# Celestial guidance system

FIELD: physics, navigation.

SUBSTANCE: invention relates to celestial guidance systems designed to determine stabilised elevation angle and relative bearing to celestial reference point that allow define heading indication and position. Proposed system comprises triads of accelerometers, sighting device with non-stabilised elevation angle and relative bearing transducers, swinging angle primary definition unit, direct conversion unit with three inputs and two outputs and inversion unit with two inputs, as well as Fourier analyser with two inputs and adder. Aforesaid accelerometers are connected to the 1^{st} input of Fourier analyser and swinging angle primary definition unit with its output connected with direct conversion unit. Angle transducers are connected to second inputs of 2^{nd} inputs of conversion and inversion units. Appropriate inputs and outputs of conversion and inversion units are connected so that swinging angle refinement closed loop is formed. Inversion unit output is connected to the 2^{nd} input of Fourier analyser and, via adder, with Fourier analyser output to make a correction generation loop. The 1^{st} output of direct conversion unit makes the output of the entire system.

EFFECT: reduced amount of sensitive components maintaining preset error in defining heading indication and position correction.

1 dwg

The invention relates to the field astronavigation systems [Gcasey, Falkenlust. "Systems engineering of the Russian Academy of Sciences". - M.: Mir, 1970, s-133]designed to identify stable elevation and course angle on astrokitty on the basis of which determine the amendment of kurokabe and your location.

Well-known systems, such as Optical measuring device with a tilt sensor" in patent RU NO. 2089852 (BI No. 25 10.09.97), in which the plane of the horizon is built directly at the location of visirule device using a bubble level. The drawback of such textnow is the difficulty of determining the position of the horizon in the background oscillations of the bubble.

To smooth out fluctuations of the sensing element uses gyroscopes and integrators, such as "Gyroscopic integrating marine sextone" GIMS-3 or "Integrating aviation sextone" IAS-1 [Radkevich, L.P., Belyaeva STAMP Manual navigation sextasy" "Opto-mechanical industry", 1975, No. 2, p.58-59].

The disadvantage of all these devices is the inability to determine the course angle with the precision necessary to determine amendments to kurokaze.

Famous adopted for the prototype astronomically system [Gcasey, Falkenlust. "Systems engineering of the Russian Academy of Sciences". - M.: Mir, 1970, s-133], in which high quality is and the light is measured relative to the instrument plane of the horizon, created an inertial system. The main disadvantage of the prototype is that it in addition to the opto-mechanical part have quite a complex and expensive system with gyroscopes and accelerometers that generate large amounts of redundant information, not providing an equivalent reduction of errors.

The objective of this invention is to minimize the number of sensitive elements, providing the specified error in the determination of the amendments kurokaze and its location.

The problem is solved in that in close proximity to vizireanu the device is installed orthogonal triad of accelerometers.

The accelerometers as well as installed on the axes Kardanov suspension angle sensors, connected to the computing device containing the block of primary production angles pitching, block direct conversion with three inputs and two outputs, Fourier analyzer with two inputs, the block inverse transform with two inputs and a summing device.

These elements are interconnected, forming a system of calculating the height of the lights and directional angle on it, which is the first exit block direct conversion. The accelerometers are connected to the first input of the Fourier analyzer and block primary production of pitching angles, the output is connected to the first input of the direct conversion, the second input of the latter, and as the second input of the inverse transformation, connected with angle sensors. Closed loop refinement angles pitching is formed by the serial connection of the second output unit direct conversion with the first input of the inverse transform and the last - with a third input of the direct conversion. Block inverse transform with Fourier analyzer and a summing device form a loop corrections by connecting the output of the inverse transform to the second input of the Fourier analyzer, the output of which is connected to a summing device.

The invention is illustrated by the drawing, which shows a structural diagram astronavigational system. It includes:

1 - visirule device in a cardan suspension containing matrix Converter ([Animacin, Yestemirova, Lpparam. "On-Board navigation and orientation of the artificial satellites of the Earth." - SPb.: SSC RF CSRI "Elektropribor", 2004, s-245]), designed to determine the position of the object relative to the axis of sight defined by the angles ΔΕ_{k}, Δq_{k};

2 - accelerometers with a horizontal axis of sensitivity, designed to measure accelerations W_{x}, W_{y}containing information about the angles e, ρ tilt fork Kardanov suspension from siteline horizon;

3 - axis accelerometer with a vertical axis sensitivity (vertical accelerometer), designed to measure acceleration W_{z}containing information about the acceleration of the orbital motion W_{ml}(the orbital motion of the ship);

4 - sensors unstabilized elevation angles E_{k}and course angle q_{k}measured in the inclined coordinate system ([Sui "Stabilization of measuring devices on a rocking base". - M.: Nauka, 1978, p.123]), designed to measure the angles of rotation Kardanov suspension;

5 - unit primary production of pitching angles, designed for rough determination of the angles of pitching;

6 - unit direct transformation ([Sui "Stabilization of measuring devices on a rocking base". - M.: Nauka, 1978, p.56]), designed to calculate stable elevationand course anglemeasured distance in the coordinate system. This unit is made by averaging the instantaneous values of the angles E_{c}and q_{c}to obtain their mathematical expectations. To improve the convergence of the calculation process is carried out, the averaged accumulated in the process of computing the values ofand getting;

7 Fourier and Aligator, designed to develop amendments to the acceleration of the orbital motion

after analyzing the spectral composition and phase shifts of the angles of pitch and orbital motion;

8 - unit inverse transformation, designed to build the pitching angles e_{2}and ρ_{2}on the basis of the obtained valuesand

;

9 - summing device for adding amendments, developed Fourier analyzer in the signal block of the inverse transform.

The system works as follows.

In the process of observation on astrokitty induced visirule device 1 (telescope, antenna etc). The direction of an object is determined by means of angle sensors 4 and matrix Converter, in visirule device 1. Visirule device 1 is placed in a biaxial high-altitude-azimuth gimbal, the axes of which are the sensor elevation angle E_{kN}and course angle q_{kN}4. Azimuthal axis Kardanov suspension in close proximity to vizireanu device 1 are two accelerometers with a horizontal axis sensitivity 2 and one accelerometer 3 with a vertical axis of sensitivity. The triad of accelerometers povorachivayutsya the median plane of the ship on a heading angle q_{
kN}. In the signals of the accelerometers

where L is the distance from the center of swings,

W_{HN}, W_{University}signals of horizontal accelerometers,

W_{z}signal vertical accelerometer

contains information about the pitching angles in the plane of inclination of the axis of sight s and in the plane of inclination of the trunnion axis ρ, noisy variables portable accelerations and a systematic component that depends on the connection angles of pitch and acceleration of the orbital motion.

The signals of the acceleration sensors 2, 3 and angle sensors 4 are fed into the transmitter, consisting of elements 5, 6, 7, 8, 9, in order to smooth out noise and exceptions systematic components of the signals of the accelerometers 2.

During observation, the accumulation of data array. The calculation is performed after the observation. The results of the calculations refer to a point in time corresponding to the middle of the observation.

Turn Kardanov hanging around the azimuth and altitude axes leads visirule device in a position in which its sighting axis is aimed at astrokitty with error ΔΕ_{k}and Δq_{k}. The magnitude of these errors is determined using a matrix Converter, located in the block 1. As is Alicia error Δq_{
k}the axis of sensitivity of the accelerometers 2 does not lie in the plane of sight of the object passing through the direction of light and the azimuthal axis of the suspension, it is necessary to convert the readings of the accelerometers, linking them with this plane and having values of acceleration

where [Δq_{k}] matrix guides of the cosines corresponding to the rotation angle Δq_{k}.

In the block of primary production angles pitching 5 is a coordinate transformation to perform the above requirements, and primary production of pitching angles e_{1}in the inclined plane of sight and ρ_{1}- in the vertical plane, perpendicular to the plane of sight.

Calculated in block 5 corners pitching e_{1}, ρ_{1}serves to block direct conversion 6, in which the calculation of the instantaneous values of the height of the light - stable E_{with}and course angle on the light - stable q_{c}

When the direction finding astronomical objects, the values of E_{with}and q_{c}change with the frequency of rotation of the Earth, hence, during the observation, you can resort to linear interpolation, assuming that the rate of change is constant, and the average values otneseny is to the middle of the interval of observation -
constants. These constantsandare calculated in the same block of 6 direct conversion. Computing e_{2}and ρ_{2}in block inverse transform on 8 constantsandand variable pickoff signal E_{k}and q_{k}get the new values of pitching, free from interference caused by the portable motion.

Bias is defined in Fourier analyzer 7 as the average value of the product of harmonic components of pitching angles to the acceleration of the orbital motion taking into account the phase difference. The separation angles of pitching into harmonic components and the determination of the amplitudes and phases of pitching and orbital motion is in the same block 7. The calculated error in the form of amendments are applied through a summing device in the signal block 8.

Calculations in accordance with the scheme given vibrational-converging process, so to speed up convergence is implemented in block 6 of the algorithm, providing the averaging results 2-3 iterations.

Technical appraisal and economic benefits of the alleged scheme in comparison with the prototype are to minimize the number of sensing elements is used to solve the problem of determining amendments kurokaze and your location methods is elangovan, while maintaining the required system accuracy characteristics. The simulation showed that the error of determination of the height and course angle is reduced, compared to simple averaging, two orders of magnitude, particularly when pitching angles up to 12° of error do not exceed the share of angular minutes.

Astronavigational system containing a triad of accelerometers and visirule device with sensors unstabilized elevation and course angle, characterized in that in the system unit of primary production angles pitching, block direct conversion with three inputs and two outputs, Fourier analyzer with two inputs, the block inverse transform with two inputs and summing device, and an accelerometer connected to the block of primary production of pitching angles, the output of which is connected to the first input unit direct conversion, the second input as the second input of the inverse transformation, connected with angle sensors, Fourier analyzer is installed with the possibility of amendments to the acceleration of the orbital motion, as the average value of the works of harmonic components of pitching angles defined by the unit of primary production of pitching angles, the second output unit direct conversion connected to the first input of the block inverse transform, the output of which is connected with the third input unit is nternet conversion, forming a closed loop refinement corners of pitching, the output of the inverse transformation is connected with a second input of the Fourier analyzer and through summing device output Fourier analyzer, forming the contour of making amendments, the first output unit direct conversion is the output of the entire system.

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