Query-based method of measuring radial velocity and position of glonass global navigation system satellite and system for realising said method

FIELD: physics, navigation.

SUBSTANCE: invention relates to radio engineering and specifically to navigation measurement, and can be used in a ground-based control system of an orbiting group of navigation spacecraft. A ground-based control station comprises a driving generator 1, a shift register 2, a phase-shift modulator 3, heterodynes 4, 11 and 33, mixers 5, 12, 17, 34, 43 and 44, a first intermediate frequency amplifier 6, power amplifiers 7, 10, 41 and 42, a duplexer 8, a transceiving antenna 9, third intermediate frequency amplifiers 13, 35, 45 and 46, a phase doubler 14, a phase halver 15, narrow band-pass filters 16 and 18, a Doppler frequency metre 19, correlators 20, 36, 47 and 48, multipliers 21, 49 and 50, low-pass filters 22, 51 and 52, optimising peak-holding controllers 23, 53 and 54, controlled delay units 24, 55 and 56, a range indicator 26, a switch 38, receiving antennae 39 and 40, and the satellite has a transceiving antenna 26, a duplexer 27, power amplifiers 28 and 32, heterodynes 29 and 59, mixers 30 and 60, a second intermediate frequency amplifier 31, a third intermediate frequency amplifier 61, a correlator 62, a threshold unit 63 and a switch 64.

EFFECT: broader functional capabilities and high noise-immunity, reliability of duplex radio communication between a ground-based control station and a GLONASS navigation system satellite and accuracy of measuring radial velocity and position of said satellite.

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The proposed method and device relate to the field of navigational measurements and can be used in ground control complex of orbital grouping navigation of space vehicles (NSV) when performing ephemeris and time-frequency providing NSV system global navigation system (GNS) GLONASS.

Known methods and devices of measurement of parameters of the motion of celestial objects (patents of the Russian Federation№ №3032915, 2082090, 2086918, 2087003, 2091711, 2195781, 2211460, 2309431, 2394255; U.S. patents№№4905009, 5179286, 6111536, 6140982, 6784787; French patent No. 2701769; patent EP No. 1022581; patent WO No. 0048132. 1. Shebshaevich B.C., P.P. Dmitriev and others. Network satellite navigation system. - M.: Radio and communication, 1982, S-116. 2. GLONASS. The principles of construction and operation. Ed. Ahipara and Vinaria. Ed. 4th, revised and enlarged extra - M.: radio engineering,2010, 800, etc.).

Of the known methods and devices closest to the offer are Inquiring way of measuring radial velocity and system for its implementation" (patent RF №2309431, G01S 17/78, 2006), which is selected as prototypes.

The known method and device are used to ensure the safety of aircraft, to control the rendezvous and docking of spacecraft.

However, the known technical solutions can provide a measurement of R is dialno speed and distance from the satellite navigation system GLONASS to ground control point. In addition, the receivers included in the system that implements the proposed method is built on superheterodyne circuit, in which the same value of the third intermediate frequency ωAC3can be obtained at reception of signals on the following frequencies: ω1, ω2, ωÇ1, ωÇ2:

ωpp3=ω1-ωG1,ωpp3=ωG2-ω2,ωpp3=ωG1-ωC1,ωpp3=ωC2-ωG2.

Therefore, if the tuning frequency ω1and ω2accept for the main TV reception, along with them there are also mirror the receiving channels whose frequencies are ωÇ1and ωÇ2are symmetrical (mirrored) relative frequencies ωG1and ωT2local oscillators (figure 3). The transformation in the mirror channel the m reception occurs with the same conversion coefficient K CRas for the main channels. Therefore, the mirror receiving channels most significantly affect the selectivity and robustness superheterodyne receivers.

In addition to the mirror, there are other additional (Raman) receiving channels.

In General, any fluid channel reception takes place when the condition is met:

ωpp3=|±mωKi±nωG1|,ωpp3=|±mωKi±nωG2|,

where ωKi- frequency of the i-th Raman receiving channel;

m, n, i is a positive integer.

The most harmful combination receiving channels are channels formed by the interaction of the first harmonics of the frequencies of the signals with harmonics of the frequencies of the local oscillators of small order (second, third), because the sensitivity of the receivers on these channels is close to the sensitivity of the main channels.

So, four Raman channels for m=1 and n=2 according to the indicated frequency (figure 3):

ωK1=ωG1-ωpp3,ωK2=2ωG2-ωpp3,ωK3=ωG2-ωpp3,ωK4=2ωG2-ωpp3.

The presence of false signals (interference), take on additional channels, leads to decreased immunity, reliability duplex radio communication between ground control and the satellite navigation system GLONASS, as well as the accuracy of measuring the distance and radial velocity, azimuth and elevation angle of the satellite navigation system.

An object of the invention is to expand the functional capabilities of the known technical solutions and increased robustness, reliability duplex radio communication between ground control and satellite navigationssysteme GLONASS and measurement accuracy radial velocity and location of the satellite navigation system GLONASS by precise and unambiguous measurement of azimuth and elevation of the navigation satellite and suppress false signals (interference), take on additional channels.

The problem is solved in that request a method of measuring radial velocity and location of the satellite navigation system GLONASS, which, in accordance with the closest analogue, the two objects, the first object of the request signal at a frequency ωwithmanipulating the phase by 180° pseudorandom sequence of maximal length, forming thereby a complex signal with phase manipulation, transform it according to frequency, with frequency ωG1the first lo allocate the voltage of the first intermediate frequency ωPR1cG11strengthen his power, radiate in the air at a frequency ω1PR1, capture the relay of the second object, increase power, convert the frequency with frequency ωG3the third local oscillator, allocate the voltage of the second intermediate frequency ωPR1PR1ωG32increase power, radiate in the air at a frequency ω2AC2, catch the request block of the first object, increase the power transform on the frequency with frequency ωT2the second lo produce the first voltage to a third intermediate frequency ωAC3±ΩDT2ω 2, multiply, and divide it in phase two, emit harmonic oscillation at frequency ωAC3±ΩDcompare its frequency with a request signal at a frequency ωwithallocate Doppler frequency ±ΩDand on the magnitude and sign of the Doppler frequency determine the magnitude and direction of the radial velocity, at the same time complex signal with phase shift keying at a frequency ωwithpassed through the first adjustable delay unit, Peremohy it with the first voltage of the third intermediate frequency, emit low-frequency voltage, thereby forming the first correlation function R1(τ), where τ is the current time delay, delay variation τ maintain the first correlation function R1(τ) at the maximum level, fixed time delay τÇ1between request and relayed signals and determine the distance between objects, differs from the closest analogue of the fact that, as a first object using a ground control point and the second object using the satellite navigation system GLONASS, with ground control point to be taken at the frequency ω2AC2and amplified power signal to convert the frequency with frequency ωG4fourth lo produce a second voltage to a third the tick frequency ω AC32ωG4, Peremohy it with the first voltage of the third intermediate frequency, emit low-frequency voltage that is proportional to the second correlation function R2(τ), compare it with a threshold voltage Uthenand in case of exceeding permit further processing of the received signal, capture the signal at frequency ω2AC2two receiving antennas strengthen his power transform on the frequency with frequency ωT2the second lo produce third and fourth voltage to the third intermediate frequency ωAC3T2ω2accordingly, Peremohy them with the first voltage of the third intermediate frequency, which passed through the second and third adjustable delay blocks, emit low-frequency voltage, thereby forming a third R3(τ) and the fourth R4(τ) correlation function, delay variation support the third R3(τ) and the fourth R4(τ) correlation function at the maximum level, fixed delay time τÇ2and τSbetween the relayed signals and their value determines the azimuth and elevation angle of the satellite navigation system GLONASS, with frequency ωT2and ωG4the second and fourth oscillators carry on twice the value of the third intermediate frequency is T2ωG4=2ωAC3and choose symmetric with respect to the frequency ω2the received signal

ω2ωG4T2ω2AC3,

the first transmitting and two receiving antennas are placed in the geometric form of a right angle, the top of which is placed the first transceiver antenna common to receiving antennas placed in the azimuthal and elevation planes, respectively, on the satellite navigation system GLONASS taken at the frequency ω1PR1and amplified power signal to convert the frequency with frequency ωG5fifth lo produce a fifth voltage to a third intermediate frequency ω3G5ω1, Peremohy it with the voltage of the second intermediate frequency, emit low-frequency voltage, proportional to the fifth correlation function R5(τ), compare it with a threshold voltage Uthenand in case of exceeding permit further processing of the received signal, with frequency ωG3and ωG5the third and fifth lo pass frequency ω1the received signal ωG5ωG31.

The problem is solved in that the system for measuring radial velocity and location of the satellite navigation system GLONASS, containing, with the availa able scientific C with the closest analogue, two objects, the first object has consistently enabled oscillator, the phase manipulator, a second input connected to the output of the shift register, the first mixer, a second input connected to the output of the first local oscillator, the amplifier of the first intermediate frequency, a first amplifier, the first duplexer, the input-output of which is connected with the first transmitting antenna, the second amplifier, the second mixer, a second input connected to the output of the second local oscillator, and the first amplifier of the third intermediate frequency, cascaded doubler phase divider phase two, the first narrowband filter, the fourth mixer, a second an input connected to the output of the master oscillator, the second narrowband filter and measuring the Doppler frequency, sequentially connected to the output of the phase manipulator the first adjustable delay unit, the first multiplier, the first lowpass filter and the first extreme regulator, the output of which is connected to a second input of the first adjustable delay unit, to the second input of which is connected to the indicator range, the second object has consistently included a third local oscillator, a third mixer, the amplifier of the second intermediate frequency, consistently included the fourth amplifier, the second holes is XER, input-output of which is connected with the second transmitting-receiving antenna, and the third amplifier, the output of which is connected to a second input of the third mixer differs from the closest analogue because it is equipped with the fourth and fifth local oscillators, fifth, sixth, seventh and eighth mixers, second, third, fourth and fifth amplifiers of the third intermediate frequency, the second, third, fourth and fifth correlators, two threshold units, two keys, second and third multiplier products, second and third low pass filters, second and third extreme regulators, two receiving antennas fifth and sixth amplifiers power, azimuth pointer, pointer, elevation, and to the output of the second amplifier connected in series to the fifth mixer, a second input connected to the output of the fourth local oscillator, a second amplifier, a third intermediate frequency, a second correlator, a second input connected to the output of the first amplifier of the third intermediate frequency, the first threshold unit and the first key, a second input connected to the output of the first amplifier via a second adjustable delay unit is connected to the output of the first key, the second low pass filter and the second extreme regulator, the output of which is connected to a second input of the second adjustable delay unit, to the which the output of which is connected to the azimuth pointer, the exit of the second receiving antenna are connected in series to the sixth power amplifier, the seventh mixer, a second input connected to the output of the second local oscillator, the fourth power of the third intermediate frequency, a third multiplier, the second input is through a third adjustable delay unit is connected to the output of the first key, the third low pass filter and the third extreme regulator, the output of which is connected to a second input of the third adjustable delay unit, to the second output of which is connected to the pointer of the elevation angle, the output of the third amplifier connected in series eighth mixer, a second input connected to the output of the fifth local oscillator, fifth third amplifier intermediate frequency, fifth correlator, a second input connected to the output of the amplifier of the second intermediate frequency, the second threshold unit and the second key, a second input connected to the output of the amplifier of the second intermediate frequency, and the output connected to the input of the fourth amplifier, as the first object used ground control point and the second object used satellite navigation system GLONASS, the first transmitting antenna, the first and second receiving antennas placed in the geometric form of a right angle, the top of which is placed the first transceiver is erediauwa antenna, common to the first and second receiving antennas placed in the azimuthal and elevation planes, respectively.

The system that implements the proposed method contains ground control point and the satellite navigation system GLONASS.

Structural diagram of ground control point are presented in figure 1. Structural diagram of the satellite (relay) navigation system GLONASS is presented in figure 2. A frequency histogram illustrating the conversion of the signals is shown in figure 3, 4 and 5.

The mutual location of the first transceiver antenna 9, the first 39 and second 40 receiving antennas is shown in Fig.6.

Ground control point contains a cascaded master oscillator 1, a phase manipulator 3, a second input connected to the output of the shift register 2, the first mixer 5, a second input connected to the output of the first local oscillator 4, an amplifier 6, the first intermediate frequency, a first power amplifier 7, the first duplexer 8, the input-output of which is connected with the first transmitting antenna 9, a second amplifier 10 power, a second mixer 12, a second input connected to the output of the second local oscillator 11, the first amplifier 13 of the third intermediate frequency, a second correlator 36, the first threshold unit 37, the first the key 38, a second input connected to the output of the first amplifier 13 of the third temporarily the second frequency, the first multiplier 21, the second input is through the first block 24 adjustable delay connected to the output of the phase manipulator 3, the first filter 22 of the lower frequencies and the third extreme regulator 23, the output of which is connected to a second input of the first block 24 and an adjustable delay to the second input of which is connected to the indicator 25 range. The output of the second amplifier 10 power connected in series to the fifth mixer 34, a second input connected to the output of the fourth local oscillator 33, and the second amplifier 35 of the third intermediate frequency output is connected to a second input of the second correlator 36. The output of the first key 38 are connected in series doubler 14 phase divider 15 phase two, the first narrow-band filter 16, a fourth mixer 17, a second input connected to the output of the master oscillator 1, the second notch filter 18 and the meter 19 Doppler frequency. To the output of the first receiving antenna 39 are connected in series to the fifth power 41 power, the sixth mixer 43, a second input connected to the output of the second local oscillator 11, the third amplifier 45 of the third intermediate frequency, a second multiplier 49, the second input is through the second block 55 adjustable delay connected to the output of the first key 38, the second filter 51 of the lower frequencies and the second extreme regulator 53, the output of which is connected to toringdon block 55 adjustable delay, to the second output of which is connected to the pointer 57 azimuth. The exit of the second receiving antenna 40 connected in series to the sixth amplifier 42 power, the seventh mixer 44, a second input connected to the output of the second local oscillator 11, the fourth amplifier 46 to a third intermediate frequency, a third multiplier 50, the second input is through the third block 56 adjustable delay connected to the output of the first key 38, a third filter 52 of the lower frequencies and the third extreme regulator 54, the output of which is connected to a second input of the third block 56 adjustable delay, to the second output of which is connected to the pointer 58 of elevation.

The first multiplier 21, the first filter 22 of the lower frequencies, the first extreme, the regulator 23 and the first block 24 adjustable delay form a first correlator 20.

The second multiplier 49, the second filter 51 of the lower frequencies, the second extreme regulator 53 and the second block 55 adjustable delay form a third correlator 47.

The third multiplier 50, a third filter 52 of the lower frequencies, the third extreme regulator 54 and the third block 56 adjustable delay form a fourth correlator 48.

The first transmitting-receiving antenna 9, the first 30 and second 40 receiving antennas placed in the geometric form of a right angle, the top of which is placed the first transmitting antenna 9, the total for foster and Tenn 39 and 40, posted in azimuth and elevation planes, respectively.

Satellite (repeater) navigation system GLONASS contains cascaded third local oscillator 29, the third mixer 30, an amplifier 31, a second intermediate frequency, the fifth correlator 62, the second threshold block 63, the second key 64, a second input connected to the output of the amplifier of the second intermediate frequency, the fourth amplifier 32 power, a second duplexer 27, the input-output of which is connected with the second transmitting antenna 26 and the third amplifier 28 power, the output of which is connected to a second input of the third mixer 30. The output of the third amplifier 28 power connected in series eighth mixer 60, a second input connected to the output of the fifth local oscillator 59, and the fifth amplifier 61 of the third intermediate frequency, the output of which is connected to a second input of the fifth correlator 62.

The proposed method is implemented by a system, which works as follows.

On the ground control point using the master oscillator 1 is formed by high-frequency oscillation

uc(t)=Uccos(ωct+φc),0what is tTc

where Uc, ωwiththat & Phi;with, Tc- amplitude, carrier frequency, initial phase, and the duration of high-frequency oscillations,

which arrives at the first input of the phase manipulator 3. To the second input of the latter is served pseudorandom sequence (SRP) maximum duration M(t) from the output of the shift register 2, covered by a logical feedback. Feedback is provided by adding modulo two output voltages of two or more cascades and supply the resultant voltage to the input of the first stage. The repetition period (duration) of such code sequence n=2n-1, where n is the number of stages of the shift register 2.

The output of the phase manipulator 3 is formed a complex signal with phase shift keying (QPSK)

uc1'(t)=Uccos[ωct+φk(t)+φc],0tTc

where φkto(t)=const when kτE<t<(k+1)τeand may change abruptly at t=kτEi.e. at the boundaries between elementary parcels (k=1, 2, ..., N);

τEN - the length and number of basic assumptions which form the signal duration Twith(Tc=τN).

This signal is applied to the first input of the first mixer 5, the second input of which is applied the voltage of the first local oscillator 4

uG1(t)=UG1cos(ωG1t+φG1)

At the output of the mixer 5 are formed voltage Raman frequencies. The amplifier 6 is allocated to the first intermediate voltage (total) frequency

upp1(t)=Upp1cos[ωpp1t+φk(t)+φpp1 ],0tTc,

whereUpp1=12UcUG1;

ωPR11G11- first interim (total) frequency;

φPR1withG1,

which after amplification in the first power amplifier 7 through the duplexer 8 enters the first transmitting antenna 9, radiates it into the air at a frequency ω1,captured second transmitting antenna 26 of the satellite navigation system GLONASS and through the duplexer 27 and the third amplifier 28 of the power supplied to the first inputs of the third 30 and eighth mixers, the second inputs of which are served voltage 29 third and fifth 59 local oscillators, respectively:

uG3(t)=UG3cos(ωG3t+φG3),

uG5 (t)=UG5cos(ωG5t+φG5),

with frequency ωG3and ωG5local oscillators 29 and 59 posted to the frequency value ω1PR1the received signal ωG5ωG31PR1.

At the output of the mixers 30 and 30 are formed of the second voltage and the third intermediate frequency:

upp2(t)=Upp2cos[ωpp2t+φk(t)+φpp2],

upp3(t)=Upp3cos[ωpp3t+φk(t)+φpp3] 0tTc,

whereUpp2=12Upp1UG3;Upp3=12Upp1UG5;

ωAC3PR1ωG3G5ωPR12the third intermediate (differential) frequency

φAC2PR1- ΦG3that & Phi;AC3G5- ΦPR1.

These stresses are amplifiers 31 and 61 of the second and third intermediate frequencies and fed to the two inputs of the fifth correlator 62, the output of which is formed of a low-frequency voltage, proportional to the fifth correlation function R5(τ). Since the channel voltage UAC2(t) and UAC3(t) formed from one and the same FMN-signal received through the main channel at frequency ω2,between the specified channel voltages exist a strong correlation. The output voltage of the correlator 62 reaches the maximum value and excellent which increases the threshold voltage U thenin the threshold block 63. Threshold Uthenexceeded only at the maximum value of the voltage output of the correlator 62. It should also be noted that the correlation function R5(t) FMN complex signals has a remarkable feature: it is significant on the level of the main lobe and low side lobes. When exceeding the threshold Uthenin the threshold block 63 is formed by a DC voltage is supplied to the control input of the key 64 and opens it. In the initial state, the key 64 is always closed. The voltage of the second intermediate frequency UAC2(t) with the output of the amplifier 31 and the second intermediate frequency via a public key 64, the amplifier 32 of the power and the duplexer 27 enters the transmitting antenna 26, radiates it into the air at a frequency ω2AC2and is captured by the antenna 9, 39 and 40, respectively.

u1(t)=U1cos[(ωpp2t±ΩD)(t-tC1)+φk(t-tC1) +φpp2],

u2(t)=U2cos[(ωpp2t±ΩD)(t-tC2)+φk(t-tC2)+φpp2],

u3(t)=U3cos[(ωpp2t±ΩD)(t-tC3)+φk(t-tC3)+φpp3],

where ±ΩD- Doppler shift frequency,

τ C1=2Rcthe time lag relayed signal relative to the request;

R - distance from ground control point to the satellite navigation system GLONASS,

C is the speed of propagation of radio waves,

τÇ2=t1-t2;

τS=t1-t3;

t1, t2, t3- time of the retransmitted signal from the satellite to the antenna 9, 39 and 40, respectively.

These signals from the output of the antennas 9, 39 and 40 through the duplexer 8, amps 10, 41 and 42 of the power received at the first inputs of the mixers 12, 34, 43 and 44, the second inputs of which are served voltage oscillators 11 and 33:

uG2(t)=UG2cos(ωG2t+φG2)

uG4(t)=UG4cos(ωG4t+φG4)

With frequency ωT2and ωG4local oscillators separated by twice the value of the third intermediate frequency ωT2ωG4=2ωAC3and selected symmetric with respect to the frequency ω2AC2the received signal ωT2ω22ωG4AC3. This circumstance leads to an increase in the number of additional channels, but creates favorable conditions for their suppression due to correlation processing channel stress.

At the output of the mixers 12, 34, 43 and 44 are formed voltage Raman frequencies. Amplifiers 13, 35, 45, and 46 are third intermediate voltage (differential) frequency:

upp4(t)=Upp4cos[(ωpp3t±ΩD)(t-tC1)+φk(t-tC1)+φpp3]

up p5(t)=Upp5cos[(ωpp3t±ΩD)(t-tC1)+φk(t-tC1)+φpp4]

upp6(t)=Upp6cos[(ωpp3t±ΩD)(t-tC2)+φk(t-tC2)+φpp3],

upp7(t)=Upp 7cos[(ωpp3t±ΩD)(t-tC3)+φk(t-tC3)+φpp3]0tTc

whereUpp4=12U1UG2

Upp5=12U1UG4

Upp6=12U2UG2

Upp7=12U3UG2

ωAC3T2ω22ωG4withthe third intermediate (differential) frequency;

φAC3T2- ΦAC2; & Phi;pAC2- ΦG4.

Voltage Up(t) and UWP5(t) from the output of the amplifiers 13 and 35 of the third intermediate frequency is fed to two of the input of the second correlator 36, the output of which is allocated a low-frequency voltage that is proportional to the second correlation function R2(τ). Since the channel voltage up(t) and uWP5(t) formed from one and the same complex FMN-signal received through the main channel at frequency ω2between the specified channel voltages there is a strong correlation. The output voltage of the correlator 36 reaches the maximum value and exceeds the threshold voltage Uthenin the threshold block 37. In the latter generates a DC voltage is supplied to the control input of the key 38 and opens it. In the initial state, the key 38 is always closed. The voltage up(t) from the output of the amplifier 13 of the third intermediate frequency via a public key 38 is supplied to the first input of the first multiplier 21, to the input of the doubler 14 phases, the first inputs of the second 55 and 56 third adjustable delay blocks.

At the output of the doubler 14 phase, which can be used PE ameritel, for the two inputs of which are fed the same voltage Up(t), forms a harmonic oscillation

u4(t)=U4cos[(ωpp3t±ΩD)(t-tC1)+2φpp3]0tTc

whereU4=12Upp42,

in which phase shift keying already exists as 2φk(t-τÇ1)={0,2π}.

The spectral width ∆ Fccomplex QPSK signal is determined by the duration τEits basic assumptions ∆ Fc=1/τUh,

while the spectral width ∆ F2his second harmonic is determined by the duration of the signal Tcand equal to ∆ F2=1/Twith.

Therefore, by doubling the phase of the complex QPSK signal, its spectrum is folded N times

NΔfcΔf2

This oscillation is fed to the input of the divider 15 phase two, the output of which is formed of a harmonic oscillation

u5(t)=U5cos[(ωpp3t±ΩD)(t-tC1)+2φpp3]0tTc

released the first narrow-band filter 16 and is supplied to the first input of the fourth mixer 17. To the second input of the latter as the voltage of the local oscillator is supplied request signal uc(t) output from the master oscillator 1. At the output of mixer 17 is formed voltage Raman frequencies. The second notch filter 18 is allocated voltage Doppler frequency

u6(t)=U6cos [(±ΩDt+2φ6]0tTc

whereU6=12UcU5;

φ6with- ΦAC3.

This voltage is fed to the input of the meter 19 of the Doppler frequency, which provides a measurement of the Doppler frequency ±ΩD. Moreover, the magnitude and sign of the Doppler frequency determine the magnitude and direction of the radial velocity of the satellite navigation system GLONASS.

Both the first voltage to a third intermediate frequency Up(t) from the output of the first amplifier 13 of the third intermediate frequency via a public key 38 is supplied to the first input of the multiplier 21, the second input of which is through the first block 24 adjustable delay from the output of the phase manipulator 3 is fed FMN complex signal uc1(t). Obtained at the output of the multiplier 21, the voltage is passed through the first filter 22 of the lower frequencies, the output of which generates a first correlation function R1(τ), where τ is the current time delay. The first extreme knob 2, designed to maintain the maximum value of the first correlation function R1(τ) and is connected to the output of the first filter 22 of the lower frequencies, the effect on the control input of the first block 24 adjustable delay and support entered by the delay τ is equal to τÇ1(τ=τÇ1), which corresponds to the maximum value of the first correlation function R1(τ). Indicator range 25 associated with the scale of the first block 24 adjustable delay allows you to directly read the measured distance D from a ground control point to the satellite navigation system GLONASS

D=ctC12

Therefore, the task of measuring a specified distance D is reduced to measuring the time delay relayed signal relative to the query.

Voltage up(t) and up(t) from the output of the amplifiers 45 and 46 of the third intermediate frequency received at the first inputs of the multiplier products 49 and 50, respectively, the second inputs of the key 38, the voltage up(t). In this case, the second scale 55 and 56 third adjustable delay blocks are calibrated directly in values of angular coordinates

α=arccos ctC2d1

β=arccosctC3d2

where α, β is the azimuth and the elevation angle of the satellite navigation system GLONASS;

C is the speed of radio wave propagation;

τÇ2=t1-t2; τS=t1-t3;

t1, t2, t3- time of the retransmitted signal from the satellite to the antenna 9, 39 and 40, respectively.

The values α and β are fixed indicator azimuth 57 and elevation 58.

The above system corresponds to the case of receiving useful QPSK signals on the main channels at frequencies ω1and ω2(figure 4, 5).

If a false signal (interferer) is taken by the second image channel at frequency ωÇ2(4)

uC2(t)=UC2cos(ωC2t+φC2),0tTC2

the amplifiers 13 and 35 are the following voltage:

upp8(t)=Upp8cos(ωpp3t+φpp8)

upp9(t)=Upp9cos(ωpp3t+φpp9),0tTC1

whereUpp8=12UC2UG2;

Upp9=12UC2UG4

ωAC3Ç2ωT2the third intermediate frequency;

AC3Ç2ωG4- the morning of the third intermediate frequencies;

φpÇ2- ΦT2; & Phi;pÇ2- ΦG4.

However, only the voltage up(t) falls within the bandwidth of the amplifier 13 of the third intermediate frequency.

The output voltage of the correlator 36 is zero. The key 38 is not opened and a false signal (interferer) uÇ2(1)taken by the second image channel at frequency ωÇ2suppressed.

If a false signal (interferer) adopted by the third mirror of the channel at frequency ωS

uC3(t)=UC3cos(ωC3t+φC3),0tTC3

the amplifiers 13 and 35 are the following voltage:

upp10(t)=Upp 10cos(ωpp3t+φpp10)

upp11(t)=Upp11cos(ωpp3t+φpp11),0tTC3

whereUpp10=12UC3UG2;

Upp11=12UC3UG4

AC3T2ωS- the morning of the third intermediate frequency;

ωAC3G4ωSthe third intermediate frequency;

φ10% rhodium / platinumT2- ΦS; & Phi;p G4- ΦS.

However, only the voltage up(t) falls within the bandwidth of the amplifier 35 of the third intermediate frequency. The output voltage of the correlator 36 is also zero. The key 38 is not opened and a false signal (interferer) us(t)taken by the third mirror of the channel at frequency ωSsuppressed.

For a similar reason suppressed and false signals (interference), adopted by the third Raman channel ωk3or fourth Raman channel ωk4or any other combinational canalso interfering signals (noise) are taken on the second ωÇ2and the third ωSmirror channels, the amplifiers 13 and 35 of the third intermediate frequency allocated voltage

upp8(t)=Upp8cos(ωpp3t+φpp8),

upp11(t)=Upp11cos(ωpp3t +φpp11),

which is fed to two inputs of the correlator 36. The output of the last voltage is formed, which reaches the maximum value and does not exceed the threshold voltage in the threshold block 37. The key 38 is not opened and false signals (interference), at the same time taken by the second ωÇ2and the third ωSimage channel are suppressed. This is because the channel voltage up(t) and up(t) formed by different spurious signals (noise) uÇ2(t) and uS(t)taken at different frequencies ωÇ2and ωS. So between them there is a weak correlation and the voltage correlator 36 does not reach the maximum value and does not exceed the threshold Uthenin the threshold block 37. In addition, the correlation function R(τ) spurious signals (noise) does not have a clearly defined main lobe.

Similarly suppressed and false signals (interference), taken at the same time on other channels.

Thus, the proposed method and system in comparison with the base objects provide measurement not only radial velocity and distance of the satellite navigation system GLONASS, but also its angular coordinates (azimuth and the GLA places), i.e. the location of the satellite navigation system GLONASS regarding ground control point. The first transmitting and two receiving antennas are placed in the geometric form of a right angle, the top of which is placed the first transceiver antenna common to the first and second receiving antennas placed in the azimuthal and elevation planes, respectively. Moreover, to increase the accuracy of the measurements of the satellite navigation system GLONASS increase the relative size of the measurement bases d1/λ and d2/λ, and the resulting ambiguity eliminate the correlation signal processing" accept these antennas. The location of the receiving antennas in the form of a geometrical straight angle is a new principle of phase measurements of radio emission sources, which has several advantages over the existing method of phase measurements.

The use of additional local oscillators, whose frequencies are selected in a certain way, increase the number of additional channels, but also create favorable conditions for their suppression due to correlation processing channel stress.

The use of correlators with adjustable time delay provides not only the measurement of radial velocity and location of the satellite Naviga the ionic system GLONASS, but their support for movement relative to the ground control point.

The use of duplex radio communication method using two frequencies and complex QPSK signals provides isolation frequency and increased robustness of the radio channel. The main advantage of used duplex measurement method is that it eliminates the influence of the atmosphere with the passage of the radio signal. Therefore, the measurement accuracy depends mainly on the parameters of the on-Board relay, the type request signal and the time delays in the transmission devices and the reception.

Complex QPSK signals have a high noise immunity, energy and structural secrecy. Energy reserve data signals due to their high compressibility in time and range at the optimum processing, thereby reducing the instantaneous radiated power.

Due to this complex QPSK signal at the point of reception may be masked by noise and interference. And energy complex QPSK signal is not small, it just spread across the time-frequency region so that at each point of this region is the signal power is less than the noise power and interference.

Structural secrecy FMN complex signals due to the large variety of their forms and significant ranges is izmenenii parameters what complicates the optimal or at least quasi-optimal processing complex QPSK signals priori unknown structure in order to increase the sensitivity of the receiver.

Complex QPSK signals allow you to apply a new type selection-structural selection. This means that it is possible to separate signals operating in the same frequency band and at the same time.

Thus the functionality of the known technical solutions expanded.

1. Inquiring way of measuring radial velocity and location of the satellite navigation system GLONASS, which consists of two objects, the first object of the request signal at a frequency ωwithmanipulating the phase by 180° subsequent pseudo-random maximum length, forming thereby a complex signal with phase manipulation, transform it according to frequency, with frequency ωG1the first lo allocate the voltage of the first intermediate frequency ωPR1cG11strengthen his power, radiate in the air at a frequency ω1PR1, capture the relay of the second object, increase power, convert the frequency with frequency ωG3the third local oscillator, allocate the voltage of the second intermediate frequency ωAC2p is 1 ωG12increase power, radiate in the air at a frequency ω2AC2, catch the request block of the first object, increase power, converts it in frequency, with frequency ωT2the second lo produce the first voltage to a third intermediate frequency
ωAC3±'ΩDT2ω2, multiply, and divide it in phase two, emit harmonic oscillation at frequency ωAC3±'ΩDcompare its frequency with a request signal at a frequency ωwithallocate Doppler frequency ±'ΩDand on the magnitude and sign of the Doppler frequency determine the magnitude and direction of the radial velocity, at the same time complex signal with phase shift keying at a frequency ωwithpassed through the first adjustable delay unit, Peremohy it with the first voltage of the third intermediate frequency, emit low-frequency voltage, thereby forming the first correlation function R1(τ), where τ is the current time delay, delay variation τ maintain the first correlation function R1(τ) at the maximum level, fixed time delay τCbetween request and relayed signal and determine the distance between objects, wherein the first object using the ground station is ontrol, and as the second object using the satellite navigation system GLONASS, with ground control point to be taken at the frequency ω2AC2and amplified power signal to convert the frequency with frequency ωG4fourth lo produce a second voltage to a third intermediate frequency ωAC3±'ΩD2ωG4, Peremohy it with the first voltage of the third intermediate frequency, emit low-frequency voltage that is proportional to the second correlation function R2(τ), compare it with the first voltage Uthenand in case of exceeding permit further processing of the received signal, detecting the signal at frequency ω2AC2two receiving antennas strengthen his power transform on the frequency with frequency ωT2the second lo produce third and fourth voltage to the third intermediate frequency ωAC3T2ω2accordingly, Peremohy them with the first voltage of the third intermediate frequency, which passed through the second and third adjustable delay blocks, emit low-frequency voltage, thereby forming a third R3(τ) and the fourth R4(τ) correlation function, change the time delay support third R3(τ) and the fourth R4 (τ) correlation function at the maximum level, fixed delay time τÇ2and τSbetween the relayed signals and their values determine the azimuth and elevation angle of the satellite navigation system GLONASS, with frequency ωT2and ωG4the second and fourth oscillators carry on twice the value of the third intermediate frequency ωT2ωG4=2ωAC3and choose symmetric with respect to the frequency ω2the received signal ω2ωG4T2ω2AC3the first transmitting and two receiving antennas are placed in the geometric form of a right angle, the top of which is placed the first transceiver antenna common to receiving antennas placed in the azimuthal and elevation planes, respectively, on the satellite navigation system GLONASS taken at the frequency ω1PR1and amplified power signal to convert the frequency with frequency ωG5fifth lo produce a fifth voltage to a third intermediate frequency ωAC3G5ω1, Peremohy it with the voltage of the second intermediate frequency, emit low-frequency voltage, proportional to the fifth correlation function R5(τ), compare it with a threshold voltage Uthenand in case of exceeding the permitted Yes niachou processing of the received signal, with frequency ωG3and ωG5the third and fifth lo pass frequency ω1the received signal ωG5ωG31.

2. System for measuring radial velocity and location of the satellite navigation system GLONASS, containing two objects, the first object has consistently enabled oscillator, the phase manipulator, a second input connected to the output of the shift register, the first amplifier, a second input connected to the output of the first local oscillator, the amplifier of the first intermediate frequency, a first amplifier, the first duplexer, the input-output of which is connected with the first transmitting antenna, the second amplifier, the second mixer, a second input connected to the output of the second local oscillator, and the first amplifier of the third intermediate frequency, cascaded doubler phase, the divider phase two, the first narrowband filter, the fourth mixer, a second input connected to the output of the master oscillator, the second narrowband filter and measuring the Doppler frequency, sequentially connected to the output of the phase manipulator the first adjustable delay unit, the first multiplier, the first lowpass filter and the first extreme regulator, the output of which is connected to a second input of the first unit governed by the first delay, to the second output of which is connected to the indicator range, the second object has consistently included a third local oscillator, a third mixer and the amplifier of the second intermediate frequency, consistently included the fourth amplifier, a second duplexer, the input-output of which is connected with the second transmitting-receiving antenna, and the third amplifier, the output of which is connected to a second input of the third mixer, characterized in that it is equipped with the fourth and fifth local oscillators, fifth, sixth, seventh and eighth mixers, second, third, fourth and fifth amplifiers of the third intermediate frequency, the second, third, fourth and fifth correlators, two threshold blocks, two keys, second and third multiplier products, second and third low pass filters, second and third extreme regulators, two receiving antennas, the fifth and sixth amplifiers, the azimuth pointer, pointer, elevation, and to the output of the second amplifier connected in series to the fifth mixer, a second input connected to the output of the fourth local oscillator, a second amplifier, a third intermediate frequency, a second correlator, a second input connected to the output of the first amplifier of the third intermediate frequency, the first threshold unit and the first key, the second input is seediness the output of the first amplifier of the third intermediate frequency, and the output is connected to the input of the doubler phase and to the second input of the first multiplier, the output of the first receiving antenna connected in series with the fifth power amplifier, the sixth mixer, a second input connected to the output of the second local oscillator, a third amplifier, the third intermediate frequency, a second multiplier, a second input via a second adjustable delay unit is connected to the output of the first key, the second low pass filter and the second extreme regulator, the output of which is connected to a second input of the second adjustable delay unit, to the second output of which is connected to the azimuth pointer, the output of the second receiving antenna are connected in series to the sixth power amplifier, the seventh the mixer, a second input connected to the output of the second local oscillator, the fourth power of the third intermediate frequency, a third multiplier, the second input is through a third adjustable delay unit is connected to the output of the first key, the third low pass filter and the third extreme regulator, the output of which is connected to a second input of the third adjustable delay unit, to the second output of which is connected to the pointer of the elevation angle, the output of the third amplifier connected in series eighth mixer, a second input connected to the output of the fifth local oscillator, the fifth increase the eh of the third intermediate frequency, fifth correlator, a second input connected to the output of the amplifier of the second intermediate frequency, the second threshold unit and the second key, a second input connected to the output of the amplifier of the second intermediate frequency, and the output connected to the input of the fourth amplifier, as the first object used ground control point and the second object used satellite navigation system GLONASS, the first transmitting antenna, the first and second receiving antennas placed in the geometric form of a right angle, the top of which is placed the first transceiver antenna common to the first and second receiving antennas placed in the azimuthal and elevation planes, respectively,.



 

Same patents:

FIELD: radio engineering, communication.

SUBSTANCE: in the method for radio camouflaging stationary objects, which detects information signals from satellite navigation systems distributed in space, interfering signals are generated the main lobe of the beam pattern of the navigation receiver using jamming means oriented in space in the upper hemisphere and at a height H=tg(α)·D, where α is the angle between the edge of the main lobe of the beam pattern and the horizon; D is the distance from a separate specific jamming means to the navigation receiver, wherein the interfering signal is chirp modulated in a frequency band equal to the variation range of Doppler frequencies of the detected signal.

EFFECT: enabling active jamming in the main beam pattern of antenna systems of navigation receivers of high-precision weapons and unmanned aerial vehicles.

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FIELD: physics, navigation.

SUBSTANCE: invention relates to satellite radio navigation systems. Said technical result is achieved by determining: a maintained position at a given moment, a maintained safe radius associated with the maintained position, the best position at the given moment, wherein the best position is: when data coming from an intermediate positioning device are available, the position associated with the best safe radius, wherein the best safe radius is selected by comparing, depending on a predefined selection criterion, an intermediate safe radius with the maintained safe radius, and when data coming from the intermediate positioning device are unavailable, the maintained position.

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7 cl, 2 dwg

FIELD: information technology.

SUBSTANCE: method is realised by a hybridisation device comprising a bank of Kalman filters, each working out a hybrid navigation solution from inertial measurements calculated by a virtual platform and raw measurements of signals emitted by a constellation of satellites supplied by a satellite-positioning system (GNSS), and comprises steps of: determination for each satellite of at least one probability ratio between a hypothetical breakdown of given type of the satellite and a hypothetical absence of breakdown of the satellite, declaration of a breakdown of given type on a satellite based on the probability ratio associated with this breakdown and of a threshold value, estimation of the impact of the breakdown declared on each hybrid navigation solution, and correction of hybrid navigation solutions according to the estimation of the impact of the breakdown declared.

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14 cl, 3 dwg

FIELD: radio engineering, communication.

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9 cl, 2 dwg, 2 app

FIELD: radio engineering, communication.

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13 cl, 4 dwg

FIELD: radio engineering, communication.

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3 cl, 3 dwg

FIELD: radio engineering, communication.

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22 cl, 10 dwg, 1 tbl

FIELD: radio engineering, communication.

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10 cl, 26 dwg

FIELD: radio engineering, communication.

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16 cl, 1 dwg

FIELD: radio engineering, communication.

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7 cl, 3 dwg

FIELD: physics, navigation.

SUBSTANCE: invention is intended for determining distance between aircraft in flight. Said result is achieved due to that the device for determining distance between aircraft has two azimuth measuring devices, two slant distance measuring devices, three adders, four multiplier units, a cosine computing unit, a square root computing unit and a display, connected to each other in a certain manner.

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2 dwg

FIELD: radio engineering, communication.

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3 cl, 3 dwg

Altimeter // 2501036

FIELD: radio engineering, communication.

SUBSTANCE: result is achieved owing to use of a serial delay line unit, a parallel coincidence element unit, read-only memory for a parallel delay line unit and an adder, wherein the output of the range converter is connected to the input of the serial delay line unit, having a group of outputs which is connected to a group of inputs of the parallel coincidence element unit, the input of which is connected to the output of the receiver, and the group of outputs is connected through the read-only memory to the first group of inputs of the adder, having a second group of inputs connected through the parallel delay line unit to the group of outputs of the range converter and a group of outputs connecting with a group of inputs of the indicator.

EFFECT: high accuracy of measuring altitude.

3 dwg

FIELD: transport.

SUBSTANCE: set of invention relates to device and method of vehicle control. Method and device consist in controlling vehicle on the basis of control magnitude. Control magnitude comprises actual relative distance and perceived relative distance. Actual relative distance defines the distance between perceived object and vehicle. Perceived relative distance is the relative distance between vehicle and object perceived by driver. Perceived relative distance is smaller than actual relative distance. Transport facility incorporates above described device.

EFFECT: higher safety.

13 cl, 10 dwg

FIELD: electricity.

SUBSTANCE: in the method for detection of a power transmission line support a radiolocating signal is emitted with an antenna, a reflected signal is received, the amplitude of the received signal is compared with the threshold value, at the same time scanning is carried out with a directivity pattern in a sector of power transmission line location, the distance D1 is measured by the first received reflected signal, which has exceeded the threshold value, the distance D2 is measured by the second received reflected signal, which has exceeded the threshold value, the absolute value of difference is found between measured distances ΔD=|D1-D2|, the decision on availability of a power transmission line support is made by position of the value ΔD within 0.1K≤ΔD≤K, where K - value of span between supports of a power transmission line.

EFFECT: provision of the possibility to detect a support of a power transmission line when there is no current in its wires.

1 dwg

FIELD: radio engineering.

SUBSTANCE: measurement of aircraft flight altitude is carried out by changing resolution characteristics by distance of a complicated probing radar signal. A radar meter of low heights comprises a weakly directional transceiving antenna, a circulator, a high frequency generator, a modulator, a mixer, a narrow band filter, a frequency indicator, a frequency detector, a clock pulse generator, a pulse accumulator and a logical device "AND", which are connected to each other in a certain manner. At the same time first inputs of the high frequency generator, the clock pulse generator and the height indicator are connected to a terminal, to which a "Start" command is sent.

EFFECT: ability to measure low heights at a final stage of aircraft landing onto a lengthy surface.

2 dwg

FIELD: transport.

SUBSTANCE: invention relates to aircraft engineering and may be used in developing helicopters with in-line rotors. Proposed system comprises set of transmitters, analysis unit and set of receivers. Receiver outputs are connected to first set of data inputs of analysis unit. Analysis unit output is connected via onboard computer with helicopter control and/or indication components. Second set of data inputs s connected with appropriate set of onboard computer outputs.

EFFECT: helicopter safety.

3 cl, 3 dwg

FIELD: radio engineering.

SUBSTANCE: device to prevent helicopter collisions with high-voltage power transmission lines, comprises an antenna connected at a receiver's input, n narrow-band filters and n threshold units, a detector of k/n type, a sound indicator, a circuit OR, a brightness indicator, besides, the receiver's output is connected to inputs of n narrow-band filters, outputs of which are connected to inputs of n threshold units, outputs of which are connected to inputs of the detector of k/n type, the output of which is connected to the input of the sound indicator and with the first input of the circuit OR, m-1 inputs of which are connected to the outputs of the detector of k/n type of m-1 devices of helicopter collision prevention, arranged on the same helicopter, at the same time antennas of devices for prevention of helicopter collisions arranged on the helicopter are aligned in different directions, the output of the circuit OR is connected to the input of the brightness indicator.

EFFECT: reduced time for detection of signals of a high-voltage power transmission line and simplified arrangement of the device.

1 dwg

FIELD: transport.

SUBSTANCE: proposed device additionally comprises unit configured in definite way to determine encounter conditions, indicator of safe approach time and warning device to annunciate critical safe distance to obstacle. Note here that car speed meter, first and second data processing system outputs and power supply are connected to first, second, third and fourth inputs of encounter condition unit with its first and second outputs connected to inputs of safe approach time indicator, and critical safe distance annunciator.

EFFECT: higher safety.

2 cl, 2 dwg

FIELD: transport.

SUBSTANCE: proposed method comprises determining critical safe distance at given speed in compliance with the following expression: where Scur is current distance to obstacle, Vapp in approach speed, Sbr is forecast braking distance determined on short-term depressing brake pedal in compliance with the following expression: where V0 is initial braking speed, km/h; τc is braking system delay; τinc is delay increase interval; js-st is steady-state increase, m/s2. Braking system delay is determined in compliance with expression τcrinc where τr is driver reaction time, τinc is delay increase interval. Driver reaction time is determined periodically in preset intervals proceeding from recording intervals between receiving command signal on pedal depression and pedal depression by driver.

EFFECT: higher safety.

3 cl, 2 dwg

FIELD: radio detection and ranging, applicable in traffic control systems and prevention of collisions of transport facilities.

SUBSTANCE: the method is accomplished by radiation of a continuous frequency-modulated sounding signal, reception of the reflected signal in one or several spatial positions, multiplication of it with the radiated signal and subtraction of the matrix of the values of the correlation functions of the obtained homodyne signal and the two-dimensional (range, speed) matrix of the base signals formed of the modulating signal. The ranges and speeds of the detected objects are computed according to the number of the elements of the matrix of the correlation functions, in which the values of the correlation functions exceed the threshold level. The value of speed is specified by subtraction of the frequencies of the spectrum components of the correlation signals obtained as a sequence of values of the correlation function values during the time of signal accumulation. At reception of the reflected signal in several spatially spaced positions a three-dimensional (range, speed, angular coordinate) or four-dimensional matrix of base signals is formed for each position, and, according to the numbers of the respective matrix summary to the positions of the correlation functions, the range, angular co-correlation functions, the range, angular co-ordinates and speeds of the detected objects are determined. The system for measurement of speeds and co-ordinates of the objects has an antenna-feeder device, homodyne transceiver correlometer forming the matrices of the base signals and computing the functions of correlation and correlation signals, and a processor forming the modulating signal and computing the object speeds and coordinates.

EFFECT: enhanced accuracy of measurement of object speeds and coordinates, effective range, resolving power at provision of safety of road traffic.

24 cl, 9 dwg

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