (Fig 1), it consists of 24_{1}...24_{3K+8}scratchpad memory devices (POPS), 25_{1}...25^{N} _{(3K+8)}register.

4 shows a structural diagram of a possible implementation of a computing unit Cartesian coordinates of objective 5 (figure 1),it contains the first 26_{
1}...3K-th, 28_{K}the multiplier products, the first 29 and second 30, third 31 adders.

Figure 6 presents a structural diagram of a possible implementation of the synchronizer 8 (figure 1), it contains the delay line 32, the trigger 33, the first counter 34, the second counter 35, the first decoder 35, the second decoder 38, the clock 37.

Figure 1 is a first output of the device forming bearings 1 connected to the first input of the computing unit 2 coefficients, the output of which is connected to the first input buffer of the storage device 3, the first output of which is connected to the first input of the computing unit Cartesian coordinates of the target 5, the output of which codes proportional to the Cartesian coordinates of the target are transferred to a display device, the first device forming bearings 1 is connected with the third input buffer of the storage device 3, and after recording in the registers of the buffer memory device codes latter on the control signal from the synchronizer is recorded in the block solving a system of linear algebraic equations 4, the second output the device forming bearings 1 is connected to the input of the synchronizer 8, the first output of which is connected with the second input unit of solving the system of algebraic equations 4, the second output of the synchronizer 8 is connected with the second input buffer of the storage device 3, the output unit inertial navigation system 7 is connected with the second input of the computing unit of the coefficients 2, moreover, from the output of the block solving a system of linear algebraic equations 4 in block calculate the Cartesian coordinates of the target 5 are estimates of required factors.

In figure 2 the first bus of the first input 11 of block 2 is connected with the input of the converters codes 16 and 17, the second bus to the first input 1_{2}connected to the input of the code Converter 18, the output of the code Converter 16 to the first input of the multiplier 11 and the first input of the multiplier products 21_{1}...21_{K+1}, the outputs of which are respectively the second 1_{2}...1_{K+2}the output bus unit 2 (figure 1), the output of the code Converter 17 is connected to the first input of the multiplier 12 and the first inputs of the switches 22_{1}...22_{K+1}, the outputs of which are 21_{K+3}...21_{2K+4}th bus output unit 2 (figure 1) the output of the code Converter 18 connected to the first input of the multiplier products 13 and the first input of the multiplier 20_{1}...20_{K+1}, the outputs of which are 1_{2K+5}...1_{3K+6}th bus output unit 2 (figure 1), the inputs of the converters codes 19_{1}...19_{K+1}connected with the third bus of the first input block 2 (figure 1), the inputs of the converters codes 19_{1}...19_{K+1}connected with the second inputs of the multiplier products 21_{1}...21_{K+1}, 22_{1}...22_{K+1}, 20_{1}...20_{K+1}the first bus to the second input 21 of the block 2 (figure 1) is connected with the second input of the multiplier 11, the second the second bus input 2_{
2}block 2 (figure 1) is connected to the second input of the multiplier 12, the third bus to the second input 2_{3}unit 2 is connected to the second input of the multiplier 13, the output of switch 11 is connected to the first input of the adder 14, the output of multiplier 12 is connected to a first input of the adder 15, the output of the multiplier 13 is connected with the second input of the adder 15, the output of the adder 15 is connected with the second input of the adder 14, the output of which forms the output bus 1_{1}block 2 (figure 1).

Figure 3 the first bus of the fourth input 4_{1}The BLT is connected to the first input of the POPS 24_{1}first bus third 1_{1}...1_{3K+5}connected respectively to the first inputs of the POPS 24_{3}...24_{3K+8}the first bus , a second input connected with the second inputs of the POPS 24_{1}...24_{3K+8}second the POPS 24_{3}...24_{3K+8}connected respectively to the first inputs of the registers 24_{3}...24_{3K+8}connected respectively to the first inputs of the registers 25^{1} _{1}...25^{N} _{3K+8}the inputs of the registers 25^{1} _{3}...25^{N} _{3K+8}form the output bus of the first BLT of the 1^{1} _{3}...1^{N} _{3K+8}the outputs of registers 25^{1} _{2}...25^{N} _{2}form the output bus of the second output BLT, the outputs of registers 25^{1} _{1}...25^{N} _{1}form a first output bus BLT, the second I is dy registers 25^{
1} _{1}...25^{N} _{3K+8}connected with the second 2_{2}the second bus input BLT.

Figure 4 first 1_{1}...1_{3K}tires first input unit 5 is connected with the first inputs 26_{1}...3K-th 28_{K}multiplier products, the outputs of the first 26_{1}...26_{K}multiplier products are connected respectively with 1...K-m To the inputs of the first adder 29, the outputs of the K+1-th 27_{1}...27_{K}th switches are connected respectively with the first 1...K-m To the input of the second adder 30 outputs (2K+1)-th 28_{1}...3K-th K multiplier products are connected respectively with the first K-m To the outputs of the third adder 31, the bus output of the adder connected to the output unit 5, the second blocks of the switch 26_{1}...26_{K}, 27_{1}...27_{K}, 28_{1}...28_{K}connected to the first bus and the second input unit 5, K+1-th inputs of the adders 29, 30, 31 are connected respectively with the tire 1_{3K+2}, 1_{3K+3}, 1_{3K+4}, the first input unit 5.

Figure 5 the clock input 8 (figure 1) is connected to the input of the counter 34 with the second input of the trigger 33 and to the first input of the trigger 33 through the delay element 32. The first and second outputs of the trigger 33 is connected respectively with the first 2_{1}and the second 2_{2}bus of the second output unit 9, the second output of the counter 34 through the decoder 35 is connected with the third bus 2_{3}the second input unit 9, the first output of the counter 34 forms a fourth 2_{4}Shi is at the second output unit 9 and the bus of the first output unit 9,
the first output of the counter 34 is connected to the first input of counter 36, the first output of which is connected to a second input of the counter 34, the second output of the counter 36 is connected to the input of the decoder 38, the output of which is 5-th bus of the second output 25 of the synchronizer 8 (figure 1), the generator output clock pulses is connected to a second input of the counter 36.

The claimed device implements a method for estimating the parameters of krivolineynoe trajectories on the basis of high-precision measurements of the angle of the moving target is a single-channel signal at a given software change angle using polynomially models of target motion.

Let the Cartesian XYZ coordinate system (see figure 1) position the rolling single-channel signal (R) flat pattern is set vector

and object (S) - vector

The movement of the object is described by the following model:

where a, b, C - the unknown vector coefficients, Q(t) - vector of linearly independent functions, T is the transpose operation.

The directivity of the signal lies in the plane (see figure 1), which is rigidly connected with the geometric centre of the direction finder and guidelines

defining the axis of its rotation.

In the future, under single-channel direction finder will understand the meter, providing detection and tracking of targets in angle θ(t) for a given program change (management) on the corner

Angle θ(t) is uniquely associated with μ(t), azimuth α(t) and the elevation angle β(t) an object of known value:

When performing correlation α(t)-μ(t)=nπtaken

If β(t)=±π/2, regardless α(t) and μ(t) are

θ(t)=±π/2.

The equation of monitoring single-channel direction finder is

where θ_{k}=θ(t_{k}), and Δθ_{k}=Δθ(t_{k}- measurement error.

In addition to arrayrelies given set of samples(where μ_{k}=μ(t_{k})), corresponding software management μ(t)characterizing the spatial position above the plane with an accuracy of angle θ for any time t.

We introduce manynorms of matrices, which are most widely used in theory and practice of processing of measuring information. In relation to the fact many believe, the following inequality

where

W is a given weight matrix.

In each specific practice case, taking into account the possibilities of the used rolling direction finder, and observation conditions of the object, is not difficult to find such constants γ_{m}and ϕ_{m}for which inequality (10), (11) will take place. These inequalities define the minimum required amount of a priori information, attracted to the problem of estimating the motion parameters of the object.

You want to develop a method of estimating the motion parameters of the object according to the rolling one-channel signal, taking into account models(1)-(12).

The SOLUTION of the PROBLEM IN a DETERMINISTIC SETTING

For further discussion we will use the well known relation (see Fig 1)

where

the vector of the relative coordinates of the target,

r(t) - hatchback range.

The formula (7) can be written in a slightly different form:

To determine the values

which, on account of (3) and (13) allow us to write

Substituting (19), (20) in (16), we obtain the expression

which after simple transformations takes the following form:

Applying to (22) transposition, we get

where

Introducing the notation G=[A^{T}B^{T}C^{T}]^{T}instead of (23) for a single time t can be written

accordingly, for N points in timeget the

If N=3(K+!) and detΨ≠0, then the system of equations (26) in the absence of measurement errors allows you to find the vector G of the desired coefficients of model (3) based on collectionsand:

Expressions (13)-(27) give the solution of the problem of estimating the motion parameters of the object according to the single-channel rolling direction finder in a deterministic setting.

The SOLUTION of the PROBLEM IN STATISTICAL PRODUCTION

When redundancy of measurements(when N=3(K+1) and taking into account errors the task of finding the optimum estimate vectorcan be solved in optimal production from the condition of minimum of the following quadratic forms.

where

Optimal assessmentobtained on the basis of the minimization of J(G)is the solution of a system of linear algebraic equations

where the matrixand vectordisclosed in the notes to the formulas (10) and (11).

Directly from (30) we obtain the final expression for the required evaluation

The problem of estimating the parameters of model (3) observations, as shown in [3].

Mobile direction finder (figure 1) works as follows: code dimensions bearing θ(t_{k}), codes μ(t_{k}), as well as the corresponding moments of time t_{k}output device forming a bearing received at the first input of the unit for computing the coefficients, which hardware implements expression 24, 12 10, 11. On the first bus 1_{1}the first input BVK (figure 2) enters code, proportional μ(t_{k})bus 1_{2}enters code, proportional θ(t_{k})bus 1_{3}enters code, proportional is optional current time t_{
k}at the exit PC-16 is the code proportional to sinμ(t_{k}), the output PC-17 code, is proportional to cosμ(t_{k}), the output PC-18 code proportional tg^{-1}θ(t_{k}).

At the output of the transducers 19_{1}...19_{K+1}is the code proportionson the outputs of the multiplier products 21_{1}...21_{K+1}takes place transformations sinμ(t_{k}t_{i}...sinμ(t_{k}t_{i} ^{K+1}at the output of the multiplier products 22_{1}...22_{K+1}has codes that converts cosμ(t_{k}t_{i}...cosμ(t_{k}t_{i} ^{K+1}at the input of the multiplier products 20_{1}...20_{K+1}there are codes, proportional tg^{-1}θ(t_{k}t_{i}...tg^{-1}θ(t_{k}t^{K+1} _{i}. The first inputs of the multiplier products 11, 12, 13 enter codes, proportional, respectively, sinμ(t_{k}), -cosμ(t_{k}), tg^{-1}θ(t_{k}), the second inputs of these multiplier products arrive codes, proportional to the Cartesian coordinates of the direction finder, proceed with block 7 (Fig 1), which is made in accordance with [5]. And on the first bus of the first output 1_{1}(2) there are codes, proportional to f(t_{k}).

The calculation of the coefficients on the control signals from the output 1 of the synchronizer 8 are recorded in the BLT 3 (figure 3). In the intervals between beats of write BLT 3 is in mode is CityLine and on the measure reading information from the POPS 24_{
3}...24_{3K+8}recorded in the registers 25^{1} _{1}...25^{N} _{3K+8}. The order of recording information of the POPS 24_{3}...24_{3K+8}in the registers 25^{1} _{1}...25^{N} _{3K+8}controls the decoder 35 synchronizer 8. In the case of the 25^{1} _{1}...25^{N} _{1}written codes proportional toin the registers 25^{1} _{2}...25^{N} _{2}written codes, proportional to t_{i}in the registers 25^{1} _{3}...25^{N} _{K+4}codes, proportional to sinμ(t_{k}t_{i}...sinμ(t_{k}t_{i} ^{K+1}in the registers 25^{1} _{K+5}...25^{N} _{K+6}codes, proportional to-cosμ(t_{k}t_{i}...-cosμ(t_{k}t_{i} ^{K+1}in the registers 25^{1} _{2K+7}...25^{N} _{3K+8}codes proportional tg^{-1}θ(t_{k}t_{i}...tg^{-1}θ(t_{k}t^{K+1} _{i}. After recording codes in the registers of the latter on the control signal from the synchronizer 8 are recorded in the block for solving systems of linear algebraic equations 4, which may be performed in accordance with [4]. On a start signal, which is supplied from the second output of the synchronizer 8 to the second input block 4 (figure 1), which can be calculated according to [4], the latter is the second handles the orders of solutions of the equation (3.1).
Assessment of required factors from the output unit 4 receives at the first input of the unit for computing the Cartesian coordinates of the target 5. To the second input unit 5 receives the codes is proportional to the time t_{i}...t_{N}. Structure unit 5 implements the expression (3) and, consequently, its output are codes that is proportional to the Cartesian coordinates of the target x_{with}, y_{with}, z_{c}at the current time, which is coming to the display device 6.

Consider the operation of the synchronizer 8 (figure 5). The pulses from the output 2 of the device forming the bearing 1 is coming to the counter input of the counter 34, which generates an address code for the decoder 35 managing the order of entries in the registers 25^{1} _{2K+7}...25^{N} _{3K+8}(figure 4), after counting N pulses, the counter generates a signal to enable reading data from the registers 25^{1} _{1}...25^{N} _{1}, 25^{1} _{3}...25^{N} _{3K+8}and start BRSL AU 4, this signal enables the counter 36 for counting N pulses from the GTI 37, the counter 36 generates an address code for the decoder 36, which controls the order read from the registers 25^{1} _{2}...25^{N} _{2}where codes are stored the current time, after counting N pulses of the counter 36 generates the enable signal for the account of the counter 34. The pulse output 2 device is formirovaniya bearing 1 also receives on a second input of the trigger 35,
output signal which takes into account the POPS 24_{1}...24_{3K+8}in write mode, to the first input of the trigger 35 block 1 (figure 1) is transmitted through the delay elements forming the input signal to read information from the POPS 24_{1}...24_{3K+8}(figure 3).

LITERATURE

[1] the Patent of the Russian Federation 2124222 C1, 6 G01S 13/46, 1997.

[2] the Patent of the Russian Federation 2012902, 5 G01S 13/46, 1996.

[3] Robust estimation of the motion of the object according to the single-band direction finder. AVT 2002, s-32. Bulychev YG, suhardi A.N.

[4] speaker of the USSR №1508235, G06F 15/36, 1987.

[5] Granov GN. Differential-geometric method of navigation. M.: Radio and communication, 1980.

Mobile direction finder that contains the device forming bearings, a buffer memory device, the block solving a system of linear algebraic equations, the evaluation unit Cartesian coordinates of the target, the display device, the unit inertial navigation system, synchronizer, characterized in that it also introduced the unit for computing the coefficients, the first output device forming bearings connected to the first input of the computing unit coefficients, the output of which is connected to the first input buffer memory device, the first output of which is connected to the first input of the computing unit Cartesian coordinates of the target, the output of which codes proportional to the Cartesian coordinates of the target, received by the device is tabraani, the first output of the device forming bearings connected to the third input of the buffer storage device, and after recording in the registers of the buffer memory device codes latter on the control signal from the synchronizer is recorded in the block solving a system of linear algebraic equations, 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 unit of solving the system of algebraic equations, the second output of the synchronizer is connected with the second input buffer of the storage device, the output unit inertial navigation system is connected with the second input of the computing unit coefficients, and output a block of solving the system of linear algebraic equations in the unit for computing the Cartesian coordinates of the target do estimates of required factors.

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1 dwg

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

SUBSTANCE: the declared arrangement allows determine the parameters of curvilinear trajectories on goniometrical data of the single-channel mobile direction finder. The arrangement has a device of forming a bearing, a coefficients calculation block, an inertial navigational system block, a buffer storage device, a block of solving the system of linear algebraic equations, a block of calculation of rectangular coordinates of the target, a reflection arrangement.

EFFECT: determines the parameters of curvilinear trajectories.

5 dwg

FIELD: radio navigation, namely methods and devices for measuring radial speed of moving object.

SUBSTANCE: to exclude error of measurement of radial speed, caused by instability of frequency of Doppler speed meter transmitter, generation of time interval, during which Doppler frequency impulses are counted, is performed by dividing frequency of transmitter by means of fast action frequency divider.

EFFECT: increased precision when measuring radial speed during usage of simplified transmitter, which reduces costs of Doppler speed meter.

2 cl, 4 dwg

FIELD: radio engineering, communication.

SUBSTANCE: velocity metre includes a transceiving antenna, a circulator, a microwave filter, a mixer, a phase changer, a microwave generator, an amplifier, a modulator, a generation zone automatic tuning unit, a Doppler frequency metre and a tracking frequency-digital converter, a computer for calculating the longitudinal and vertical components of velocity, ground velocity and drift angle, a unit for determining, in frequency form, a correction signal caused by wind velocity and direction error, and a display. The unit for determining, in frequency form, a correction signal caused by wind velocity and direction error includes a sea force switch, a unit for inputting flow velocity and direction, wind velocity and direction, two converters for converting rotational speed to pulse frequency, two rectangular pulse former, a pulse former with reference frequency of 100 Hz from sinusoidal voltage with frequency of 400 Hz, two frequency subtractor circuits with output stages.

EFFECT: increased accuracy of measuring velocity.

2 cl, 2 dwg