RU2006874C1 - Device for measuring distance to edges of navigating way and detecting obstacles on it - Google Patents

Abstract

FIELD: navigational devices. SUBSTANCE: board transmitting and receiving aerials are disposed inside vessel in close proximity to right and left boards in places where bilge of cylindric part of the vessel changes into bow end of the vessel. Sound-transparent fairings incised into case of the vessel, are installed in front of the aerials. Transmitting aerials are parametric fro two frequencies - height of 70 - 100 lengths of radiating waves and width of 5-7 length of waves. Aerials are oriented in such a manner that resulting directional pattern has angular size 10-20 deg in horizontal plane and 1-1,5 deg in vertical plane. Receiving aerials which have general maximum width at horizontal no less than 20 deg, have resonant frequency being equal to difference in pump frequency of radiating aerials, axes of directional patterns of the aerials are oriented in parallel to axes of resulting directional patterns of radiating aerials and they are disposed in the same horizontal plane. Additional receiving-transmitting aerial which has resonant frequency to be equal to one pump frequency of parametric aerial, has directivity oriented to bottom of the vessel and is located in the vessel's bottom. EFFECT: improved safety. 2 dwg, 11 dwg

Description

 The invention relates to navigation devices using ultrasonic waves and can be used to increase the safety of piloting flat-bottomed river vessels along shallow, winding fairways by determining distances to the edges of the shipping lane by means of horizontal location.

 Known devices for horizontal location, including sonar stepper, sector and circular reviews. They use either the electromechanical spread of the acoustic antenna, or switching the set of acoustic antennas, or scanning the directional characteristics of the antennas during radiation or reception. All these conditions are structurally complex, bulky, expensive, and as a result they are not widespread on river vessels.

 A device for horizontal location containing 48 sonar antennas located around the circumference for a circular view.

 The disadvantage of this device, in relation to river vessels, is the inability to detect navigation hazards in the near zone and the complexity of the design.

Side-scan sonars, used, for example, for hydrographic surveys, provide information about the bottom topography in a form that is not immediately suitable for use in navigation. In addition, due to the narrow (1-3 ^° ) horizontal directivity, it is difficult to detect small obstacles within the shipping lane that represent navigational hazards, and obtaining information about the depth corresponding to a given terrain requires special methods, which significantly complicates sonar.

 The closest solution in technical essence and the achieved effect to the proposed and adopted as a prototype is a device called "Radiators for location using sound waves."

The known device contains a transceiver and two hydroacoustic high-frequency antennas placed on a rod under the hull of the vessel and emitting two horizontal sound beams. Each antenna has a large vertical size, for example, equal to 50 wavelengths, and a small horizontal (of the order of one wavelength), which provides narrow vertical (2-3 ^° ) and wide horizontal (for example, 60 ^° ) directivity .

 For registration and indication of echo signals, the device contains a recorder with two recording units that record the distances to underwater slopes on the right and left side relative to the midline on one tape.

 The known device also contains an additional high-frequency antenna for measuring distances ahead in the direction of the ship and a separate recorder for recording these distances (up to 300 m), the writing tape of which moves perpendicular to the tape of the main recorders.

 The disadvantage of the prototype is the inability to ensure safe wiring of vessels with small reserves of water under the bottom, which can be equal to only 0.2 m, due to the fact that the antennas are located under the hull, as well as due to interference from the side lobes of the directional characteristics of the antennas , which make it difficult to obtain reliable data on distances in the most dangerous cases for shipping, when the edge of the ship's passage is 10-20 m from the side.

 The use of an additional high-frequency antenna for measuring distances ahead along the vessel is inefficient, because with small reserves of water under the bottom, signals from obstacles cannot be detected at distances up to 300 m due to the expansion of the sound beam and due to refraction and will be masked by bottom reverb.

 The disadvantage of the prototype is the inability to determine the depth under the hull.

 The technical result of the application of the proposed device is to increase the safety of navigation when guiding a river ship in shallow fairways, in cramped conditions, by obtaining information about the distances to the edges of the navigable strip at the level of the draft and detect obstacles that represent navigational hazards within this strip, including and with a small distance of the antennas from the bottom (up to 0.2 m) or the surface of the water.

70-100 λ, b

5-7 λ), образующими безлепестковые характеристики направленности, узкие (до 1-1,5^о) в вертикальной плоскости и широкие (до 8-20^о) в горизонтальной плоскости, а также за счет того, что эти антенны, стабилизированные специальными карданными подвесками, установлены внутри судна у правого и левого бортов в местах перехода скулы цилиндрической части корпуса к носовой оконечности в непосредственной близости к днищу, при этом перед антеннами установлены звукопрозрачные обтекатели, врезанные в корпус судна.These technical results are achieved due to the fact that in a device containing emitting and receiving antennas on each side, a transceiver, a recorder and an indicator for recording and indicating distances to the edges, one transceiver high-frequency antenna with a vertically directed characteristic and a separate receiver for measuring depth under the bottom horizontally radiating high-frequency antennas are made parametric with elements located on them at two pump frequencies, for example, f ₁ = 380 kHz and f ₂ = 290 kHz, have a high from h, 14-20 times their width b, for example, 380 and 26 mm (respectively h

70-100 λ, b

5-7 λ), forming non-petal directivity characteristics, narrow (up to 1-1.5 ^о ) in the vertical plane and wide (up to 8-20 ^о ) in the horizontal plane, and also due to the fact that these antennas are stabilized by special gimbal pendants installed inside the vessel at the right and left sides at the junction of the cheekbones of the cylindrical part of the hull to the bow at the very bottom, with soundproof fairings embedded in the hull in front of the antennas.

A feature of the proposed parametric antennas is also the possibility of introducing a constructive phase shift when sticking elements (emitters) of one of the pump frequencies, for example, f ₁ , for reversing the directivity characteristics at this frequency with respect to the directivity characteristics at frequency f ₂ , with the expectation that the lower edges of the characteristics coincided and had a horizontal direction at the level of the draft. This will increase the accuracy of distance measurements to the underwater edge of the coastal slope and to obstacles. The spurious interference signal from the water surface at a frequency f ₂ suppresses the transceiver due to the selectivity of its receiving part.

The difference frequency echo signals F = f ₁ - f ₂ (for example, 90 kHz) are received by receiving antennas sensitive to weak echo signals, installed in close proximity to the horizontally radiating parametric antennas and in the same horizontal plane with them. They are connected to the receiver of the differential frequency of the transceiver through a switch of the receiving antennas.

A high-frequency transmitting antenna with a vertical directivity pattern is embedded in the bottom of the vessel. It is connected to one of the pump pulse generators (f ₁ or f ₂ ), and a transceiver switch is inserted into the transceiver, connected between the antenna and the receiver operating at the frequency of the selected pump generator, and the output of the receiver is connected to an ADC for measuring depth.

 The use of parametric emitting antennas allows you to create narrow vertical patterns with a low level of side lobes, which makes it possible to significantly increase the accuracy and angular resolution compared to the prototype, while minimizing the effect of interference from bottom and surface reverberation. The latter is necessary when working in shallow river waters and allows you to receive echo signals from objects in the bottom layers.

 During the roll and the differential of the vessel, the antennas must rotate in a gimbal and therefore cannot be cut into the side of the vessel, which leads to the need to strengthen the soundproof fairings in the side skin of the vessel, in front of the antennas.

 On large vessels (for example, more than 80 m long) antennas can be additionally installed in the stern, similar in design to those described. At the same time, a switch is installed in the transceiver for operation from the bow or stern (not shown in the figures).

 In FIG. 1 schematically shows in plan and in section the main components of the device and their placement on a transport vessel. This figure explains the general principle of the device; in FIG. 2 is a structural diagram of the proposed device; in FIG. 3 - plot voltage at the outputs of the synchronization unit; in FIG. 4 is an electrical diagram of a switch of radiating antennas; in FIG. 5 is a structural diagram of an analog-to-digital converter (ADC) of information about distances to the edges of the shipping lane; in FIG. 6 - diagrams explaining his work; in FIG. 7 - display of information on the indicator screen; in FIG. 8 is a schematic diagram of a receive-transmit switch of a depth measuring path; in FIG. 9 is a block diagram of an ADC of depth information; in FIG. 10 - diagrams explaining his work; in FIG. 11 is a schematic diagram of the protection of receiving antennas and a differential frequency receiver from powerful probing pulses.

 The device contains two horizontally radiating high-frequency parametric antennas 1, 2 and two receiving antennas 3, 4 of differential frequency, installed in the immediate vicinity of the bottom, at the right and left sides of the vessel at the junction of the cheekbone of the hull to the bow at the soundproof fairings 5, 6 , a high-frequency vertically radiating antenna 7, a transceiver 8, registrars of distances 9 and depths 10, indicator 11.

 The transceiver 8 comprises a distance measuring path 12 and a depth measuring path 13.

The distance measuring path includes: two pump pulse generators 14 and 15 at frequencies f ₁ and f ₂ connected to parametric antennas 1 and 2 through switch 16 for alternating operation from the right and left sides, which is provided by control signals received at the two inputs of the switch 16 from block 17 synchronization; a difference frequency receiver 18 F = f ₁ - f ₂ connected through a switch of the receiving antennas 19 to the receiving antennas 3 and 4 of the left and right sides, while the outputs of the receiver 18 are connected to the information inputs of the ADC distances 20 and the ADC amplitude 21; the control inputs of blocks 19-21 are connected to the corresponding outputs of the synchronization block 17.

The depth measurement path includes: a receiver 22 at a frequency f ₁ or f ₂ connected to a transceiver antenna 7 through a transceiver switch 23, one input of which is connected to a pump pulse generator 15 (or 14); the output of the receiver 22 is connected to the information input of the ADC 24, the control inputs of which are connected to the synchronization unit 17.

 The outputs of the ADCs 20, 21 and 24 are connected to the corresponding inputs of the block of buffer registers 25; the inputs of the registrars of distances 9, depth 10 and indicator 11 are connected to the outputs of the block of buffer registers 25.

 The device operates as follows.

 The measurement of distances to the edges of the shipping lane is provided by radiation in the horizontal direction by antennas 1 and 2 perpendicular to the ship's drift of ultrasonic sounding packages 26 (Fig. 1). Antennas are excited by the pump pulse generators 14 and 15 of the transceiver 8.

For this, the synchronization unit 17 of the transceiver 8 generates pulses of duration τ _u that determine the duration of the bursts 26, with a repetition period T, delayed by the clock pulses generated by it (Fig. 3a) for a time t ₃ , and feed them to the generators 14 and 15, which the pulses of the parcels are filled with pump frequencies f ₁ and f ₂ . The synchronization unit also generates control signals for the switches 16 of the emitting antennas and 19 receiving antennas (Fig. 3b, c). A feature of the radiation of sounding parcels is the alternate supply of radio pulses to the parametric emitting antennas 1 and 2, which allows the use of one pair of generators 14 and 15 and one switch 16 for measuring distances from two sides. At the same time, there is no need to use two pairs of generators with emitted pulses spaced in frequency to prevent the mutual penetration of signals from one side into the path of the other. This simplifies the device.

The switch 16 of the radiating antennas can be, for example, two serially connected magnetically controlled saturation transformers (Fig. 4) for signals of frequency f ₁ (and two similar for frequency f ₂ ), into the control windings of which control signals are alternately supplied from the synchronization unit 7 (Fig. 3b, c), and their output windings are connected to the parametric antennas of the starboard and starboard sides. In one radiation cycle, for example, in the first, the control signal saturates the core of one of the transformers, therefore, all the voltage of the pump generator 15 is applied to the primary winding of another transformer, which ensures radiation along one of the sides. In the second cycle, the control signal is fed to the control winding of another transformer, saturates its core and radiation occurs on the other side. The delay time t ₃ (Fig. 3d) is selected sufficient to end the transient processes in the switch transformers, before sending modulating pulses to the generators 14 and 15.

The echo signals of the difference frequency F = f ₁ - f ₂ reflected from the coastal slope 27 at the draft level of the vessel receive antennas 3 and 4, convert them into electrical ones and, through, for example, an analogue switch, feed them to the input antenna and feed them to the input receiver 18 differential frequency, where they are filtered and amplified.

 The operation of the switch 19 is controlled by pulses (Fig. 3b, c) from the synchronization unit, which provides an alternate connection of the input of the receiver 18 to the antennas 3 and 4 of the left and right sides.

 The inputs of the switch and receiver are protected from powerful signals at the time of sending double-sided diode limiters.

 Analog information about the distances to the edges (time from radiation to the arrival of the reflected signal) and the amplitude of the reflected signal is fed from the receiver 18 to the ADC inputs of distances 20 and amplitude 21, where it is converted to digital form.

 If there is an obstacle 28 between the edge of the shipping lane and the side of the vessel (Fig. 1), information about the distance to it and the signal amplitude is also converted to digital form.

The conversion of analog information into a digital code is carried out by discretizing the time interval between the probe pulses. This interval is filled with counting pulses, the repetition rate of which f _sc = C / 2 Δ L, where C is the speed of sound in water, Δ L is the minimum distance interval distinguished by the device (in other words, Δ L = L / n, where L is the measurement limit , i.e., the maximum range of the device; n is the number of discrete intervals into which it is divided for measurement).

 The ADC of distances 20 can be performed, for example, according to the block diagram shown in FIG. 5. It works as follows.

 The sync pulse (Fig. 3a), coming from the synchronization unit to the input "Setting 0" of the counter 29, resets it, preparing it for counting the pulses generated by the counting pulse generator 30 (Fig. 6a). They arrive at the counting input of the counter 29 through the And 31 circuit, which opens when a signal arrives at its other input (Fig. 6c) from the control trigger 32 generated when the trigger pulse is received at the input of this trigger (Fig. 3d). It coincides in time with the moment of radiation of the probe package.

 The signal from the receiver 18 of the differential frequency is fed to the input of the comparator 33, the second input of which is supplied with voltage from the block 34, which sets the threshold level. Setting a threshold level for the receiver signal contributes to the selection of the useful signal against the background of noise. When the signal from the receiver exceeds the threshold level (Fig. 6d), the comparator 33 generates a signal (Fig. 6e), which arrives at one of the inputs of the And 35 circuit. The signals from the control trigger 32 and the counting pulses from the generator are fed to the other two inputs of the And 35 circuit 30. If there are enable signals (unit level) at two inputs of the And 35 circuit - from the comparator and the trigger, pulses will appear at its output for each counting pulse received from the generator 30 (Fig. 6f).

 The pulses from the output of the circuit And 35 are supplied to the corresponding inputs of the counter 29 and block 25 of the buffer registers. In this case, the meter reads in block 25 of the buffer registers. The increase in the counter readings continues as the counting pulses arrive.

 When the output signal of the receiver 18 falls below the threshold level (Fig. 6d), the comparator 33 returns to its original state (a "zero" level at its output, Fig. 6e). As a result, the passage of the counting pulses through the And 35 circuit and the recording of the counter readings in the block of buffer registers is stopped.

 Since the number of pulses recorded by the counter is proportional to the counting time, i.e., the time of arrival of the echo signal, it reflects, on an appropriate scale, the distance to the coastal slope or obstacle.

 The pulses supplied to the block 25 of the buffer registers through the circuit And 31, provide advance information on the registers.

 The pulse counting process continues until the counter is full, when its reading becomes equal to the selected number of discrete intervals n, which corresponds in time to the end of the measurement cycle on one of the sides. When the counter is full, a pulse is sent from it to the control trigger 32, which overturns and closes the circuits And 31 and 35 to pass the counting pulses from the generator 30. In this case, the process of counting and writing to the registers stops until the next cycle.

 The ADC of the signal amplitude 21 can be implemented on the basis of functionally completed ADCs commercially available by the domestic industry, which include all the nodes necessary for analog-to-digital conversion, working by the method of bitwise balancing, also called the sequential approximation method. To control the ADC amplitude, the OR circuit 36 generates control signals. To do this, an enable signal from comparator 33 is supplied to one of its inputs through the circuit NOT 37, and pulses from the output of the And 35 circuit are fed to the other. From the output of the OR 36 circuit, a control signal is fed to the B / C input (blocking - conversion) of the ADC amplitude.

 Thus, when the amplitude of the analog signal from the receiver 18 exceeds the threshold level at the input of the comparator, a sequence of pulses is formed at the output of the OR circuit 36, each of which dumps the current ADC output code, after which a new conversion cycle is initiated. At the end of the conversion, a signal appears on the DR ("Ready") output of the microcircuit, indicating that information corresponding to the conversion results (amplitude information) has been established on the ADC code outputs. This signal is supplied to block 25 of the buffer registers and serves as a command to record the result of the conversion to this block. Recording is made in the assigned bits of the same register, in which the next pulse records the time of arrival of the measured signal corresponding to the distance to the edge or obstacle.

 From the block of buffer registers, the received information is fed to the distance recorder 9 and indicator 11.

 In FIG. 7 shows the display of the received information on the screen of the cathode ray tube indicator. The screen is divided into two parts: the left half is reserved for displaying, at a selected scale, information 38 about the distance to the left edge of the shipping lane, the right half - about information 39 to the right edge. At the same time, in the middle part of the screen a zero line 40 is drawn, from which the distance is counted. Current information (from the last pair of parcels) is displayed at the top of the screen, shifting a line down with each new pair of parcels. At the same time, information from the bottom line is erased.

 Thus, the skipper gets the opportunity not only to see the position of the vessel relative to the edges of the fairway, but also to assess the tendency of its changes, which allows you to choose one or another maneuver in time for controlling the vessel.

 The current values of the distances to the edges from the sides of the vessel are additionally displayed in the upper part of the screen in digital form.

 If there is an obstacle 28 between the edge of the shipping lane and the side of the vessel (Fig. 1), then it will be displayed on the screen in the form of a characteristic bow 41. This is explained by the significant angular dimension of the directivity of the radiating antennas in the horizontal plane. A narrow ultrasonic beam in the horizontal plane would give an inconspicuous point on the screen, since an obstacle of small size would be in the echolocation zone for only 2-3 parcels, and therefore would be displayed on only 2-3 lines.

 To obtain the described display of information, the indicator 11 has a random access memory (RAM), each line of which contains information displayed on the corresponding line of the screen. Since the length of the line is equal to twice the limit of distance measurement, and the limit is divided into n discrete intervals during analog-to-digital conversion, each line of the screen consists of 2n + 1 discrete samples (one discrete section is allocated to the image of the zero line), each of which corresponds to a certain memory cell RAM strings.

 The capacity of each cell corresponds to the capacity of the ADC amplitude. In general, the line contains all the information about the sensing cycle.

 Thus, it is obvious that each line of RAM consists of 2n + 1 cells, which store information about the amplitude of the echo signals, and the address code of each cell corresponds to a certain distance and board. At the same time, the top line of the screen corresponds to the first (initial) line of RAM, into which recording from the buffer register is performed.

 Information obtained by echolocation from the starboard side is recorded using the signals of the synchronization unit shown in FIG. 3d, and from the port side, according to the signals shown in FIG. 3rd, which allows you to place it in the designated areas of the line. In this case, the previous information from the first line of RAM is rewritten into the second, from the second to the third, and so on. So the entire memory is filled, the number of lines of which corresponds to the number of lines of the working field on the screen.

 In the playback mode of this frame, reading starts from the first line in which the current information is recorded, and is done line by line, as the line number increases.

 The sounding period is chosen so that it is an integer number of times longer than the display time of the full frame. Therefore, this frame is displayed on the screen several times.

 To display distance information on the screen in digital form, the corresponding memory zones are provided in RAM.

 The specific technical implementation of the reproduction on the screen of an indicator of information stored in RAM depends on the type of blocks used, the element base, etc.

 Such an indication of the amplitude of the echo signal makes it possible to judge the nature of the soil (so the signal from hard soils is more intense than from sandy and silty soils), which contributes to the choice of a safe position of the vessel on the fairway, with limited distance reserves along the beam.

An additional transceiver antenna 7, for example, to a frequency f ₁ , which is excited by pulses of this frequency from a generator 15 through a receive-transmit switch 23, serves to measure the depth under the ship’s hull in the device. 8. The diodes 42 and the resistor 43 form a two-way amplitude limiter connecting the input of the receiver 22, tuned to the frequency f ₁ , with a transceiver antenna 7 and protecting the input circuits of the receiver from powerful sounding pulses. Diodes 44 prevent shunting of the antenna 7 by the low-impedance output circuits of the generator 15 during the reception of echo signals. The VARU circuits of the receiver 22 are controlled by the signals of the synchronization unit 17 (Fig. 3d). The amplified and filtered echoes from the output of the receiver 22 are fed to an ADC of depth 24, where analog information about the depth is converted to digital form.

 The depth ADC can be performed, for example, according to the circuit shown in FIG. 9. The signal from the receiver is fed to the first input of the comparator 45, the second input of which is supplied with voltage from the threshold level switch 46. The output of the comparator is connected to the input of the setting in "0" of the control trigger 47. The output of this trigger is connected to one of the inputs And 48, the second input of which is supplied with counting pulses from the generator 49.

 The ADC of depth uses the "start-stop" method of converting the time interval from the moment of emission of the probe pulse to the arrival of the echo signal from the bottom. This is illustrated by the diagrams in FIG. 10.

 The leading edge of the pulse modulating the probe package (Fig. 3d and 10b), the control trigger 47 is set to a "single" state. The signal from its output permits the passage of the counting pulses from the generator 49 (Fig. 10a) through the And circuit to the counting input of the counter 50, which begins to count them. When the receiver amplified echo from the bottom, when it exceeds the threshold level set by block 46, the comparator 45 switches and sets the trigger 47 to the “zero” state, as a result of which the supply of counting pulses to the counter 50 is stopped. The counting stops and the number of pulses counted by the counter at this point, equal to the appropriate depth scale under the bottom of the vessel.

 Simultaneously with the termination of the counting, the meter reads in the block of buffer registers, from where they are transferred to the corresponding RAM zone of the indicator at the time of supply, to the block of buffer registers and indicator, clock pulses from the synchronization block 17 (Fig. 3d, f).

 The depth value is displayed at the bottom of the screen (Fig. 7).

 In addition to overwriting information from the buffer register in the RAM of the indicator, the same information can be sent to distance recorders to the edges 9 and depth below the bottom of the vessel 10. Registration allows you to evaluate the actions of the skipper in reference situations.

 As a recorder can be used, for example, a recorder recording on electrothermal paper. This recorder perceives information in digital form, for which it has built-in RAM and works in a non-synchronous mode with other blocks. (56) U.S. Patent No. 3,005,973, cl. G 01 S 7/52, 340-3, 1961.

 German patent N 1027563, class G 01 S 7/52, 74. d 6/15, 1958.

Claims (2)

1. DEVICE FOR DETERMINING DISTANCES TO THE EDGE OF THE NAVIGATION BAND AND DETECTING OBSTACLES TO HER, containing two emitting and two receiving antennas on each side of the vessel, sequentially connected an additional transceiver antenna, transceiver unit, indicator and recorders of incoming information, characterized in that the onboard emitting and receiving antennas are installed inside the vessel in close proximity to the bottom at the right and left sides at the junction of the cheekbones of the hull to its fore end spans, and in front of the antennas there are soundproof fairings cut into the ship’s hull, the radiating antennas are made parametric to two pump frequencies with a height of 70 to 100 lengths of the emitted waves and a width of 5 to 7 wavelengths, while they are oriented so that the resulting directivity has an angular size of 10 - 20 ^o to the horizontal plane and 1 - 1.5 ^o to vertical and its axis is perpendicular to a diametral plane of vessel, the receiving antenna with the width of the main maximum horizontal of at least 20 ^o have resonance the frequency equal to the difference in the pump frequencies of the radiating antennas, while the axes of their directivity are oriented parallel to the axes of the resulting directivity of the radiating antennas and are located on the same horizontal plane, and an additional transceiver antenna with a resonant frequency equal to one of the pump frequencies of the parametric antennas, having a directivity characteristic oriented towards the bottom, located at the bottom of the vessel.  2. The device according to claim 1, characterized in that the transceiver unit contains two pump pulse frequency generators, a differential frequency receiver, a switch for parametric radiating antennas, a switch for receiving antennas, an additional receiver and a transceiver switch for an additional transceiver antenna, and an analog-to-digital converter of distance information to edges or obstacles, analog-to-digital converter of information about the amplitude of the signal, analog-to-digital converter of information about the depth, synchronization unit and a block of buffer registers, with the output of the first pump pulse frequency generator connected to the first input of the parametric radiating antenna switch, the first output of the second pump frequency pulse generator connected to the second input of the parametric radiating antenna switch, the second output to the first input of the receive-transmit switch of the additional receiving-emitting antenna antennas, the first output of the switch of parametric radiating antennas is connected to the input of the first radiating antenna, the second output to the input of the second radiation antenna, the first output of the transceiver switch of the additional transceiver antenna is connected to the input of the additional transceiver antenna, the first input of the switch of the receiving antennas is connected to the output of the first receiving antenna, the second input to the output of the second receiving antenna, and the output to the input of the differential frequency receiver, the first output of which connected to the information inputs of the analog-to-digital converter of information about the distance to the edges or obstacles and the analog-to-digital converter of information about the amplitude de signal, the outputs of which through the block of buffer registers are connected to the corresponding first inputs of the indicator and the register of distances, the first output of the synchronization block is connected to the second inputs of the indicator, the distance recorder and the block of buffer registers, the second output is the third inputs of the indicator, the registrar of distances and the block of buffer registers , the third output - with the third input of the switch of the receiving antennas and the fourth input of the switch of parametric radiating antennas, the fourth output - with the third input of the switch of pairs emitting antennas and the fourth input of the receiving antenna switch, and the fifth output is connected to the inputs of the first and second pump pulse frequency generators, with the "Start setting" input of the buffer register block, with the "Start" input of the analog-to-digital converter of information about the distance to edges or obstacles and with the input of the differential control frequency receiver VARU circuit, the sixth output - with the “Zero” inputs of an analog-to-digital converter of information about the distance to edges or obstacles and an analog-to-digital converter of inform As for depth, the second output of the analog-to-digital converter of information about the distance to edges or obstacles is connected to the clock input of the buffer register block, the third output is to the write enable input of the buffer register block, the control input of the analog-to-digital converter of signal amplitude information is connected to the fourth output analog-to-digital Converter information about the distance to the edges or obstacles, the output of the additional transceiving antenna is connected to the second input of the transceiver switch, the output to of which is connected to the input of an additional receiver, the output of which is connected to the information input of the analog-to-digital depth information converter, the “Start” input of the analog-to-digital depth information converter is connected to the fifth output of the synchronization unit, the sixth output of which is connected to the “Zero” analog input a digital depth information converter, and the fifth output of the synchronization unit is connected to the control input of the VARU circuit of the additional receiver.

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