Integrated inertial-satellite orientation and navigation system for objects moving on ballistic trajectory with rotation around longitudinal axis

FIELD: physics; navigation.

SUBSTANCE: invention relates to navigation instrument making. The set problem is solved by that, conditions are created in which substantial connection appears and is used on a section of a ballistic trajectory between error models of inertial measurement modules when solving the problem of orientation and navigation. This connection appears and can be used in providing the following conditions: presence of fast rotation around a longitudinal axis and coning motion of precession of the control object about the centre of mass or only rotation of the object around a longitudinal axis on a ballistic trajectory; placing a unit of accelerometres of inertial measurement modules and a reception antenna for the satellite navigation system at a certain distance (basically on a transverse axis) from the centre of mass of the control object; solving the problem of orientation and navigation in the inertial measurement modules at the point of placing the unit of accelerometres at high frequency - approximately an order higher than frequency of rotation of the control object (due to necessity of generation of dynamic components in navigation parametres without distortions); formation of measured values of primary navigation parametres in the reception apparatus of the satellite navigation system where the reception antenna is placed using tracking measuring devices with bandwidth greater than the frequency of rotation of the control object. Also values of primary navigation parametres are calculated in the computer of the inertial measurement modules and these values are also used in the feedback in the reception apparatus of the satellite navigation system for narrowing the frequency band in tracking systems of carrier frequency and code delay.

EFFECT: increased accuracy and noise immunity of integrated systems of orientation and navigation (ISON), which have inertial measurement modules (IMM) on "rough" micromechanical gyroscopes and a miniature reception apparatus of satellite navigation systems (RA SNS), in generating orientation parametres of control objects (CO) on a section of its ballistic trajectory for a long period of time, ie provision for stationary character and limited level of errors of integrated systems of orientation and navigation in solving the problem of orientation of a control object on a ballistic trajectory, as well as high level of noise immunity.

6 dwg

 

The invention relates to the field of navigation instrumentation.

As you know, due to the need to ensure high operational characteristics (mass-dimensional characteristics - IYC, reliability, time availability, etc), the basis of advanced onboard navigation equipment for moving different objects will be beskarkasnye inertial navigation system (beans) or inertial measurement units (biim). This is one of the main trends in the development of navigational equipment for modern mobile objects for various purposes. For small beim medium and low level of precision, intended for use in small dynamic management objects (OS), part of the movement which occurs along a ballistic trajectory, it is preferable to use in measuring blocks (IB) biim as gyro sensors of angular velocity (DOS).

The peculiarity of the requirements for the IB biim for their application at the shelter this class, you should consider first of all the high demands on reliability and ensuring it is working outside of the sealed enclosure under the influence of radiation and a significant temperature gradient for a sufficiently long time interval. Chrome is also for OS data characterized by large dynamic ranges (which is required of IB biim the accuracy characteristics): angular velocity up to 1000...2000 deg/s, the linear acceleration up to 150...200 g. And also to withstand launch loads - up to 30000 g (guy E. "Nevadasiena missiles with inertial navigation system on micromechanical sensors, integrated GPS". Materials V St. Petersburg international conference on integrated navigation systems. //Gyroscopy and navigation. -1998. No. 3(22), p.72...81).

Modern small-DOS, which can be used as part of the IB biim for use in shelter conditions of this class are primarily fiber optic (VOG) and MEMS (MMG) gyroscopes (guy E. "Nevadasiena missiles with inertial navigation system on micromechanical sensors, integrated GPS". Materials V St. Petersburg international conference on integrated navigation systems. //Gyroscopy and navigation.-1998. No. 3 (22), p.72...81. V.S. Lobanov, N.V. Tarasenko, "Using the adjustable bins on the basis of fiber-optic gyroscopes and quartz accelerometers for motion control interplanetary spacecraft". Materials XIII St. Petersburg international conference on integrated the major navigation systems. //Gyroscopy and navigation. -2006. No. 3(54), p.88).

The implementation of modern requirements for the accuracy of the solution of task orientation and navigation of moving objects through the use of BIEM in offline mode for an extended period of time is a complex problem, the solution of which requires a significant financial and time costs. Therefore, based on the criterion of value, as international experience shows, the solution to this problem is generally to look at ways of integrating information beskanalnyh inertial modules with reception equipment (PAS), satellite navigation systems (SNS). That is, on ways to build integrated systems of orientation and navigation (ISON) on the basis of biim, information and structurally integrated with the PA SNA (guy E. "Nevadasiena missiles with inertial navigation system on micromechanical sensors, integrated GPS".

Materials V St. Petersburg international conference on integrated navigation systems. //Gyroscopy and navigation. -1998.-№3(22), P.72...81. Disel E., Bykov, A. and others, "analysis of the results of the first flight tests of the integrated inertial-satellite navigation, orientation and tractor control booster and upper stage at the launch of spacecraft Amos-2" geostationary orbit". Proceedings of the XI Saint-Peterburgsky the th international conference on integrated navigation systems. //Gyroscopy and navigation. -2004. No. 3(46), P80. LINS-2510. INS/GPS Internal Navigation System with embedded Global Positioning System, the prospectus of the company Litton (USA).

Anuchin O.N., Emelyantsev GI "Integrated system of orientation and navigation for Maritime mobile objects”/ edited redact. Acad. RAS Vgikejgrv/. -SPb.: CSRI "Elektropribor", 2003. - 389 C.). The vision is to ensure not only the initial exhibition, calibration of sensitive elements (SE) and periodic adjustment of the output of biim to improve the information of the Autonomous system, but the task of improving the noise immunity PA SNA and monitoring the integrity of satellite systems.

Feature build Eason for the OS, the part of the trajectory is ballistic trajectory, is the fact that for a solution with the required accuracy task orientation shelter on the site of ballistic trajectories using data standard PA SNA for integration with biim inefficient. This is because on a ballistic trajectory there is no connection between models of errors biim in solving problems of orientation and navigation, because in these conditions the value of the vector of apparent acceleration measured by the accelerometers IB beim, almost equal to zero (if not to take into account the slowdown in the upper atmosphere) (Eliasberg P.E. "introduction to theory of the flight of artificial satellite. - M.: Nauka, 1965. - 540 (C).

And therefore, there is no possibility in the estimation errors of biim goal orientation (no visibility) when using data standard PA SNA navigation parameters.

The classic solution to this problem requires the use of either precision biim or use in Eason's or system indicating the angular position, built on astrogation (Volyntsev A.A., Dudko L.A., Cossacks B.A. and others ' Experience creating high-buoyancy devices used in the systems of the angular orientation and stabilization of spacecraft and space stations. Materials X Saint Petersburg international conference on integrated navigation systems. SPb.: CSRI "Elektropribor". in 2003, s.226-234. Avanesov GA and other Star systems coordinators orientation of spacecraft", " Izv. higher education institutions. The instrumentation. in 2003, B.4, p.66-70), or multiantenna PA SNA, using the phase measurements of the carrier frequency (Shebshaevich BV and other Onboard clock coordinate temporary device for spacecraft. The test results and modeling". //12thSaint-Petersburg International Conference on Integrated Navigation Systems/. - SPb.: CSRI "Elektropribor". - 2005, p.103-108).

The use of beem precision laser gyroscopes or Vogue leads to a significant value (of the order of 100 to 200 thousand dollars. USA), significant the IYC and power consumption (LINS-2510. INS/GPS Internal Navigation System with embedded Global Positioning System, the prospectus of the company Litton (USA)).

The use of astrogation and multiantenna PA SNA in dynamic driving conditions of the shelter of the considered class taking place restrictions on their IYC in the near future is not possible.

The well-known scheme (guy E. "Nevadasiena missiles with inertial navigation system on micromechanical sensors, integrated GPS".

Materials V St. Petersburg international conference on integrated navigation systems. //Gyroscopy and navigation. -1998. No. 3(22), C.72...81) build Eason, selected as a counterpart, consists of IB beim, including block micromechanical gyroscopes and block micromechanical accelerometers providing electronics, standard miniature PA SNA and evaluator, providing both data processing IB biim, and the integration output biim and PA SNA. A disadvantage of this scheme build Eason is the impossibility of providing, using in part IB of biim "rough" gyroscopes type MMG, the orientation of the shelter on a ballistic trajectory with high accuracy (error of the orientation parameters should not be more than 1°) for a long (about 10...20 min time.

In the above patents (Diesel, John W. Integrated inertial/GPS navigation System. U.S. patent No. 6417802 from 09.072002. Perlmutter, Michael S. and others "the Way to increase the efficiency of re-discovery and capture the satellite signal in the integrated GPS/INS navigation system. U.S. patent No. 6640189 from 28.10.2003. Belov E, Gunbin T.A. and other "Integrated inertial-satellite navigation system. RF patent №2087867 from 20.08.1997. Volgin A.S., Vasilikon A.A. and other "Inertial-satellite navigation system. RF patent №2233431 C1 from 27.07.2004. Mezentsev A.P., Acilities V.M. and other "Universal navigation device motion control based on micromechanical sensors and unified integrated strapdown inertial navigation system for this device". RF patent №2263282 C1 from 27.10.2005 St.) also there is no solution of the problem.

Known as the "Integrated system for navigation and control of marine vessels, which are described in the patent of the Russian Federation No. 2117253 from 10.08.1998 was selected as the prototype.

This integrated system includes beim, which contains IB, consisting of a block of gyroscopes (BG) and block accelerometers (BA), computing device (WS), which, in turn, contains the unit production orientation parameters (BVPO), the conversion unit increments of apparent velocity (BPX), unit production parameters of the translational motion (BWPD), the block of complex information processing (BCOI), block transformations the Finance data (BPOA) SNA and block BPDC integrated system, and PA SNA with the antenna (S).

The output Eason are the current values orientation (quaternion and corners of heading, pitch and roll) and the navigation parameters (components of the vector of linear velocity and position) of the control object.

The functioning of this Eason is as follows. The output IB beim, representing an increment of the vector rotation anglethe sampling rate gyros in the projections associated with IB beim axis xbybzb(herethe angular velocity vector of OS relative to inertial space in the projections associated with IB axis xbybzb), proceed to one of the inputs of the block BVPO, the purpose of which is the development orientation parameters IB biim and object:- quaternion angular position and angles K, ψ, θ - rate, pitch and roll, characterizing the position associated with IB beim xbybzband x0y0z0axes relative to the navigation of geographic axes ENH. To the second input unit BVPO enter the estimated value of the angular velocity vector of the rotation of the navigation of the trihedron ENH with one of the outputs of the block BWPD through the block BCOI. To the input unit BVPO are also estimation error is awn orientation parameters and error estimates gyroscopes, calculated in block BCOI.

The output of block BA beim, representing an increment vectors apparent linear velocity and linearthe sampling rate of the accelerometers at the point of their placement and projections related IB beim axis xbybzb(herethe vector of apparent acceleration in the projections associated with IB axis xbybzb), goes through the block BPX to one of the inputs of the block BWPD whose purpose is to develop the components of the vector of linear speedin projections for the navigation axis ENH and coordinates(the components of the radius vector in the projections on the Greenwich axis and geodesic spherical coordinates φ, λ, h) OS at the point of placement of the accelerometers. To the input unit BWPD are also estimation errors of navigation parameters and error estimates accelerometers, calculated in block BCOI.

Information from the receiving antenna SNA arrives in PA SNA contains a receiving unit (RPU), N independent of the receiving / measuring channels - PEAK, and block navigation tasks (BRNS)which have current values of the vector components of the linear velocityin projections for navigat the traditional axis ENH and coordinates (the components of the radius vector in the projections on the Greenwich axis and geodesic spherical coordinates φSNA, λSNAhSNAobject management. The output of the PA SNA through the block BPOA SNA arrive at one of the inputs of the block BCOI, to the second input of which receives data biim from the block BWPD.

It should be noted that in the systems for tracking the carrier frequency (CLO) and tracking delay code (CVD) standard PA SNA includes a discriminator, a broadband filter (FSH) and driven generator (UG).

Estimates generated in block BCOI enter feedback for correcting errors biim in the development of orientation parameters and compensation of errors of gyros, correction of errors biim in the development of navigation parameters and errors of the accelerometers.

The drawback schemes Eason, selected as a prototype, is its limited immunity and the impossibility of providing, using in part IB of biim "rough" gyroscopes type MMG, the orientation of the shelter on a ballistic trajectory with high accuracy.

If you use part IB of biim more accurate gyroscopes type Vogue, it will lead to a significant increase in the dimensions and cost Eason.

The objective of the invention is to improve the accuracy and pokahontas is ivoti Eason, containing biim to "rough" the gyroscopes of the type MMG and miniature PA SNA in developing orientation parameters of the shelter on the site of the ballistic trajectory of its motion for a long period of time, i.e. the provision of a stationary nature and the limited level of error Eason in the solution orientation of the shelter on a ballistic trajectory, as well as a high level of noise immunity.

The problem is solved in that the conditions in which you receive and use essential communications in the area of ballistic trajectories between model errors biim in solving problems of orientation and navigation. This link appears and can be used for ensuring the following conditions:

- availability of rapid rotation around the longitudinal axis and the conical motion of the precession of the shelter about the center of mass (cm) or only rotate the object around its longitudinal axis on a ballistic trajectory;

- placing a block of accelerometers of BIEM and the receiving antenna of the SNA at some distance from cm OS mainly along the transverse axis (the distance from the axis of rotation);

- solving the problems of orientation and navigation in biim at the point of placing a block of accelerometers at high frequency is approximately an order of magnitude more speed OS (due to the need to develop a distortion-free dynamic components in the navigation parameters is Oh);

- the formation of the measured value of the primary navigation parameters (distances and radial velocities for the observed HCiin PA SNA at the point of placement of the receiving antenna tracking probes with a bandwidth of approximately one order of magnitude larger than the frequency of rotation of the shelter.

The implementation of these terms and represents the main difference of the proposed device to the prototype that requires making appropriate changes in the units biim and blocks PA SNA. In addition, the evaluator beim formed the estimated values of the primary navigation parameters (distances and radial velocities for the observed HCi), which are also used in feedback in PA SNA for narrow bandwidth systems for tracking the carrier frequency (CLO) and the delay code (CVD).

The list of drawings.

Figure 1 and 2 shows a block diagram of the proposed Eason.

Figure 3 and 4 shows the results of modeling errors Eason, from which it follows that under the conditions above, is secured stationary in nature and limited level of errors Eason in the solution orientation of the shelter when moving along a ballistic trajectory.

Figure 5 and 6 show the error (UHL. min) Eason on the orientation parameters Δψ(1), δk means(2) in the absence of otstoyniy block accelerometers of biim from C is NTRA mass shelter and in the presence of otstoyniy block accelerometers of biim from the center of mass of the OS, respectively.

In figure 1 the following notation:

Beim - besarannya inertial measurement module;

PA SNA - receiving equipment of satellite navigation systems;

1 is a block gyroscopes (BG);

2 is a block accelerometers (BA);

3 - unit production orientation parameters (BVPO);

4 - unit production parameters of the translational motion (BWPD);

5 - unit conversion data of the integrated system (BPOA);

6 - unit forming a differential measurement (BFRI);

7 - unit complex information processing (BCOI);

8 - antenna unit (AU);

9 - a receiving unit (RPU);

10 - block allocation to the radionavigation-options and special information (Burnice);

11 is a block navigation tasks (BRNS).

In figure 2 the following notation:

CLO - tracking system carrier frequency;

Ωi- Doppler shift of the carrier frequency of the i-th NAidetermined according to Bhim;

The Ui control signal switches the switching strip CLO and CVD during the transition to maintenance mode from beim;

12 - tracking system delay code (CVD);

13 - allocation of special information - values ephemeris HC1(SWSI);

14 - discriminator (Descr.);

15 - broadband filter part CLO (FSH);

16 - band filter comprising CLO (FU);

17 - switch (Switch);

18 - controllable oscillator CLO and a controllable oscillator CVD (UG).

Unlike the prototype is that introduced additional unit forming a differential measurement 6 (BFRI). Additional feedback from block 6 (BFRI) to the block 11 (BRNS) PA SNA to ensure the delivery of calculated values (calculated according to Bhim and ephemeris information NAi) primary navigation parameters (distances and radial velocities for the observed HCiin PA SNA. Also introduced additional feedback from unit 7 (BCOI) to the block 11 (BRS)to ensure the delivery of error estimates PA SNA calculated in block 7 (BCOI), PA SNA.

To improve noise immunity, PA SNA introduced additional feedback from block 11 (BRNS) to the unit 10 (Burnice)to ensure the delivery of design data (Doppler shift of the carrier frequency of the i-th HCidetermined according to biim) and control signals in the circuit CLOS each PEAK. In each CLO PEAK unit 10 (Burnice) (figure 2) introduced additional blocks 16 (FU), 17 (Switch) and the adder. The filter 16 (FU), with a narrow strip, is included in the loop CLO instead of the broadband filter 15 (FSH) by the switch 17 after receiving informational support from biim, which increases the noise immunity PA SNA.

In addition, there is an additional link output is and block 5 (BPOA) integrated system with the input unit 6 (BFRI), providing the translation of the navigation data biim from location point unit 2 (BA) on the object to point to the location of block 8 (AU) PA SNA.

The distinctive feature is that the unit 2 (BA) and block 8 (AU) must be installed at a maximum distance from cm shelter along the transverse axis.

Algorithmic software units 3 (BVPO), 4 (BWPD) is similar to the algorithms of similar blocks of the prototype. The difference lies in the fact that the frequency of tasks in blocks 3 (BVPO), 4 (BWPD) should be approximately an order of magnitude more speed OS (due to the need to develop a distortion-free dynamic components in the navigation settings) to point to the location of block accelerometers.

In block 6 (BFRI) differential measurement in contrast to the prototype are formed on the primary navigation parameters (distances and radial velocities for the observed HCi), and their linearization.

Bandwidth tracking systems must be greater than the speed of the OS (due to the need to develop a distortion-free dynamic components in the primary navigation options for each NAi).

Information from unit 8 (AU) PA SNA through blocks 9 (RPU) and 10 (Burnice) entered in block 11 (BRNS), the output of which have adjusted current "measured" values of ρi_zand primary navigation parameters (distances and radial velocities from the shelter to each of the observed NAi) at the point of placement of the receiving antenna at a frequency of not less than 5÷30 Hz (due to the need for measurement of dynamic components, due to the rotation around the longitudinal axis and a possible conical shelter movement relative to its cm). The output of block BRNZ formed from ephemeris information corrected values of(j=1, 2, 3) are the Cartesian coordinates and vector components of the absolute linear velocity HCiin projections for Greenwich axis for each of the observed HCisynchronized with the data ρi_zand.

The output ρi_z,and(j=1, 2, 3) PA SNA arrive at one of the inputs of block 6 (BFRI). To the second input unit 6 (BFRI) receive data beim about Cartesian coordinates ej_prand components(j=1, 2, 3) vector of the absolute linear velocity of the object projected on Greenwich axis, which, using data from(j=1, 2, 3) are formed in the calculated values ofandprimary navigation parameters for the observed HCiand differential measurement, .

From the output of block 6 (BMI) measurement,fed to the input of block 7 (BCOI). Estimates generated in block 7 (BCOI), enter feedback for correcting errors biim in the development of orientation parameters and compensation of errors of gyros (on the input unit 3 (BVPO)), the correction of errors biim in the development of navigation parameters and errors of the accelerometers (to the input unit 4 (BWPD)), as well as correction of errors PA SNA (to the input unit 11 (BRNS)).

The substance of the proposed solution is as follows.

If IB beim place at the shelter at the point m with some distancethe axes associated with the shelter of the trihedron xoyozofrom his cm, vectorthe apparent acceleration in the point m under the assumption that the object is rigid and has a vector of angular velocity(due to the rotation around the longitudinal axis and a possible conical rotation relative cm), can be represented in the form (Anuchin O.N., Emelyantsev GI "Integrated system of orientation and navigation for Maritime mobile objects”/ edited redact. Acad. RAS Vgikejgrv/. - SPb.: CSRI "Elektropribor", 2003. - 389 C.):

where- the value of the vector causes is growing faster in cm The OS (on the site of a ballistic trajectory, its value is zero).

Let- feature value vector of the apparent acceleration of the point of installation of the accelerometers IB biim in projections on the axis of the object, then the projections of the vector of the apparent acceleration of the point m on the axis of the geographical accompanying trihedron ENH will be equal to:

wherematrix orientation that characterizes the position associated with the shelter of the axes relative to the axis geographic accompanying trihedron.

From the expression (1) follows that at the proper distance IB biim from cm OS, i.e. when≠0 in the rapid rotation of the object and / or conical motion≠0.

We show that this condition≠0 leads to the presence of a link on a ballistic trajectory between model errors biim in solving problems of orientation and navigation, which is a necessary condition for a positive solution to this problem.

In accordance with the algorithm for transforming the signals of the accelerometers on the navigation axis ENH according to the expression (2) variation of the vector of the apparent acceleration of the axes geographical accompanying trihedron will be equal to

where the vector of instrumental errors of the accelerometers in the axes object. Given that Δ=-δwhere δis a skew-symmetric matrix corresponding to the vectorerrors task orientation (Anuchin O.N., Emelyantsev GI "Integrated system of orientation and navigation for Maritime mobile objects”/ edited redact. Acad. RAS Vgikejgrv/. - SPb.: CSRI "Elektropribor", 2003. - 389 S.), we obtain

or

wherethe vector of errors of task orientation.

Varying the algorithm generate beim vector components of the linear velocity of the point m of the object in the geographical axes of the trihedron

where,- the estimated value of the gravitational acceleration and the Coriolis acceleration will be taking into account the relations (4)

where,- error of formation, respectively, estimates of the Coriolis acceleration and the acceleration of gravity, including anomalies of the Earth's gravitational field.

From equation (5) implies that the errorBiim in the development age of the ora linear velocity of the shelter at the point of placing a block of accelerometers in projections on the navigation axis in terms of the ballistic trajectory when ≠0 will also depend on vectorerrors biim in the development of the orientation parameters of the object.

Therefore, if biim (with appropriate choice of the dynamic characteristics of the inertial elements and frequency of solving problems of orientation and navigation) will provide the measurement of dynamic components in the vector of linear speed, due to the rapid rotation of the shelter around the longitudinal axis and a conical movement at the proper distance it from IB cm object, then from the differential measurements based on data PA SNA (which also should contain information on the rotation of the OS) by monitoring accuracyBiim on a finite time interval can be found in the evaluation sought errorsBiim in the development of the orientation parameters of the object moving along a ballistic trajectory.

This task on the ground (which always provides≠0) for errors of the developing roll and pitch is solved without any problems.

For these studies was developed in Matlab (Simulink) simulation model Eason, including:

- simulation model for the motion group (6) navigation satellites (NAi) in orbits close to circular that contains f is armirovanie parameters of the translational motion cm HCiin Greenwich geocentric coordinate system P3-90 (ephemeris information for each HCiwith regard to the accepted model of the gravitational field of the Earth;

- simulation model of the motion of the object that contains the parameters as the translational motion of his cm (acceleration, linear velocity, geographic and Cartesian coordinates in Greenwich coordinate system P3-90), and the rotational relatively cm;

- the formation of the output IB biim (block gyroscopes type MMG and block micromechanical accelerometers - MMA) on the basis of the current true values of the vectors of angular velocity and the apparent acceleration of point placement IB on the object (restored from motion models OS) using arrays implementations, the output of the gyroscopes and accelerometers, derived from their bench trials;

discrete recurrent algorithms of the major functional tasks beim;

- filtering on the joint processing using algorithms of the generalized Kalman filter data biim and PA SNA, including:

- formation of differential measurement at the level of the adjusted values of the range and radial velocity for each HCiand their linearization relative to the current estimated value;

- calculation of error estimates of BIEM and correction in the opposite svetina each step in the task of filtering;

algorithms error control Eason in the development of the kinematic parameters of movement of the object, including a record of their current values in file.mat and plotting errors.

Here is the algorithm in the problem of joint processing data biim and PA SNA differential measurement:

Formation measurements

where- the estimated current values of the distance and radial velocity to HCiobtained according to Bhim and ephemeris information for NAiand given the location of the antenna PA SNA;- they are measured in PA SNA values.

Linearization of dimension

where the partial derivatives we get the following expression:

ΔThat Δ(j=1, 2, 3) - error beim in the development of Cartesian coordinates ej_prand components(j=1, 2, 3) vector of the absolute linear velocity of the object proekcia on Greenwich axis, which were presented through error Δφ, Δλ, Δh develop geograficas the x coordinate location and error ΔV E, ΔVN, ΔVHin developing the components of the vector relative linear velocity of the object projected on the geographical axis;

(j=1, 2, 3) is the known values of Cartesian coordinates and vector components of the absolute linear velocity HCiin projections for Greenwich axis;

- offset, respectively, the time scale (in units of distance) and the reference oscillator frequency (in units of the radial velocity) in PA SNA data regarding HCi;

,- noise PA SNA.

The estimated model error

When forming the estimated model errors Eason used the following approximation:

displacement of the zeros of gyroscopes(i = xb, b, zb) and accelerometerschanges in the systematic component of uncertainty scale factors MMG ΔMgiand MMA ΔMaifrom run to run and their variability in the start - were approximated (due to lack of reliable data on their spectral composition) corresponding Wiener processes;

- errorPA SNA were approximated by the corresponding Wiener processes (the data is a General problem of estimation of quantities in the absence of reliable information about the nature of their changes. When specifying tasks for estimation of quantitiesperhaps the description of their changes polynomials of time, the task of estimation is reduced to the problem of estimating the coefficients of these polynomials);

noisesPA SNA approximated by a discrete white noise with known variance at frequency 1/Tz;

In this case, the estimated model errors Eason will be

where

the state vector of the system, here α, β, γ - error (α - rate, β, γ in the simulation of vertical space) task orientation in the construction of geographical trihedron ENH (the calculation of the matrix orientation);

Fk/k+1- transition at step Tzthe matrix system state (9);

Gk+1≅ Fk+1·dT - matrix, which determines the influence of input noise vector wkwith covariances Qk;

Hk+1matrix of the dimension 2×23 for each HCicorresponding to equations (7), (8) taking into account the correlation relationship between errors generate Cartesian and geographic coordinates of the place and the error is and making the components of the vector of linear speed of the object projected on Greenwich and geographical axis; vk+l- noise measurements.

The results of the modeling work Eason in Matlab(Simulink)

The simulation was carried out with the following initial data:

- characteristics of the Earth and the gravitational field

R=6378163 - mean Equatorial radius of the Earth (m);

Ue=7.2921151467·10-5- the angular velocity of the daily rotation of the Earth (rad/s);

µg=3.98603·1014is the gravitational constant of the Earth (m3/s2); ε=2.634·1025(m5/s2) and χ=6.773·1036(m7/s2) - expansion coefficients of the gravitational potential (Eliasberg P.E. introduction to theory of flight of the satellite. - M.: Nauka, 1965. - 540 S.);

Error MMG in projections on the axis (i = xb, yb, zb) IB:

- ΔMgi- instability of scaling factors is a random variable with level (1σ=0.006 0.01...);

-- systematic components of the drifts, which characterize the displacement of the zeros from start-to-start - a random variable with level (1σ=100 o/h)

-- random components drifts, which characterize the zero drift in the start - Markov processes of the first order σ1gi=30 o/h, µgi=1/600 (-1);

- fluctuation components drifts discrete white noise at the operating frequency σ2gi=300 l/h;

Error MMA in the projections on the axis (I = xb, yb, zb)IB:

- ΔMai - large-scale instability of coefficients of linear accelerometers is a random variable with level (1σ=0.01);

- Δi- the offset of the zeros of linear accelerometers is a random variable with level (1σ=0.1 m/s2);

- Δai- drift of zeros of linear accelerometers - Markov processes of the first order σ1ai=0.03 m/s2, (µai=0.01 (-1);

- fluctuation components of the errors of the accelerometers in the projections on the axes of IB - discrete white noise at the operating frequency σ2ai;=0.4 m/s

PA SNA:

- error (systematic components) measurements

=10...20 (m);

=0.1..0.2 (m/s);

- noise measurements (1σ)

=10 (m);

=0.1 (m/s);

Beim

the distance unit of the accelerometers biim from the center of mass of the OS

ρx0=0.1 m; ρV0=0.2 m; ρz0=0

• error initial exhibition biim (t=0):

- orientation parameters (α0that β0that γ0)-1°C;

- the components of the vector of linear speed of 0.1 m/s;

- coordinates - 30 m

Operating frequencies in the simulation

dt=0.001 s - resolution modeling of the movement of the shelter along the trajectory;

dT=0.005 s - resolution algorithms of biim;

Tz=0.1...0.2 - resolution data of the SNA.

The movement of the shelter is a plot ballistic trajectory: the initial conditions for the motion parameters taking into account the rotation around the longitudinal axis and a conical rotation (ε - angle at the vertex of the cone, ωk- the angular velocity of the conical rotation; Kr, ψTo, ψr, ψψθr, ψθ- the amplitude and the phase of the angular movement, respectively, at the rate, pitch and roll)

φ0=60°; λ0=30°; ho=0.3·106m; Vo=6000 m/s;

K(t)=Aor0+Krsin(ωkt+ψK); Aor0=40°; Kr=-ε; ψK=90°; ε=6°;

ωk=0.5,...,1.0 (rad/s);

ψ(t)=ψcm0rsin(ωkt+ψψ); ψcm0=40°; ψr=ε; ψψ=0°, θ0=0°;=6,...,10 (rad/s);

Figure 3, figure 4 shows the values of the apparent acceleration when moving the OS on a ballistic trajectory and the value of the normalized variances of the errors of the orientation of the channel covariance of the Kalman filter).

Literature

1. Guy E. Nevadasiena missiles with inertial navigation system on micromechanical sensors, integrated with GPS. Materials V St. Petersburg international conference on integrated navigation systems. // Gyroscopy and navigation. -1998. No. 3 (22), p.72...81.

2. V.S. Lobanov, N.V. Tarasenko Using the adjustable bins on the basis of fiber-optic gyroscopes and quartz accelerometers for motion control interplanetary spacecraft. Materials XIII St. Petersburg international is a native of the conference on integrated navigation systems. // Gyroscopy and navigation. - 2006. No. 3(54), p.88.

3. Disel EAST, the Bulls A.K. and other analysis of the results of the first flight tests of the integrated inertial-satellite navigation, orientation and tractor control booster and upper stage at the launch of spacecraft Amos-2" in the geostationary orbit. Proceedings of the XI Saint Petersburg international conference on integrated navigation systems. // Gyroscopy and navigation. - 2004. No. 3(46), P80.

4. Volyntsev A.A., Dudko L.A., Cossacks B.A., etc. Experience creating high-buoyancy devices used in the systems of the angular orientation and stabilization of spacecraft and space stations. Materials X Saint Petersburg international conference on integrated navigation systems. SPb.: CSRI "Elektropribor". in 2003, s.226-234.

5. Avanesov GA and other Star systems coordinators orientation of spacecraft, " Izv. higher education institutions. The instrumentation. in 2003, B.4, p.66-70.

6. Shebshaevich BV and other on-Board clock coordinate temporary device for spacecraft. The results of tests and simulations. // 12thSaint-Petersburg International Conference on Integrated Navigation Systems /. - SPb.: CSRI "Elektropribor". - 2005, p.103-108.

7. LINS-2510. INS/GPS Internal Navigation System with embedded Global Positioning System, the prospectus of the company Litton (USA).

8. Branes B.H., Smilevski I.P. introduction to theory of chaos is informing inertial navigation systems. - M.: Nauka. CH. nat. Ed.-Mat. lit., 1992. - 280 S.

9. Stepanov O.A. Application of theory of nonlinear filtering processing tasks navigation information. - SPb.: SSC RF - CSRI "Elektropribor", 1998. - 370 S.

10. Anuchin O.N., Gusinsky the old Testament, Emelyantsev GI Integrated system for navigation and control of marine vessels. RF patent №2117253, 1998.

11. Anuchin O.N., Emelyantsev GI Integrated system of orientation and navigation for Maritime mobile objects/edited redact. Acad. RAS Vgikejgrv /. - SPb.: CSRI "Elektropribor", 2003. - 389 S.

12. Eliasberg P.E. introduction to theory of flight of the satellite. - M.: Nauka, 1965. - 540 S.

13. Diesel, John W. Integrated inertial / GPS navigation System. U.S. patent No. 6417802 from 09.07.2002.

14. Perlmutter, Michael S. and other Way to increase the efficiency of re-discovery and capture the satellite signal in an integrated GPS/TNS navigation system. U.S. patent No. 6640189 from 28.10.2003.

15. Belov E, Gunbin T.A. and other Integrated inertial-satellite navigation system. RF patent №2087867 from 20.08.1997.

16. Volgin A.S., Vasilikon A.A. and other Inertial-satellite navigation system. RF patent №2233431 from 27.07.2004.

17. Mezentsev A.P., Acilities V.M. and other Universal navigation device motion control based on micromechanical sensors and unified integrated strapdown inertial navigation system on the I device. RF patent №2263282 from 27.10.2005 St.

Integrated orientation and navigation for objects moving along a ballistic trajectory with rotation around the longitudinal axis containing besarannya inertial measuring unit (biim), including block gyroscopes (BG)associated with the unit production orientation parameters (BVPO), block accelerometers (BA)associated with power generation parameters of the translational motion (BWPD), which, in turn, is associated with a block of data conversion integrated system (BPOA) and the block of complex information processing (BCOI), and the receiving equipment of satellite navigation systems PA SNA containing the antenna device (AU), connected via a receiving unit (RPU) with unit selection of navigation options and special information (Burnice), consisting of N independent priamosmaritime channels (PEAK), and block navigation tasks (BRS)with links to Burnese and beim, with each PEAK unit Burnese contains a system for tracking the carrier frequency (CLO), the tracking system delay code (CVD) and the allocation of special information (SSI), and CLO of each PEAK includes a discriminator, a broadband filter (FSH) and driven generator (UG), characterized in that the composition of biim additionally introduced the block forming the differential of Areni (BFRI), first input connected to one of the outputs of the block of the BPOA, the second input is connected to the first output unit BRNS, the first output unit BRI connected to the input unit BCOI, and the second output is connected to one of inputs of the block BRNS, the second output of which is connected with the second input unit Burnese, and the composition of each PEAK CLO unit Burnese additionally introduced narrowband filter (FU), the switch and the adder, and the entrance FU is connected to the output of the discriminator, the output FU connected to the first input of the switch, the second switch input connected to the output of FS, the control input of the switch is connected to the control output BRNS, the output switch connected to the first input of the adder, the second input of the adder is connected to the second information output BRNS, the output of the adder connected to the input ANGLE, the block BA biim and the block AU PA SNA must be installed at a maximum distance from the center of mass of the object control (OC) along the transverse axis, while the bandwidth blocks BVPO, BWPD and Burnese, BRS must be greater than the frequency of oscillation of the OS because of rotation around the longitudinal axis.



 

Same patents:

FIELD: physics, measurement.

SUBSTANCE: invention is related to satellite navigation and may be used to build orbit-based functional addition to global navigation satellite system (GLONASS). Substance of method consists in the fact that on board of low-orbit spacecraft navigation equipment of user is installed, which is used to receive navigation messages, as well as additional equipment used to receive signals of on-air television of ground stationary television radio stations, bearing frequencies of two or more television channels are separated, on the basis of which Doppler shift of bearing frequencies is detected, orbit parametres are detected, calculating ephemerids of spacecraft, and navigation messages are formed in accordance with specified structure of navigation message, then radio navigation signals are broadcasted in direction of navigation information consumer location.

EFFECT: higher reliability of navigation detections of navigation information consumers performed with the help of GLONASS, due to increase of orbit-based navigation message sources number.

1 dwg

FIELD: physics, measurement.

SUBSTANCE: device for choosing objects to be observed from an orbiting spacecraft (SC). Device for choosing objects to be observed from an orbiting spacecraft comprises a globe with a map on it, two rings embracing the globe; the first ring is fixed above the globe pole points and can be rotated around the globe rotation axis and the second one is set in the globe equator plane and fixed at the first ring in the points of its crossing the globe equator plane. Following units are additionally mounted: an element in the form of a spiral turn simulating an orbit turn of the SC moving around the planet with the planet map being represented on the globe and an element with its outline projection on the globe surface forming a circle which is limiting a segment with a half-angle on the globe surface. The element with its outline projection on the globe surface forming a circle is made as a semitransparent spherical segment with a slot from the spherical segment edge to its centre.

EFFECT: providing for representing on the globe the areas observable from the SC in various positions of the SC on the considered SC orbit turn.

2 cl, 5 dwg

FIELD: space engineering.

SUBSTANCE: chart board designed for selecting observation objects aboard the orbital spacecraft comprises a semi-transparent plate depicting a curvilinear spacecraft trajectory, a flexible tape arranged behind the said plate with two copies of the Earth surface maps wherein the end points of equator of the first map are aligned with the start points of equator of the second map, and a device designed to move the tape with maps along the plate made up of two shafts spaced apart and linked up in parallel, the enclosed tape being arranged so as to move along equators of both maps. Note that, in compliance with this invention, the proposed chart board comprises additionally a flexible semi-transparent tape with two celestial maps, including ecliptic line, wherein the end points of equator of the first map are aligned with the start points of equator of the second map, and a device designed to move the tape with celestial maps along the plate made up of at least two spaced apart and linked up in parallel shafts whereon a new tape is located so as to move along the equators, second semi-transparent tape depicting curvilinear lines everyone being made in the scale of the celestial maps axes and being formed by the points spaced apart by an equal angular distance equal to half an opening of a planet disk visible from the spacecraft, and a device designed to move second plate relative to the first one along the axes perpendicular to the maps equators. Note that the scales of celestial maps and the width of the tapes with celestial maps are identical to the scales of the Earth surface maps and the tapes with the Earth surface maps and that both maps scales equatorial axes are represented at the ration of 1:K where K is the factor of compliance of the scales of equatorial scales defined from the formula K=1-tω/(2π+Δ Ω), where T is the spacecraft period, ω is the Earth angular speed of revolution in inertial space, Δ Ω is the helical orbit precession in the inertial coordinate system. Note here that the width of the second plate complies with that of the first plate, the former being determined from the formula L = arccos([cosQ-sin ε sin i]/[cos ε cos i])Ls/2π, where Ls is the length of equatorial scale of one celestial map, Q is the angle of half-opening of planet disk visible aboard the spacecraft, ε, i are the angles of inclination of the planes of ecliptic and spacecraft orbit to the equator plane, respectively.

EFFECT: expanded performances of chart board.

8 dwg

FIELD: transportation, astronautics.

SUBSTANCE: map-board for selection of object for observation from orbital spacecraft (SC) includes flexible tape with two copies of planet surface map applied on it with aligning the Equator end point of the first map copy with the Equator start point of the second map copy, device providing map tape movement from two spaced and secured in parallel shafts. At that, the tape is looped and located on shafts with possibility of its circular motion along equator line of the maps. Additionally following is introduced: translucent tape with the image of continuous line of route for at least three sequential aircraft orbit passes, device providing movement of the tape with image of orbit along the tape with maps from two spaced and secured in parallel shafts and device for synchronisation of movement of the tape with maps and the tape with orbit image. At that, the tape with orbit image is looped and located on shafts of device providing movement of the tape with orbit image with possibility of its circular movement along equator line of the maps. Length of the tape with orbit image is made equal to overall length of represented orbit passes as measured along the equator direction, length of the tape with maps is made equal to total length of equators of plotted on the tape maps, and width of the tape with orbit image and width of the tape with maps are made in the ratio equal to ratio of orbit inclination angle to 90°, at that diameter of shafts of devices providing movement of the tape with orbit image is made equal to diameter of shafts of device providing movement of the tape with maps and constitutes value not exceeding one-fourth of difference between length of the tape with orbit image and length of the tape with maps.

EFFECT: map-board functionality enhancement due to providing of representation on the map-board previous and consequent orbit passes of aircraft.

3 dwg

FIELD: physics.

SUBSTANCE: accelerometer assembly and angular velocity sensor unit are mounted on platform in biaxial Cardan suspension. Platform is stabilised around Cardan suspension axes using signals generated by angular velocity sensor, and torque meters mounted on Cardan suspension axes. Apparent accelerations of platform are measured using signals generated by accelerometers. Absolute angular velocity of platform is measured using signals formed by angular velocity sensor. Angular position of object body is measured concerning platform using signals generated angle-data transmitter mounted on suspension axes of platform. Received signals are computer processed and navigation parameters of object is calculated in reference coordinate system.

EFFECT: higher accuracy of evaluation of object navigation parameters using hybrid inertial navigation system.

2 cl, 3 dwg

FIELD: physics; cosmonautics.

SUBSTANCE: choice plotter of objects under observation from orbital spacecraft (SC) includes translucent plate with image of SC orbit pass curve, flexible belt located under the plate and containing two applied copies of planet surface map with aligned equator end point of the first copy of map and equator start point of the second copy of map, and map belt shift device along the plate from two spaced and parallel interconnected shafts on which closed belt radially moving along the map equator lines is mounted. In addition there are introduced flexible translucent belt with object image of two copies of stellar map, including ecliptic line with aligned equator end point of the first copy of map with equator start point of the second copy of map, and stellar map object image belt shift device along the plate from at least two spaced and parallel interconnected shafts on which newly introduced belt moving along map equator line. Along the axes perpendicular to map equators, stellar map scale and belt width with stellar maps coincides respectively with terrestrial map scale and belt width with terrestrial map. Along equatorial axes, stellar and terrestrial surface map scales are executed in ratio 1:K. Stellar map object image belt shift device is executed in the form of two spaced and parallel interconnected shafts. The radius of shafts of stellar map object image belt shift device is more or equal to radius of shafts of terrestrial surface map belt shift device. Distance between shaft axes of stellar map object image belt shift device exceeds total distance between shaft axes of terrestrial surface map belt shift device and radiuses of all four shafts of both belt shift devices Width of plate with orbit line image and width of belts are provided in relation equal or more than relation of orbit dip angle to 90°.

EFFECT: provided simultaneous display of spacecraft passage over land objects and coelosphere objects.

2 cl, 3 dwg

FIELD: physics; cosmonautics.

SUBSTANCE: choice device of astronomical objects under observation from orbital spacecraft (SC) includes stellar globe, ring embracing the globe with aligned ring and globe centres and fixed over globe poles and rotating round globe rotation axis, the second ring embracing the globe with aligned second ring and globe centres and fixed on the first ring in crosspoints of the first ring and globe equator plane and rotating to position of the angle between second ring and globe equator plane equal to the angle of SC orbit dip angle. Additionally there are two elements with contour projection to globe surface forming circles and globe centre direction forming straight line passing through globe centre and perpendicular to the second ring plane, the angle equal 90° minus one-half angle of planet disk visible from SC round which SC moving in semi-circular orbit turns. Elements are fixed over globe surface from its opposite sides with one or more arches connecting introduced elements with the second ring. In addition each newly introduced element is designed in the form of translucent spherical segment one-half angle of which angle is equal 90° minus one-half angle of planet disk visible from SC, with slot provided from spherical segment edge to its centre arch length of which is equal or more then one-half angle of spherical segment minus SC orbit dip angle. Spherical segments centres lay on straight line passing through globe centre and perpendicular to the second ring plane with aligned centre of sphere forming spherical segments and globe centre. Slots in spherical segments are opposite to different globe poles. In addition each newly introduced element is constructed as ring placed on ruptured element contour. Ring segments opposite different globe are removed within ring rupture points.

EFFECT: provided display on stellar globe of regions observable from spacecraft during the whole orbit pass.

3 cl, 5 dwg.

FIELD: physics; space.

SUBSTANCE: device relates to space technology. The device consists of a globe with a map on it, two rings bracing the globe, the centres of which coincide with the centre of the globe, an element in the form of spiral coil, corresponding to the average turns of orbits of the space vehicle moving in an almost circular orbit, starting from the ascending node of the turns of the orbit, given in the right Cartesian coordinate system OXYZ, the centre of which coincides with the centre of the globe and the OZ axis is directed on the axis of rotation of the globe, with coordinates calculated from the formulae: x = r(cos (Δλu / (2π) ) cos u - sin (Δλu / (2π)} sin u cos i), y = r(sin (Δλu / (2π)) cos u + cos (Δλu / (2π)) sin u cos i), z = r sin u sin i, where i is the inclination of the orbit; r is the radius of the second ring; Δλu is the angular inter-turn distance of the orbit on the equatorial scale of the map; u is a parameter assuming values from 0 to 2π. The first ring is fixed over the terminal points of the globe with provision for rotation of the ring around the axis of rotation of the globe. The second ring is installed in the plane of the equator of the globe and is fixed on the first ring at the point of intersection of the first ring with the plane of the equator of the globe. The element in the form of a spiral coil is fixed to the second ring at the point of intersection of the second and first rings, by its middle point, corresponding to the value of the parameter u, which equals π. The technical outcome is the determination and selection of observation objects.

EFFECT: possibility of determination and selection of observation objects from an orbiting space vehicle.

3 dwg

FIELD: physics; space.

SUBSTANCE: invention pertains to devices for space navigation and is directed at providing for the possibility of selecting under conditions of a space vehicle, observation objects with simultaneous consideration of the stipulated conditions, related to objects on the earth's surface and in the celestial sphere. This result is provided for due to that, the plane table for selection of the observation object from an orbiting space vehicle consists of a plate with a map of the earth's surface, a semitransparent plate with an image of the curved line of the orbit pass of the space vehicle from its ascending node, installed over the map of the earth's surface with provision for displacement along the equator of the earth, a semi transparent plate with an image of the objects on the stellar map, installed over the map of the earth's surface with provision for movement along the earth's equator line, and a device providing for mutual displacement of plates along the equator line. On the axes, perpendicular to the equator, the scale of the stellar map and the corresponding size of the plates with the given map coincide with the scale of the map of the earth's surface and the corresponding size of the plate with the map of the earth's surface, and on the equatorial axes, the scale of the stellar map and the map of the earth's surface have a ratio of 1:K, where K is the coefficient of concordance for the scales of the equatorial scales, defined from the formula K=1-Tω/(2π+Δ Ω), where T is the orbiting period of the space vehicle around the earth, ω is the angular velocity of rotation of the earth in the inertial space, Δ Ω is the turning precession orbit in the inertial coordinate system. The maps are made with the longitudinal dial of the earth's surface in the range from 0 to 4π+Δ Ω-Tω and the straight ascendancy scale of the stellar map in the range from 0 to 4π+Δ Ω, and the size of the plates with orbit and with maps of the earth's surface and the celestial sphere along the equatorial axes are in the ratio (2π+Δ Ω-Tω):(4π+Δ Ω-Tω):(4π+Δ Ω-Tω-2πTω/(2π+Δ Ω)).

EFFECT: possibility of selection of observation objects under conditions of a space vehicle.

2 dwg

FIELD: physics, space technology.

SUBSTANCE: plot board for ground surveillance object selection from orbital space vehicle refers to space technology. The plot board for ground surveillance object selection from orbital space vehicle includes flexible tape with the ground map printed on it, and semitransparent plate above the tape. Two halves of the space vehicle's orbit pass are drawn on the plate in such a way that the ascending node in the beginning of the first half of the orbit pass and the descending node in the beginning of the second half of the orbit pass are superimposed. The plot board also comprises a device for the tape map transport along the plate with orbit pass image; the transport device comprising two shafts that are spaced-apart and interconnected in parallel. The map printed on the tape has the equator beginning and ending points superimposed, and the tape is made in the form of a ring and pulled on the shafts so as to move along the map equator line. The distance between the shaft axes and size of the plate with the orbit pass image along the equator direction are equal to (L-d)/2, where L - is the map equator length; d - is absolute distance between passes measures in linear units along the map equator; shaft radius equals to d/(2π). The stated above gives the effect of decreased plot board size.

EFFECT: decreased size of plot board for ground surveillance object selection from orbital space vehicle.

2 dwgg

FIELD: instrument engineering.

SUBSTANCE: device has optical spectrum filter, slit mask, multi-element photo-sensitive detector, threshold elements, photo-detector register, counter, output register, clock pulse generator. Multi-element photo-sensitive detector consists of elementary photo-detectors placed behind one another along quadratic curve. Normal lines to sensitive areas of each elementary photo-detector and quadratic curve lie in same plane.

EFFECT: higher effectiveness and efficiency.

1 dwg

FIELD: programmed positioning and orientation of mobile objects; angular orientation or positioning of spacecraft.

SUBSTANCE: proposed method includes measurement of angles of position of optical axes of astro-visual units tracking the stars relative to body-axis coordinate system. For determination of orientation of mobile object, use is made of coordinates of its center of mass in geocentric coordinate system which are determined by means of high-precision global navigation satellite system.

EFFECT: enhanced accuracy of orientation of mobile objects.

2 dwg

FIELD: rocketry, spacecraft engineering, possible use for detecting direction of bearing rocket in flight.

SUBSTANCE: satellite navigation equipment and three gyro-integrators simultaneously determine values of projections of speed vector in starting and connected coordinates system respectively and transfer determined values to onboard digital computing machine, which, using received information, determines values of angles of orientation of moving object in space in accordance to algorithm for determining orientation of moving object.

EFFECT: decreased dimensions of device for realization of proposed method down to 40x40x40 millimeters (without consideration for size of onboard digital computing machine) while maintaining precision for determining angles of direction of moving object to 4 angular minutes.

2 cl, 4 dwg

FIELD: instrument industry.

SUBSTANCE: method comprises autonomous determination of the position of the instrument with respect to the horizontal plane coordinate system from the signals from the accelerometers and vector conforming of the coordinate systems for determining the position of the instrument coordinate system in azimuth.

EFFECT: enhanced precision.

1 dwg

FIELD: measuring technique.

SUBSTANCE: method comprises determining the vector of velocity of the object in a Cartesian coordinate system, determining integral characteristics of the variation of the velocity vector as a function of the direction of motion of the object in the space, and stabilizing the trajectory of motion of the movable object on the basis of the estimations depending on the direction chosen from the stars sky.

EFFECT: enhanced reliability.

FIELD: instrument industry.

SUBSTANCE: device comprises two spheres mounted with a spaced relation one to the other. The outer sphere is made of a superconducting material, and the inner sphere is made of a magnetic material. The outer sphere is secured to the spacecraft, and the inner sphere is shifted with respect to the center of gravity and has the radiation source. The output of the radiation receiving unit is connected with the information input of the recording unit whose control input is connected with the output of the board control unit.

EFFECT: simplified structure.

5 cl, 2 dwg

FIELD: measurement technology.

SUBSTANCE: method can be used in moving objects' spatial orientation systems. Before beginning of movement of object, the coordinate system is chosen being comfortable for observer. Three stars are selected, along directions of which stars the speeds have to be measured and their angular coordinates are measured. After movement starts, current values of linear velocity are measured on the base of directions of navigating stars. Changes in linear velocity are calculated from directions of navigating stars, which are changes are caused by rotation of object, and basic components of angular speed vector are determined from directions of navigating stars.

EFFECT: improved precision of measurement.

Sun attitude pickup // 2308005

FIELD: measuring equipment, applicable for determination of the Sun angular coordinates in the spacecraft coordinate system.

SUBSTANCE: the Sun attitude pickup has an optical system made in the form of a wide-angle lens including an inlet and outlet plano-convex lenses with a diaphragm placed between them, an optical element is positioned in its holes, matrix photodetector, and a unit for processing of information and computation of coordinates. The refractive indices of the optical components are selected proceeding from the relation: n1≥n2<n3, where n1 - the refractive index of the inlet plano-convex lens; n2 - the refractive index of the optical element; n3 - the refractive index of the outlet plano-convex lens.

EFFECT: obtained information in a wide angular field with a high precision.

3 cl, 1 dwg

FIELD: onboard system for controlling spacecrafts for autonomous estimation of orbit and orientation of spacecraft body.

SUBSTANCE: method for autonomous navigation and orientation of spacecrafts includes computer calculation of position in three-dimensional space of ort of radius-vector of support (calculated, a priori assumed) orbit, rigid attachment of optical-electronic device on the body of spacecraft and measurement of coordinates and brightness of stars, which are in the field of view during navigational sessions, in it.

EFFECT: increased number of performed tasks, expanded capabilities of method application environment for any orbits, reduced number of measuring devices and mass and size characteristics of onboard system for controlling a spacecraft.

2 dwg

FIELD: invention refers to the field of astronomical and astrophysical explorations.

SUBSTANCE: coherent transponder of phase synchronization has a radio receiving set, a radio transmitting set, an airborne standard of frequency (H-maser) and also a logic and commutation block. The radio transmitting so as the radio receiving set consists of two half-sets. The radio receiving set has a radio receiver module of the amplifier of a very high frequency, a preliminary amplifier of intermediate frequencies, a block of phase automatic adjustment of the frequency, the amplifier of the reference signal 2▾ and the secondary source of feeding.▾- nominal frequency. The coherent transponder of the phase synchronization provides transformation of the input signal in diapason 961▾ into an answer signal in the diapason 1120▾ used for synchronization of the airborne thermostating controlled generator. For reducing the drift of the phase of the answer signal the system of transformations of frequencies is built on the principle of complete matching of tracts of multiplying of the radio transmitting set and the heterodynes of the radio receiving set.

EFFECT: phase synchronization of the airborne scientific cosmic apparatus on a weak signal on the whole extension of the high-apogeal orbit of the flight.

1 dwg

Up!