Method of processing information in coherent laser locator with photodetector array

FIELD: physics; measurement.

SUBSTANCE: present invention relates to measuring techniques and instrument making and can be used in laser Doppler location of stealth objects flying at low altitudes above water basins. The method of processing information in a coherent laser locator with a photodetector array is based on reception of laser radiation from glare of the sea surface, arising when probing radiation is scattered by the stealth object. The current location of an object and its velocity vector can be reconstructed through measurement of angle of arrival of radiation from the glare of the sea surface using a photosensitive reception matrix and through measurement of Doppler frequency shifts in a multi-channel unit for optimum filtration based on heterodyne reception methods using multi-channel dispersive delay lines using statistical averaging methods. Cutting on the number of information processing units is achieved due to creation of two- or three-dimensional groups of elements of a photodetector array, connected to information processing channels. In the processing channel, the signal is converted to a linear-frequency-modulated equivalent with subsequent amplification, spectro-time "compression" in the dispersive delay line, detection and minimum threshold cutting with a given threshold value, which allows for converting a signal with Doppler frequency shift to a short pulse, the time position of which, relative the strobe-pulse for the beginning of the measuring cycle, uniquely characterises the value of the given Doppler frequency shift. This time position of the pulse is coded in a digital code and stored in the corresponding buffer memory of a memory device, in the code of which there is also a code of the number of the measurement cycle and the code of the number of the channel, on which the signal from an element of the photodetector array was processed. From the set of such code records in the given measurement cycle, information is obtained on Doppler frequency shifts in signals of corresponding elements of the array and the position angle on the glare of the sea surface, detected by the locator in the given measuring cycle relative the optical axis of the receiving-transmitting objective of the locator, as well as scatter angles of the probing radiation of the stealth object, generating the said glares. If conditions are met for detecting an object and its bearing auto-tracking, where the inclined range line and the optical axis of the receiving-transmitting objective of the locator lie in the same plane, location of the object and measurement of its radial velocity is done through calculation, using a minimum of two different reflected radiation in a given measurement cycle, based on the method of overlapping circles. The radiation pattern of the locator is fan-shaped - wide on the position angle and extremely narrow on the azimuth.

EFFECT: simplification of the design of the device implementing the method, particularly the design of the information processing unit with dispersive delay lines, as well as possibility of locating stealth objects without reception of radiation directly from the located object in its probing direction.

7 cl, 11 dwg

The invention relates to the field of measurement technology and instrumentation and can be used in laser Doppler locate low-flying over water basins "objects invisible" (cruise missiles, aircraft type Stels and others).

11.09.2007 by the Central TV detail was reported about the developments in the US stealth aircraft project Stels, which was used in the military campaign in Iraq and the occurrence of which could not secure the border air defense means in connection with the particular form of this plane. This form is in violation of the laws of aerodynamics significantly reduces the effective surface of reflection (EPO) probing the radio emission of air defense radars and was a mirror reflecting face of the enclosure, located at angles to the incident light, resulting in reflection of the past in areas not substantially coinciding with the direction of the incident on the plane of the radar radiation (mainly up and down relative to the motion vector of the plane). Form of stealth aircraft resembled the shape of arrows. One of our scientists Putintsev developed theory of diffraction of electromagnetic waves for such objects and worked in the United States in the process of creating a project Stels, but also offered a way to detect stealth planes, the essence of which consisted in the use of multiple pleased olocation receiving devices, dispersed in space relative to radar air defense, with the help of which you can take radar radiation, absently reflected from stealth aircraft. However, this method is expressed in the form of ideas on how to detect without specific instructions for hardware implementation of the method and the equipment.

When using such a hypothetical detection of moving objects stealth with very small values of EPO in relation to the tasks of the Navy, that is in the sea (ocean)can be difficult to overcome the obstacles associated with the necessity of mutual topographic binding group of ships with the specified radar receivers absently reflected radar radiation, also posted on one of the ships of this group in motion. This circumstance complicates the idea Putintseva applied to laser coherent locate low-flying over water basins cruise missiles or stealth planes, detection and measurement of their coordinates and velocities should be implemented in advance.

We know building a laser-Doppler radar with a multichannel information processing on the basis of dispersive delay lines (DLS)mode heterodyne receiving radiation [1-7]. The use of FA is Torah high coherence of single-frequency radiation gas lasers [8, 9], such as CO₂lasers allows for coherent reception of such radiation by the method of photomachine signal and heterodyne beams that finds application in laser-Doppler radar. The resulting photomachine the difference frequency signals are processed within the agreed filters DLS that allows you to increase the detecting ability of the locators, i.e. the value of the ratio signal/noise at the input of a casting device [10-15]. It should be noted that in such locators the transmit path does not include the modulation of the radiation devices (for example, electro-optic modulators), as is the case in laser pulse radar, which provides a higher energy potential of Doppler radars compared to pulsed systems per unit of useful energy (or average power) lasers.

To detect objects in the extended elevation zone Δε circular with narrow instantaneous angle of view in azimuth Δφ (that is, when "fan-shaped" beam) in the coherent locators on CO₂lasers use a photodiode line from the N photosensitive elements MCT (triple compound Kd Hg Tl, cooled with liquid nitrogen) with N-channel coherent filtering using DLS. When this limit slant distance d detected by the surveillance diffuse diffraction-limited objects is found from the solution of the transcendental equation

where ζ is the extinction of the environment, P - power emitting laser, k_t- transmission in sluchayem and receiving paths,_f- efficiency photomachine, S is the effective surface of reflection (EPO) the detected object, D is the diameter of the entrance pupil (the receiving lens), µ is the ratio of signal/noise voltage at the input of a casting device, γ is the spectral power density of noise of the photodetector (photosensitive element MCT), T₀- the period of the circular review,=τΔF - base GLS, τ is the duration of the impulse response DLS, ∆ F is the working frequency band DLS, ∆ F_Σ- band of uncertainty of the Doppler shift frequency ΔF_Σ=2Δv/λ, where Δv is the difference between the largest and smallest possible radial velocity of a moving object, λ is the wavelength of the laser radiation (λ=10.6 µm for CO₂-laser), and for Gaussian signal and noise have µ²=(PF/InG)-1, where G and f, respectively the probability of correct detection and false alarms, whose values are normally set when calculating the location of the system.

The choice DLS significantly affects detecting, accuracy and dynamic characteristics of the locator, as it follows from (1). Threshold properties of photodetectors for coherent reception is determined by the parameters γ and y_f.

Resolving conflicts between the what liczenie energy potential locator (maximum range detection of small targets) and simplifying the measurement procedure of the main characteristics of the detected objects their flight altitude, slant range and velocity vector (including the parameter radial velocity) is achieved through the use of the way locations, is known from the patent of the Russian Federation No. 2296350 (publ. in bull. No. 9 dated 27.03.2007) by the same author, which can be used as a prototype of the proposed technical solution.

The known method is based on using a combination of Doppler principle locations with a triangulation method for positioning purpose. The latter is achieved through the use of glare reflected from the target at different angles of radiation from the sea surface, the radiation from which is supplied to the locator under different measured angles and Doppler frequency shifts of the reflection angles of the incident on the objective of the probing radiation from the surface of the target. Measurement of the angles of arrival of the radiation from the glare of the sea surface of the photosensitive selection matrix and the measured values of Doppler frequency shifts in multi-unit optimal filtering based on the heterodyne method of reception using multichannel dispersive delay lines by statistical averaging is possible to reconstruct the current target location and its velocity vector.

This method of location-based sensing of diffraction-limited object moving above what again the sea (ocean), unmodulated radiation single-frequency continuous wave laser and coherent processing of the received radiation, a photodetector matrix with the definition of Doppler frequency shifts in pereotrazheniya radiation and subsequent multi-channel parallel coherent filtering the selected radio signals and is characterized by the fact that the coherent receiving and processing advanced and simultaneously subjected to reflections from multiple reflections of the sea surface radiation received at a photodetector matrix with different randomly distributed in the angular directions, determined in the respective channels associated with a photodetector matrix, Doppler frequency shifts in the received radiation to paratragedy glare from the sea surface signals and the corresponding angular coordinates on these flare, calculate the coordinates of the current location object and its true speed, as well as statistically average the results of calculations of the totality of joint measurements of these parameters.

Prototype method assumes that we know the measured Doppler frequency offset Δυ_DEP=2vυ₀/C=2v/λ of the probing radiation directly reflected from the detected object signal and the angles ε₀and φ₀under which the radar "VI is it directly the object (location angles of the line slant range), where v is the radial velocity of the object, υ₀the frequency of the probe laser. However, if the locations of moving objects stealth direct measurement of the reflected signal is considered impossible, and the location is only on set-glare reflections from the sea surface due to scattering of the probing radiation down-side from the object location. This uses other than stated in the method prototype procedure accept-glare radiation.

Optimal energy potential solution in the method prototype is the use of multi-path data processing on the basis of DLS with the number of channels equal to the number of photosensitive elements of the matrix N_E. The disadvantages of this solution is the increased amount of equipment, because the requirement to increase the resolution over the angular coordinates, determines the precision characteristics of the locator to determine current coordinates and velocity of object locations, results in the locator photodetector with a very large number of elements along rows and columns, for example, matrices of size 100×100 elements or more.

Another disadvantage of this method is the need to ensure reception of the direct reflected from an object location of the radiation, i.e. in the example is the pressure sensing that is not always possible, for example, when the location of the object invisible.

These disadvantages of the known technical solutions for the prototype method is eliminated in the present method.

The aim of the invention is to substantially simplify implementing the inventive method, the device, in particular the design of the processing unit with DLS, by reducing more than one to two orders of magnitude the number of channels for processing signals from elements of the matrix photodetector device.

Another aim of the invention is the provision of opportunities for locating objects invisible when not receiving radiation directly from the object location in the direction of its sounding.

The inventive method may be characterized by one main and several dependent claims.

1. The method of information processing in coherent laser locator matrix photodetector, based on the measurement of Doppler frequency shifts of Δυ_DEPin the radiation glare from the sea and angular coordinates of the last - azimuth φ_iand elevation angles ε_i, calculating coordinates of the object location and its speed, followed by statistical averaging of the calculated parameters for several related measurements, characterized in that N_E=p^kpthe matrix elements of the photodetector clicks the form two independent output, which form in two-dimensional (p=2) or three (p=3) groups, where k=1, 2, 3, ... are integers, with n=2P^k(p-1) output tyres in groups, to each of the output buses of the groups connected in parallel by r=R^kthe corresponding lowercase or column of the matrix elements of the photodetector and calculating coordinates of the object location according to the measured Doppler frequency shifts of Δυ_{STAGE i}with the corresponding measured angular coordinate is the azimuth φ_iand the elevation angle ε_ito the corresponding α_ithe glare of the sea surface as seen by the locator in this cycle of measurement, where i=1, 2, 3, ... m - the number of working-glare radiation is carried out by successive iterations of unknown parameters is the radial velocity v of the object location in a priori the expected range of its acceptable changes and elevation angle ε₀line slant range to the object location, which in the process of the above mentioned iterative selection of these parameters to choose such values of v and ε₀at which minimized the difference between a pair of values defining an inclined distance to the object location.

2. The method according to claim 1, characterized in that the uncertainty of the selection 2(R-1) output buses corresponding to the same Doppler frequency shift Δυ_{STAGE i}the signal at the outputs of the element α _jkmatrix of a sensor, the position of which in the matrix judge about the azimuth φ_iand an angle designated ε_ithe visible marine flare α_ieliminate by comparing the codes representing the Doppler shift frequency by 2(p-1)-fold coincidence for all m marine flare with a specified minimum error.

3. The method according to claim 1, characterized in that the calculation of the measured parameters of the object locations with a large amount of computational operations associated with the iteration process when searching for the values of v and ε₀satisfying the specified condition is produced in the time interval exceeding a given measurement cycle, and then relate the results obtained to the time of the initial measurement cycle.

4. The method according to claim 1, characterized in that reduce the amount of computational operations during the iterative search for the values of v and ε₀in each subsequent cycle measurements reach by shortening the interval of their iterative search based on the data about these values from previous measurements and the statistical averaging of each of these values for several consecutive measurements under the assumption that the values of v and ε₀are slowly varying functions of time in comparison with a specified rate of repetition of measurement cycles.

5. The method according to claim 1, great for the present, however, that coordinate the detected object is performed in case of carrying out an iterative search for the values of v and ε₀the joint solution of a system of m equations x_i=f(h₀, ε₀that & Phi;_i, ε_i, v) for all visible locator m marine flare, i.e. for i=1, 2, 3, ... m, where the scattering angle object of the probing radiation relative to the direction of the latter is equal to Θ_i=arccos(Δυ_{STAGE i}*λ/2v), λ is the wavelength of the laser radiation, h₀well - known height above sea level of the center point of the receiving lens locator, so that the x coordinate is calculated by the formulaand thus minimizes the absolute value of the difference between any two values of x_iwith different indexes i from their number m.

6. The method according to claim 1, characterized in that the detection object location and tracking is performed by scanning the probing radiation in azimuth, and the beam is chosen fan is extremely narrow in azimuth and broad in elevation.

7. The method according to claim 1, characterized in that the condition of the detection object location and its auto-tracking in azimuth at which the line slant range and the optical axis of the receiving-transmitting lens locator lie in the same plane, the positioning of the object location and measure its radial velocity find what celenium, least two different reflective radiation (Min m=2) in this cycle of measurement.

The achievement of goals due to the use of triangulation method for positioning of an object, which one locator is explained by taking dispersed on the surface of the sea-glare radiation generated by the radiation of the sea surface, representing stochastically distributed set of mirror reflectors, laser radiation scattered at different angles relative to the direction of the sensing body of the object location. Depending on the angle of such scattering in the adopted glare radiation change accordingly, and Doppler frequency shifts. The spatial position of the glare uniquely measured by the azimuth φ_iand the elevation angle ε_iat the i-th flare at a known height h₀and the corresponding topographic reference locator. By Doppler frequency offset Δυ_{STAGE i}for the relevant marine flare and angular coordinates of the line slant range to the object φ₀and ε₀and radial velocity v last reconstructed corresponding angles η_iunder which can come from an object diffuse them with radiation. These angles form a conical surface. Two-glare radiation built two such surfaces is ti, the intersection of which forms a curve that is the point of the object body, from which comes the scattered radiation. The use of the third conical surface when considering the third marine flare forms, respectively, these three curves to produce at the point of intersection the vertices of the curvilinear triangle, within which is located the interesting point of the object body. The correct choice of the method of successive iterations the values of v and ε₀the area of such a curvilinear triangle is minimized: in the limit of this triangle shrinks to the desired point. The specified geometric interpretation procedure of finding points of the body that produce scattered radiation and which define the coordinates of the object location, which, in turn, is considered as a diffraction limited spot with respect to the locator, is implemented by the study of the minimum difference calculated analytically segments x_i(i-I projection on the x-axis line slant range to the object location) for different indices i for m flares in each cycle of measurement, such as a minimum meet the minimum distances between the vertices of these curvilinear triangles, i.e. the minimum of the square of the latter.

Two-dimensional or three-dimensional connecting elements is trichloro of the photodetector channels for processing information using the transformation obtained from one or another element of the matrix signal in the linear frequency modulated (chirp) equivalent with its further strengthening, Spectro-temporal "compression" in channel dispersive delay lines (DLS), detection and threshold limitation on the minimum specified threshold limits the ability to convert a signal with a Doppler frequency offset in a short pulse, the temporal position of which relative to strobe the beginning of the measurement cycle uniquely characterizes the value of the specified Doppler shift frequency. This is a temporary position is encoded in a digital code and stored in the corresponding buffer memory (BLT)in the code, which also contains the ID numbers of the measurement cycle and the code channel number, which was specified signal processing of the matrix element of the photodetector. This allows for the totality of such code entries in this cycle measurements to reconstruct unambiguously two parameters - the Doppler frequency shift Δυ_{STAGE i}for the output signal of the corresponding matrix element and its position in it. The latter, in turn, uniquely determines the azimuth φ_iand the elevation angle ε_iin the glare of the sea surface α_ivisible locator in this cycle measurement with respect to the optical axis (axis of the probing radiation) receiving and transmitting lens locator (it is assumed that the Central element of the photodetector matrix combined with specified the th optical axis).

This method of connection matrix elements of the photodetector channels of information processing significantly reduces the number of such channels, i.e. to simplify the design implements the inventive method of the device, however, leads to ambiguity, the correct calculation of data about the object location, which is eliminated by comparing the codes corresponding to the measured Doppler shift frequency from different reflections of the sea surface, assuming that the Doppler shifts are different from different glare. The choice of the two-dimensional p=2 or three-dimensional p=3 representations of groups is determined by the market. When the two-dimensional organization of the group is greatly reduced computational operations, but increases the required number of channels with DLS, and when the three - reduced number of channels with DLS, but slightly increases the amount of computational operations due to increased uncertainty, especially when a large (more than three) the number m of simultaneously processed radiation from the glare of the sea surface in this cycle of measurement.

On the submitted drawings are considered a separate provision that reveal the essence of the proposed technical solution.

Figure 1 gives the schematic organization of a two-dimensional group (p=2) of N_E=p^2kthe matrix elements of the photodetector 1, the elements of which α_jk(for the j-th row and k-th column) org is nisource in a square matrix with the party in R ^kelements. The number of output buses assemblies 2 and 3 is n=2P^k=2^k+1. In this arrangement the elements of the photodetector are two independent output signal. With a relatively small number of elements N_Epreferably the application of two-dimensional organization of the group. Thus, when the matrix 32×32 element, the number of channels n=64 instead of 1024.

Figure 2 gives the schematic organization of three-dimensional group (p=3) of N_E=p^3kelements α_jkthat is the cube elements 4 with the side of this cube p=3 elements. Each of the two mutually orthogonal faces of this cube is a two-dimensional patterns 5 and 6 with the number of tires in each R^2k=3^2k. Each such two-dimensional structure respectively defines a pair of assemblies 7 and 8, 9 and 10 output buses. The total number of output buses is n=2P^k(p-1)=4*3^k. In this arrangement the elements 11 photodetector 12 (physically flat design) have two independent signal output, and 3^2ktyres each of the two-dimensional structures 5 and 6 are connected with the output tyre assemblies 7-10 intermediate amplifiers 13 with two independent outputs each. When a large number of elements N_Epreferred may be three-dimensional organization of the group. Thus, when the matrix 729×243=19683=3⁹elements, that is, PR is k=3, the number of processing channels n=108 instead 19683.

Figure 3 presents one typical channel signal processing with the output bus for the corresponding two-dimensional or three-dimensional group. The channel has consistently connected to the mixer 14, the first broadband amplifier 15, a dispersive delay line (DLS) 16, a second broadband amplifier 17, which compensates the loss of signal DLS, the amplitude detector 18, the limiter on at least 19 with a prescribed threshold limits and the comparator 20. For all n processing channels use a common generator linear-frequency-modulated oscillations (GLCM) 21, the entrance of which runs from the generator strobe pulses (GSE) 22, and the output PCM connected to the second inputs of the mixers 14 channels. The time delay between the moments of occurrence of the strobe, opening the measuring cycle, and normalized pulse from the output of the comparator 20 is uniquely characterizes the magnitude of the Doppler frequency shift Δυ_{STAGE i}. This delay is the time interval τ_ass- is encoded in the buffer memory (BLT) 23 common to all n channels, and the BLT is, respectively, n channel inputs and a control input associated with the second output of the CVT 22.

4 shows diagrams explaining the operation of processing channel information using DLS. Figure 4 is specified periodic sequence of clock pulses, produced in GSI 22 (figure 3) and determine the period of the measurement cycle. On figb presents the frequency-time characteristic produced in GLCM 21 (3) signals heterogenerous supplied to the second input channel of the mixer 14. On FIGU depicts the interaction generated at the output of mixer 14 (3), the chirp equivalent with DLS 16. On Figg shown formed on the output DLS (3) "short" pulses with a duration of t_utiand the time delay τ_asstheir occurrence relative to the strobe.

Figure 5 shows a block diagram BLT 23 (3), containing the n multi-bit memory modules (SM) 24, 25, 26, ... 27, to the information inputs of which are connected in parallel the output of the meter time clock (LIGHT) 28, a conversion which comes from feeding on its counting input of high frequency pulses from the generator timestamp (GUM) 29. Recording time code output LIGHT 28 in the respective memory modules 24, 25, 26, 27 ... is feeding the inputs of the write-enable pulse from the corresponding channel of the comparator 20 (Fig 3). The block diagram of the onboard storage device also includes a counter measurement cycles (SC) 30, an input connected to a second output GSI 22 (3), and two-input summing registers (DSR) 31, 32, 33, ... 34, rewriting code information in which they first entries are in the beginning of the next cycle of the measurements from the action of the strobe, coming from the second output GSI 22 (3), and the second inputs of DSR parallel to the output SP 29, so that the ID numbers of cycle recorded in the highest byte of the register, and the code delay τ_assin the lower byte of the register. Impulse GSI 22 resets in LIGHT of 28 and after a certain time interval delay, organized by the delay element (EZ) 35, performs reset previously written code in the corresponding SM 24, 25, 26, 27 ... (to write new time codes in the next cycle of measurement). Pulse signals GSI 22 also perform phase synchronization of GUM 29, the pulse frequency which is a multiple of the pulse frequency GSI 22 and determines the time increment reference time delay τ_assfor each of the existing channels of processing. Output BLT 23 (figure 3) is formed by signals from GSI 22, JEM 31, 32, 33, 34 ... and SP 30. These signals in the transmitter measured parameters of object locations, considering the specific structure of which is beyond the scope of the technical solution.

Figure 6 is given geometric calculation scheme of the positioning of the object location using one (i-th) pereotrazhayuschie flare on the sea surface, the position of which is specified measured at him, the angular coordinate is the azimuth φ_iand the elevation angle ε_iat a known height h₀reference point locator relative to the sea surface (reference point locator is in the center of the receiving-transmitting lens). In this scheme, the plane OABD - vertical in the x, z plane EFE - horizontal, coinciding with the surface of the sea, in the x, y coordinates. In the vertical plane are the reference point And locator, diffraction-limited (point) object location (point b), line height reference point locator OA=h₀object location BD=H and slant range AB=d. In the horizontal plane is considered the first flare (point C) with the measured angles φ_iand ε_iat him. Line CG is the perpendicular to the line of intersection of the vertical and horizontal planes OD coinciding with the axis X. By construction, OS=OE, so are the angles γ_iand σ_ifrom the ratios of tg γ_i=tg ε_i/cos φ_iand σ_i=ε_i-γ_i. The angle at the vertex In the triangle ABG, located in the vertical plane, denoted as χ_iand the angle at the vertex located In the spatial triangle BCG denoted as ψ_i. Because the triangles ABG and BCG are mutually orthogonal, then a simple calculation can show that the dihedral angle Θ_ibetween them is determined by the relation cos Θ_i=cos χ_i*cos ψ_i. When this angle Θ_iis the desired angle between the direction of the probing radiation locator and direction of the diffuse reflection from the detected object determined by the value of the Doppler shift Δυ _DEPin the accepted radiation from the flare of the sea surface. Is a priori unknown elevation angle ε₀on the invisible object location and the height of the last N over the surface of the sea is determined by the equation due to the magnitude of slant range d of the form H=h₀+d sinε₀. The projection of x_iline slant range d_iin the i-th dimension in this diagram corresponds to the segment OD. The number of such independent measurements is m, so the result of averaging have

Considering a rectangular triangle BCD (the angle at the top of D line), note that the line BC is the direction at which the object location is visible from the glare of the sea surface (point C). The angle η_iobservation of the object location of the flare is a function of the measured angles ε_iand φ_iand the Doppler shift Δυ_{STAGE i}at a known value of h₀and various parameters ε₀and v. Moreover, φ₀=0, since it is considered that the line slant range to the object location AB lies in a vertical plane zOx, that is, when the condition that the object location is highlighted in the probing radiation locator.

On figa and 7b shows the graphical interpretation of the positioning of the detected object by the method of intersection of two (or more) circles are located in different planes. The line of intersection of these planes AB - the essence line of slant range. Point a is the reference point locator with known coordinates. Point - to-point the location of the detected object with a priori unknown coordinates. C₁and C₂- point the location of the glare on the surface of the sea xOy, the coordinates of which are easily calculated from the known height h₀reference point locator and measured azimuths φ₁and φ₂and elevation angles ε₁and ε₂. This allows us to calculate the coordinates of a point In the computed angles Θ₁and Θ₂at the apex of the triangles ABC₁(figa) and ABC₂(figb) method of intersection of the circles.

Consider operating the essence of the proposed method.

As can be seen from figures 1 and 2, N_Ethe matrix elements of the photodetector 1, the matrix of which may be, for example, of rectangular (not necessarily square) with number row p₁and the number of columns of p₂with elements and_jkwhere j=1, 2, 3, ... p₁- number of matrix rows, k=1, 2, 3,..., R₂- number of columns of the matrix can be generated in two different groups - two-dimensional (figure 1) or three dimensions (figure 2), for which the observed condition of N_E=p^pkwhere p is the dimension of the group, respectively equal to two or three. The integer value k is determined from the condition k=Ent[log_p(R₁*p₂)]+is, where δ=1 if log_p(p₁*p₂)>Ent[log_p(p₁*p₂)] and δ=0 when log_p(p₁*p₂)=Ent[log_p(p₁*p₂)]. So, for a matrix of dimension 32×32 elements for two-dimensional groups have k=5, and the formation of three-dimensional group k=Ent[log₃1024]+1=3. However, in the latter case, there is significant redundancy cubic structure of the display elements of the array, since 3^3*3=3⁹=19683>>1024, which means that when such display elements of the matrix easier to ignore her 1024-729=295 elements to k=2, and then 3^2·3=3⁶=729 or have the dimension of the matrix, for example, as 27×27. In another case, when the matrix of the photodetector has a dimension of 100×200 elements in the two groups (p=2) we have k=Ent[log₂(2*10⁴)]+1=15, and 2¹⁵=32768>>20000, so it is better to take k=14 and have a matrix of dimension 100×163=16300 elements. In this example, the three-dimensional group (p=3) it is reasonable to choose k=3, that allows you to display a cubic structure 19683 element of the matrix, the dimension of which should be lowered to a value of 100×196 cells. These examples show that when determining the dimensions of the photodetector p₁*p₂should proceed from the following conditions k=Ent[log_p(p₁*p₂)], respectively, limiting the number of p₁and R₂to obtain celcis the n values of k, when the difference R^pk-p₁*p₂>0 and the minimum. Note that the choice of a square presentation matrix in a two-dimensional group or in a three-dimensional cubic network the minimum number of channels of information processing, as the square determines the minimum of its pauperised for a given square, and cube - minimum surface for a given volume compared respectively with a rectangle and a parallelepiped. Thus, the matrix 100×163 elements in the rectangular view defines 100+163=263 channel processing, and in the corresponding two-dimensional group will require only 256 channels of processing. If a rectangular matrix has a dimension of 50×326 elements (i.e. the same size as the previous one), the number of needed channels processing will be 376 against the same 256 channels when you convert this matrix into a two-dimensional group. In the formation of three-dimensional group for a matrix of dimension 100×196 elements of the cubic structure with the side of a cube in 27 elements determines the need for the use of 108 channels of processing, and parallelepipedal the same volume with size 27×9×81 will require 126 channels of processing, and when the dimensions of the parallelepiped 9×9×243 the number of channels increases already up to 270.

If the number of elements in the photodetector matrix to choose from the condition of N_E=p^kpthen the total number is about processing channels must be equal to n=2P ^k(p-1). Figure 1 presents the scheme of the two-dimensional group 1 dimension 6x6 photodetector elements, each of which has two independent outputs. The outputs of these elements are connected to the six string and six column tyres, which form two assemblies 2 and 3 with the total number of tires, equal to twelve (n=12). Figure 3 presents the block diagram of the three-dimensional group 4, forming a cube with sides of p elements. Thus the photodetector matrix 12 includes a 3^3kelements α_jkeach of which has two independent output. Cube 4, forming a three-dimensional group, has just 2P^2ktires for R^2kmutually collinear tires for each of its two adjacent faces. The outputs of the elements of the matrix are connected with mutually orthogonal, R^2ktires each of R^klayers of the cube. Each layer represents a two-dimensional group, the wiring diagram of which is shown in figure 1. Therefore, each of the tires of the cube are parallel-connected p^kthe respective elements of the matrix 12. Thus R^2ktyres each of the two faces of the cube form two square two-dimensional assemblies 5 and 6. Each of these two-dimensional assemblies contains R^2kamplifiers 13 with two independent outputs. The inputs of these amplifiers are connected to R^2ktires respective cube face 4, the first outputs of the amplifiers in each of the assemblies 5 and 6 are connected with R kthe tire assemblies 7 and 9, and the second - with R^kthe tire assemblies 8 and 10, so that the total number of output buses is equal to 2P^k. So, for a photodetector 12 of 729×243 elements have R^k=27 and the total number of tyres n=4P^k=108. This allows more than two orders of magnitude to reduce the amount of equipment for processing information from 19683 photodetector elements of the matrix 12. The gain in reducing the number of channels of information processing in the organization of three-dimensional group is ψ₃=p^2k/4.

However, a significant reduction in the number of channels n information processing leads to the ambiguity of the definition of group two (p=2) or four (p=3) tires with the same Doppler frequency offset Δυ_{STAGE i}. Indeed, in the two groups (p=2) the same information from one of the flare is contained in two tires. If glare m, the number of operating information of the tire is equal to 2 m. In order for this number to choose only two tires with the same information, there should be (2m-1) passes, and the total number of choices for m pairs of tyres with regard to consistently vybaveni from busting tires (already found pairs) is found by the following formula:

For example, if m=3 the maximum number of choices for q=9, m=4 with q=16, and for m=5 we get q=25, hence, q=m². It is seen that with increasing number of store is made in the device operating highlights m significantly increases the number of computational operations, what to consider when evaluating the performance of the computing environment.

In the case of three-dimensional group (p=3) the same information is contained in the four tires of the total number of existing tires 4m (m flare). The total number of cases m select m equianharmonic of the four tires is determined by the rule

For example, if m=3 the maximum number of choices q=21, m=4 with q=36, and for m=5 we get q=55. Thus, the transition from two-dimensional group to three-dimensional sharply reduced the number of required equipment for information processing, but this increases the number of computational operations associated with variants (approximately twice).

It will be shown that the determination of the coordinates and velocities of the detected object invisible is possible when measuring azimuths φ_iand elevation angles ε_ifor a few highlights m of the sea surface and the measurement of Doppler frequency shifts of Δυ_{STAGE i}from these reflections (i=1, 2, 3, ... m). The angles φ_iand ε_iuniquely determined by the location of the photocell α_jkphotodetector encrypted by the number of respective two (p=2) or four (p=3) tires with the same shifts Δυ_{STAGE i}. The values of these frequency shifts are measured with the help of the device block diagram for one of the n parallel running canoverride information presented on Fig.3.

The scheme consists of a series of mixer 14, the first broadband amplifier 15, a dispersive delay line (DLS) 16, a second broadband (compensatory) of the amplifier 17, the amplitude detector 18, limiter on at least 19, a comparator 20 and block storage devices (BLT) 23 n information inputs. To the second input of the mixer 14 is connected to the generator output linearly frequency-modulated oscillations (GLCM) 21, to the trigger input of which is connected to the clock generator (ICG) 22 that specifies the information-processing cycle, for example, a duration of 100 μs. The second output of the CVT 22 is connected to the control input of the BLT 23. The elements 21, 22 and 23 are common to all n channels of information processing elements 14-20.

The channel information processing illustrated by the graphs in figure 4.

On figa presents a sequence of pulses defining the period of the loop recording-reading and referred to as the pulse "Cycle reset"formed in the CVT 22. On figb shows the process periodically played the chirp of scaninge in GLCM 21 with a range of frequencies from 80 to 130 MHz. On FIGU straight horizontal line shows the output signal of the corresponding cell of the matrix FPU 12 in the coordinates of the "frequency-time", for example, with a frequency of 53 MHz (estimated possible frequency range 50-60 MHz) fatty sawtooth line shows the chirp equivalent, educated at the output of the mixer 14, the frequency of which varies from 80-53=27 MHz to 130-53=77 MHz. In parallel with the sawtooth frequency change in the chirp equivalent dotted line shows the limits of variation of the latter when changing the frequency of the input signal in the range of 50-60 MHz (this range is denoted as ∆ F_Σ), and the extreme horizontal dotted lines indicate the bandwidth of the matched filter on DLS 16, in this example it is equal to 40 MHz, which allows to obtain the duration of the "compressed pulse at the output DLZ t_uti=1/ ∆ F_LZ=25 NS, where ∆ F_LZ=40 MHz bandwidth DLS. On the same graph the dotted vertical lines indicate the boundaries of the variation in time of occurrence of the impulse response when changing the frequency of the input signal in the frequency range of Doppler shifts from 50 to 60 MHz. It is seen that the Doppler frequency shift is converted to a temporary shift of the impulse response relative to the trigger pulse, indicated on figa. This fact is reflected in the second graph Figg, which is a rectangular pulse with duration τ_assequal to the difference between the times of occurrence of the impulse-response and preceding the sync pulse. Note that this pulse width is then encoded in multi-BLT 23.

The channel information processing and associated with the evaluation of probabilistic characteristics of the detected object location based on the characteristics of the receiving path.

As is known, the signal-to-noise ratio µ uniquely identifies detecting probabilistic characteristics locator [16, 17]. Thus, the detection probability P_OBNsignal on the background of normal (Gaussian) noise in accordance with the criterion of Neyman-Pearson is determined by the signal-to-noise ratio µ at the entrance of a casting device with the installed normalized threshold α_p=U_p/σ_Wwhere σ_W- RMS noise voltage at the input of a casting device, U_p- the threshold voltage is calculated from the expression

where

the integral of the probability, and the probability of false alarm P_LTequal to

For commonly asked when calculating location systems the values of the probabilities of detection and false alarms required signal-to-noise ratio is determined from the expression

where f^-1(x) is the inverse of the integral of the probability.

If the FPU is known (the value of the spectral density of the noise G_W), on the basis of (5) it is possible to calculate the amount of required energy input FPU, which is sufficient to treat in a consistent filter:

Instead of the probability of false alarms often use frequency value false Proc. of the VOG F _LTthat is defined by the expression

where <f_W> is the mean value of-band noise, which, under the assumption of relative escapologist tract has the expression <f_W>=(f₀²+Δf²/12)^1/2and f₀- carrier signal frequency (or centre frequency of the channel), Δf is the bandwidth of the receive path, which is calculated band noise, and from the expression (7) usually calculate the value of the threshold voltage U_pthat is:

Obtained from (8) the value of the threshold voltage is substituted into the expression (2) and find the probability of detection P_OBNfor these values of the signal-to-noise ratio at the output of the matched filter µ. Depending on the set conditions or decide to increase the time of the review in a given solid angle, or, conversely, to reduce this time or increase in the maximum detection range of the radar (or to increase the accuracy of the measured parameters of the object).

The performance of multi-block storage devices (BLT) 23 is illustrated by the flowchart in figure 5. The circuit contains n parallel multibit memory modules (SM) 24, 25, 26, ... 27, to the information inputs of which are connected in parallel the output of the MF is tcheka-time clock (LIGHT) 28, the translation which comes from feeding on its counting input of high frequency pulses from the generator timestamp (GUM) 29. Recording time code output LIGHT 28 in the respective memory modules 24, 25, 26, 27 ... is feeding the inputs of the write-enable pulse from the corresponding channel of the comparator 20 (Fig 3). The block diagram of the onboard storage device also includes a counter measurement cycles (SC) 30, an input connected to a second output GSI 22 (3), and two-input summing registers (DSR) 31, 32, 33, ... 34, rewriting code information in which they first entries are in the beginning of the next measurement cycle from the action of the strobe coming from the second output GSI 22 (3), and the second inputs of DSR parallel to the output VS 30 so that the code numbers cycle recorded in the highest byte of the register, and the code delay τ_assin the lower byte of the register. Impulse GSI 22 resets in LIGHT 28, and after a certain time interval delay, organized by the delay element (EZ) 35, the discharge of previously written code in the corresponding SM 24, 25, 26, 27 ... (to write new time codes in the next cycle of measurement). Pulse signals GSI 22 also perform phase synchronization of GUM 29, the pulse frequency which is a multiple of the pulse frequency GSI 22 and determines the time increment of the temporal reference is th delay τ _assfor each of the existing channels of processing. Output BLT 23 (figure 3) is formed by signals from GSI 22, JEM 31, 32, 33, 34 ... and SP 30. These signals in the transmitter measured parameters of object locations, considering the specific structure of which is beyond the scope of the technical solution.

It is important to note that in the solver parameters measured object locations are the following:

- select m pairs (with p=2) or m quadruples (p=3) tires with the same for them, Doppler frequency shifts of Δυ_{STAGE i}for m existing in the given measurement cycle, the glare by means of comparing the codes with a given tolerance, such as ±(1-2) bits;

- definition by deciphering rooms tires in each pair (or four) azimuth φ₁and elevation angles ε_ion all working m flare;

- calculation of the coordinates and velocity of the object location on one of the possible algorithms, including iterative analysis of a priori unknown parameters azimuth φ₀and the elevation angle ε₀for line slant range to the object location and radial velocity v of the latter.

If the amount of computational operations becomes large, which does not allow him to complete within this or the next cycle of measurements, calculations can be made for several consecutive cycles dependent in the tee from the organization's computing environment and its performance, and the calculation results should be correlated in time to the cycle. As refinement parameters of the detected object (its coordinates and speed) range iterative search should automatically be reduced, thereby reducing the time required for the production of the necessary calculations until a time interval equal to the time measurement cycle.

Use in the claimed method of the methods of statistical averaging can improve the accuracy and speed of the object invisible.

Based on the methods of analytical geometry task mestonahojdeniya the detected object is invisible when there is no direct re-radiation from the latter along the line of the slant range, is to find areas on the object locations with multiple exploded in space marine flare, the intersection of which with the known coordinates of these reflections occur at the point, which is the coordinates of the detected object. Coordinates glare uniquely determined by the azimuth φ_iand elevation angles ε_iand height h₀reference points transceiver lens locator above sea level, which is trivial. More difficult is the determination of the angles η_iunder which the object is observed from the relevant marine flare. Re the value of this task, you must find the angles Θ _i(see Fig.6), which are defined in multiple reflection of the laser radiation by the object location and are calculated from the direction of the probing object radiation (from line slant range). These angles for each of the existing flare definitely depend on measured values of Doppler frequency shifts of Δυ_{STAGE i}because it is known that Δυ_{STAGE i}=(2v/λ) cosΘ_itherefore,

that is, the angle Θ_iis determined by the measured value of the Doppler frequency shift and a priori unknown value of the radial velocity V detected object whose value you want to set.

The height H of flight of an object above sea level, is also an unknown parameter and is expressed through a priori unknown values of slant range d and the elevation angle ε₀according to the formula: H=h₀+d sin ε₀.

It can be shown that the unknown parameters are considering locating tasks are the radial velocity of the object v, the azimuth φ₀and the elevation angle ε₀, i.e. the angular position of the line slant range, and the measured parameters are the azimuths φ_iand elevation angles ε_i"vision" locator m flare, the Doppler shift frequency Δυ_DEPthe radiation from these reflections. However, given the extremely narrow radiation patterns in azimutal the Noah plane can be considered, that glare reemission appear, provided that the object location irradiated by the locator, and therefore it can be assumed that the value of φ₀=0, or a little different from this value. Knowns are the height h₀reference point locator above sea level and the wavelength λ of the laser radiation. Thus, a unique solution to locating a task is possible with the joint solution of a system of at least three independent equations in the process of successive iterate through the unknown parameters v and ε₀thus, to ensure a minimal positioning error of the object in space. In the process of solving a system of independent equations, which can be chosen equal to m, but not less than three angles are calculated η_idetermining the directions under which the "observed" object locations from the respective glare. Each of the angles η_iindicates only the slope of the line of observation relative to the sea surface, that is, forms a family of such equal angles, that is, the conical surface with the apex of the cone at the point of location of the sea of the i-th flare and height of the cone is orthogonal to the surface of the sea. The combination of two such different cones at their intersection forms a curve of the second order, which is the point, which is adequate to the object coordinates.

At the intersection of three conical surfaces from three different reflections are formed respectively three such curves are crossing each other, form a shape in the form of a curvilinear triangle, within which is located the desired point corresponding to the coordinates of the object. Task iterate through the values of the parameters v and ε₀is to minimize the area of the curvilinear triangle, or to minimize the distances between its vertices, which is essentially the same. Improving the accuracy of positioning of the object location can be achieved by choosing a larger number of existing flare (m>3), although this leads to increased computational operations. Receiving at least the area of the curvilinear triangle leads to the establishment of the desired exact values of v and ε₀i.e. to the actual location decision tasks.

The range of iterations of the parameters v and ε₀is determined by the specifics of the tasks of the location of the tactical-technical characteristics of the detected objects (in particular, a priori, the expected speed of their flight) and latitude (in particular, the dimension of its photodetector). As to the range of iterations parameter φ₀he is very small, which is defined narrowly focused (fan-shaped) radiation in azimuth, and the variation of this parametrically almost exclusively in order to provide automatic tracking of the object in azimuth, and the calculations can be put φ₀=0, as shown in Fig.6. The range of variation of the parameter v is set a priori the expected variation of the radial velocity of the object, for example the spread of Doppler shifts the frequency band of 10 MHz, as in the example in figure 4, with initial increments of 100 kHz, which may change in the process of refining this option for several consecutive measurement cycles. The range of variation of the parameter ε₀determined prior intelligence information for the detected object (in particular, its altitude above the sea surface) and the dimension of the photodetector in its columns.

Note that as more data about the parameters v and ε₀the ranges of variation of these parameters can be significantly reduced, which will allow to solve the location problem in less time, for example within one cycle of the following during the review cycle. This possibility stems from the fact that the change over time of these parameters are relatively small for the time of one cycle is beyond the instrumental error of the measurement of v and ε₀.

The solution of the location problem in the claimed technical solution can be significantly simplified, subject to the condition that the optical axis of the transmitting-receiving lens locator and line NAC is Onna distance AB on the object location (see 6) lie in the same plane, in the vertical plane zOx, so that φ₀=0. This condition is almost always performed, otherwise from the object did not produce glare, and the task of automatic tracking of a moving object in azimuth and just boils down to the equality φ₀=0. As can be seen from Fig.6, the reference point a of the locator, and the point defined by the coordinates of the object lie in a vertical plane. At point C is located on the surface of the sea i nd flare, visible locator with azimuth φ_iand the elevation angle ε_iwith a height of OA=h₀. This flare is located at a distance OG=h₀cos φ_i/tg ε_ialong the x-axis and at a distance CG=h₀sin & Phi;_i/tg ε_ialong the y-axis. The triangle ABC formed by the line slant range to the object AB=d and the two lines-lines with latitude on the flare AC=(h₀²+CG²+OG²)^1/2=h₀/sin ε_iand from the glare of the light on the object MO, the length of which is not yet known. However, it is known that the angle at the vertex In the triangle ABC is equal to Θ_iand is determined from (9). Since the triangle BCG perpendicular to the vertical plane zOx, because CG⊥OD and CG lies in the plane of the triangle, from the known ratio cos Θ_i=cos χ_i*cos ψ_ican be found from (9) the value of the angle ψ_iaccording to the ratio cos ψ_i=cos Θ_i/cos χ =λ Δυ_DEP/2v cos χ_iand the angle χ_iis from consideration of the triangle ABG. Note that by construction, OU=OS=h₀/tg ε_iand the segment EG=OE-OG=tg ε_i/cos φ_i(1-cos φ_i)/tg ε_i. Note that tg γ_i=h₀tg ε_i/h₀cos φ_i=tg ε_i/cos φ_iand γ_i=ε_I-σ_i=arctan(tg ε_i/cos φ_i). From the triangle BDG Express the angle at the top of G through as yet unknown height H=BD=h₀+d sin ε₀so: tg(∟BGD)=N/(OD-OG)=(h₀+d sin ε₀)/(d cos ε₀-h₀cos φi/tg ε_i), where for angles γ_iand ∟BGD get equality:

γ_i=arctan(tg ε_i/cos φ_i),

When this angle ∟AGB at the vertex of G in the triangle ABG is

The angle at the vertex a of the triangle ABG, obviously, equal to

how to find the value of the desired angle at the vertex In the triangle ABG:

Taking into account previously specified ratio cos ψ_i=λΔυ_DEP/2v cosχ_ifrom (13) we find the value of angle ψ_iand the length of the side BC in the triangle BCG, which is equal to

Considering the right triangle BCD, find the value of angle η_iat the apex With the definition of sin η_i=H/VS=(h₀+d sin ε₀)tg is _i[1-(λ Δυ_DEP/2v cos χ_i)²)^1/2/h₀sin & Phi;_i=[1+(d/h₀)sin ε₀]tg ε_i[1-(λ Δυ_DEP/2v cos χ_i)²)]^1/2/sin φ_i.

When substituting in this expression for sin η_ivalues of the angles χ_ifrom the expression (13) find the angles η_irelatively verticals, restored from locations marine flare, which form a group m above the conical surfaces, the intersection of which reconstructs a point in space, which is diffraction limited (point) object location. In this equation contains three unknowns - ε₀, V, and d, of which the first two are by successive iterations in predetermined ranges, and the third looking at the joint solution of a system of independent equations and their number is not less than three (m≥3). In the result, we obtain m values of slant range d_ifor which the modulus of the difference of any pair of these values must have a minimum possible value. The average slant range is equal to

and variance

minimum when the correct choice of the unknown variable ε₀and v.

Perhaps another solution location tasks not associated with the calculation of the angles η_iand methodology crossed the, rotating conical surfaces. This decision is based on the so-called method of intersecting circles, geometrically represented on figa and 7b. It is believed that the mode of auto-tracking the detected object in azimuth with regard to narrow the probing radiation in the plane of azimuth, when there are marine glare from scattering by the object of laser irradiation, the reference point a of the locator, and point To the location of the object, i.e. the line slant range AB, lie in the vertical plane xOz. Through these points a and b, as you know, you can spend countless circles, and three-point - only one. Various spatial position of these third point (C₁and C₂) leads to collinearity planes in which lie the circles and the line of intersection of these planes corresponds to the line slant range to the object. The coordinates of the points a and C₁(A and C₂) is known, and the coordinates of a point In a priori not known and must be calculated. It is easy to understand that the point corresponds to the intersection point of the circle drawn through the three points - first through a, b and C₁and the second one a, b and C₂. However, to determine the coordinates of the centers of these circles O₁and O₂lying in the planes of the respective triangles ABC₁and ABC₂and values of their RA is Yusof r ₁and r₂it is necessary and sufficient to determine the angles Θ₁and Θ₂when the vertex of these triangles, based on the chord AC₁and AU₂. The measurement of these angles corresponding to the angles between the directions of the scattering object of laser irradiation on the corresponding reflections of the sea surface and the probing direction coinciding with the line of slant range AB, is based on measurements of the Doppler frequency shift Δυ_{STAGE i}in the radiation received by the locator from the two glare.

Consider the problem of determining the coordinates of the center of the circle O₁(figa) and its radius r₁. Coordinates x, y, z points a, b and C₁the following: A (0, 0, h₀); In (x, 0, h₀+x tg ε₀); C₁(h₀cos φ₁/tg ε₁h₀sin & Phi;₁/tg ε₁, 0). Thus x and ε₀a priori unknowns. The length of the chord AC₁equal AC₁=h₀/sin ε₁. The center of the circle O₁lies on the perpendicular line drawn from the center of the line segment AC₁. At a known angle Θ₁at the apex of the triangle ABC₁and provided that the point lies on this circle, the length of the perpendicular h₁^*from the middle of the chord AC₁from point F₁with coordinates F₁(h₀cos φ₁/2 tg ε₁h₀sin & Phi;₁/2 tg ε₁h₀/2) is equal to h₁^*= ₁cos Θ₁where the value of the radius of the circle is equal to r₁=h₀/2 sin ε₁sin Θ₁.

For the corresponding circle on figb get h₂^*=r₂cosΘ₂and radius r₂=h₀/2sin ε₂sin Θ₂. The intersection of these two circles is at point b, the coordinates of which are x and z are calculated as functions of x=f(h₀, ε₀, ε₁that & Phi;₁, v) and z=g (h₀, ε₀, ε₁that & Phi;₁v) when the variation of the parameters ε₀and v, the correct choice of where and when the number of operating highlights m>2 distances between the points of intersection of m circles near the point At the minimum. In the latter case, we solve the system of m independent equations with sequentially varying the parameters ε₀and v, the result of which are the values of x_iwith minimal variation in their lengths.

This technique is interesting because it can very significantly reduce the ranges of variation of parameters ε₀and v, if the number of operating highlights m>2. Indeed, the coordinates of object points At: x=f(h₀, ε₀, ε₁that & Phi;_i, v), y=0 and z=g(h₀, ε₀, ε_ithat & Phi;_i, v) can be determined by solving a system of three independent equations (m=3) without the use of surgery iterative search parameters ε₀and v. So get the information about these parameters, which poses which enables you to reduce the range of iterations in the subsequent measurements, at the same time reducing the discrete iterations, with the aim of increasing the accuracy of measurement of the coordinates of the object.

Automatic tracking transceiver lens locator azimuth alignment provides the optical axis of the lens with the direction of sight of the object location, i.e. with the line slant range AB (Fig.6 and 7). This ensures the equality φ₀=0 (angle & Phi;₀indicates only the error in the azimuthal plane of the optical axis of the lens relative to the axis of sight of the object, but not the value of the azimuth to the object, measured relative to the direction to the North). Variation in small angle of φ₀use the locator to implement automatic tracking of the object in azimuth according to the criterion of the maximum power of a received optical signals from the glare of the sea surface. Therefore, the algorithm to solve the location problem is not carrying out the iteration in azimuth φ₀.

Consider the example of building location systems (RTLS).

When education photodetector dimension 181×181 elements MCT diameter of the element is 0.1 mm minimum matrix size is 18.1 x 18,1 mm²and angles in azimuth Δφ and elevation Δε planes is equal to Δφ= ∆ Ε=0,05 glad when the focal length of the receiving lens F_CR=360 mm and the height reference points h_{0/sub> =30 m and with a minimum range of observations of the sea surface Lmin=500 m (i.e. when εmax=arctan(h0/Lmin)=0,06 happy), we obtain εmin=εmax-Δε=0,01 rad, and the maximum range of vision of the sea surface is equal to Lmax=h0/εmin=3000 m, i.e. the length of the plot visible locator marine flare equal to 2500 m Width of this area grows linearly along its length from smin=Lmin*Δφ=500*0,05=25 m to the smax=Lmax*Δφ=3000*0,05=150 m in the end zone vision on the sea surface. If the receiving lens locator to perform as zoom, it is possible to widely vary the length of the working zone, in which there are marine flare, as well as its position along the length by changing the position of the optical axis of the receiving lens. So, when the focal length FCR=120 mm will get Δφ=Δε=0,15 happy and the length of the zone of visible locator flare can be set in the range L=0,2...9 km with a width zone s=30 m ... 1,35 km it is also Important to note that the fan-shaped beam transmitting lens locator may be less than the width of review in elevation in the receiving lens, because the radiation is no need to send towards the sea surface, however, the optical axis of receiving and transmitting lenses locator must always be in the same plane. Finally, the configuration raspolozheniesoglasovyvaetsya elements in the matrix may vary from rectangular. For example, it may be the keystone that will allow you to extend the coverage of the sea surface in the near zone, narrowing it to far, that is, to make this area of equal width throughout the length of the review.}

If we assume that the angles Θ_iare in the range Θ_i≤π/3, then when working on objects invisible, moving with a speed of 300 m/s at heights of 30-50 m above sea level, the range of change of Doppler frequency shifts for radiation gas CO₂laser (λ=10.6 μm) is equal to 8.4 MHz, i.e. does not exceed specified on FIGU value ΔF_Σ=10 MHz.

Only in the matrix used 181²=32400 elements, allowing you to build a three-dimensional group with the side of the cube 32 element, which corresponds to 128 channels of information processing on DLS. The latter may have a bandwidth ΔF=40 MHz and the duration of the impulse response τ_RS=50 µs (base DLS equal To=2000), which improves the signal-to-noise ratio at the input of a casting device In^1/2=45 times that compensates for the deterioration of this relationship in the 32^1/2=5.7 times due to the increase of noise power, the output connection to the tire assemblies 7-10 (figure 2) thirty-two outputs of the amplifiers 13. "Short" pulses at the outputs DLS have a duration of t_uti=25 NS, the duration of the measurement cycle, it is advisable to select equal to 100 μs. When the speed detected is th object invisible v=300 m/s for cycle time the object passes the path of only 3 cm, which suggests that reflections are stable for the entire cycle. Clock frequency in GUM 29 choose not lower than 80 MHz, while the codes of the temporary provisions of the impulse-response DLS must be 13-bit (low-order bits in the DSR 31, 32, 33, ... 34). The time delay element 35 (about 1 µs) provides the reset codes in ZM 24, 25, 26, 27 ... once at the beginning of a new cycle of the recorded data will be overwritten in the low-order bits of DSR 31, 32, 33, 34....

For practical use of the proposed method in laser ranging low-flying aircraft stealth need to examine the statistics glare reflections of the sea (ocean) in different weather conditions, the energy of these optical signals, a primary zone on the sea surface for receiving the glaring reflections when specifying a particular class of objects invisible. In addition, should develop appropriate high-performance computing environment for multi-channel processing encoded signals and to develop a one-dimensional matrix, for example, with elements of the MCT, with low noise and a high density of photodetector elements in it. As a laser, you should use a powerful single gas appliances with high short-term frequency stability of the radiation. Also should encourage the development of megacon is selected dispersive delay lines in the integrated design with a large base, that will allow you to compensate for the effect of noise in parallel operation on a single bus two-dimensional or three-dimensional group multiple photodetecting elements of the matrix. Of interest is the development of a transmitting-receiving lens locator zoom receiving lens and a fan-shaped beam reception with the corresponding exact control the angular position of the lenses.

The corresponding R & d on this radar system can be carried out at the enterprises of the Ministry of industry associated with the development of optoelectronic devices in the interests of the tactical tasks of the Russian Navy.

Literature

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1. The method of information processing in coherent laser locator matrix photodetector, based on the measurement of Doppler frequency shifts of Δυ_{STAGE i}in the radiation glare from the sea and angular coordinates of the last - azimuth φ_iand elevation angles ε_i, calculating coordinates of the object location and its speed followed the statistical averaging of the calculated parameters for several related measurements, characterized in that N_E=p^kpthe matrix elements of the photodetector is formed by two independent outputs, which form two-dimensional (p=2) or three (p=3) groups, where k=1, 2, 3, ... are integers, with n=2p^k(p-1) output tyres in groups, to each of the output buses of the group in parallel connected in g=p^kthe corresponding lowercase or column of the matrix elements of the photodetector and calculating coordinates of the object location according to the measured Doppler frequency shifts of Δυ_{STAGE i}with the corresponding measured angular coordinate is the azimuth φ_iand the elevation angle ε_ito the corresponding α_ithe glare of the sea surface as seen by the locator in this cycle of measurement, where i=1, 2, 3, ... m - the number of working-glare radiation is carried out by successive iterations of unknown parameters is the radial velocity V of the object location in a priori the expected range of its acceptable changes and elevation ε line slant range to the object location, which in the process of the above mentioned iterative selection of these parameters is chosen such values v and ε, which minimized the difference between a pair of values defining an inclined distance to the object location.

2. The method according to claim 1, characterized in that the uncertainty of the selection 2(R-1) output buses, according to stuudy the same Doppler frequency shift Δυ _{STAGE i}the signal at the outputs of the element α_jkmatrix of a sensor, the position of which in the matrix judge about the azimuth φ_iand an angle designated ε_ion visible marine flare α_ieliminate by comparing the codes representing the Doppler shift frequency by 2(p-1)-fold coincidence for all m marine flare with a specified minimum error.

3. The method according to claim 1, characterized in that the calculation of the measured parameters of the object locations with a large amount of computational operations associated with the iteration process when searching for the values of v and εo, satisfies a condition produced in the time interval exceeding a given measurement cycle, and then relate the results obtained to the time of the initial measurement cycle.

4. The method according to claim 1, characterized in that reduce the amount of computational operations during the iterative search for the values of v and ε in each subsequent cycle measurements reach by shortening the interval of their iterative search based on the data about these values from previous measurements and the statistical averaging of each of these values for several consecutive measurements under the assumption that the values v and ε are slowly varying functions of time in comparison with a specified rate of repetition of measurement cycles.

6. The method according to claim 1, characterized in that the detection object location and tracking is performed by scanning the probing radiation in azimuth, and the beam is chosen fan is extremely narrow in azimuth and broad in elevation.

7. The method according to claim 1, characterized in that the condition of the detection object location and its auto-tracking in azimuth at which the line slant range and the optical axis of the receiving-transmitting lens locator lie in the same plane, the positioning of the object location and its radial dimension when Oreste found by calculating the minimum for two different glare radiation (Min m=2) in this cycle measurement.