RU2190189C1 - Navigator - Google Patents

Abstract

FIELD: aircraft and helicopter sighting navigational systems. SUBSTANCE: navigator includes power supply unit, antenna unit and receiver-meter of satellite navigational systems connected by two-way communication, controller and storage module also connected by two-way communication, micro-computer, radiomodem connected in series by integration module and indicator, interface module, temperature control unit connected with input and output of power supply unit, common bus connected with radiomodem ports by two-way communication, integration module, interface module, micro-computer and controller. Second and third ports of receiver-meter of satellite navigational systems are connected by two-way communication with second port of integration module and second port of radiomodem respectively; second input of indicator is connected with signal output of receiver-meter of satellite navigational systems; third port of radiomodem is connected by two-way communication with third port of integration module and outputs of power supply source are connected with common bus. Radiomodem is two-directional; storage module employs flush-storage and common bus is made according to ISA standard. EFFECT: extended functional capabilities of navigator and field of its application with no change in its mass and dimensional characteristics. 4 cl, 1 dwg

Description

 The present invention relates to the field of information-measuring equipment and is intended for use in sighting and navigation systems of aircraft and helicopters.

Known navigation device containing an onboard digital computer (BCM) and a satellite navigation system (SNA), interconnected with the input and output of the BCM through a serial signal conversion device. (See certificate on PM 15130, cl. 7 G 01 C 23/00, 2000)
The mentioned device solves a small volume of tasks, has a limited scope and does not provide the required accuracy of solving navigation problems due to errors in the measurement of pseudorange between the satellite navigation system antenna and GLONASS / GPS navigation satellites caused by radio signal delays in the upper and lower atmospheric layers, time scale deviations as well as intentional interference when selective access mode is turned off.

 Closest to the technical nature of the present invention is a navigation device comprising a power supply, bi-directional antenna unit and receiver of satellite navigation systems, including a receiver, preprocessing module, navigation computer and interface module.

 The device provides, according to the data of domestic and foreign satellite navigation systems GLONASS and GPS, the measurement of the current coordinates of the location of the object, its velocity vector, universal time. (See "Product A-737". Technical Operation Manual, FBMI 461531.006 OM, 1999, appendix).

 The device in question does not provide the ability to directly connect to the radio station. This eliminates the possibility of solving a wide range of problems of inter-aircraft navigation, operational target designation, the implementation of a differential mode for determining coordinates, providing higher accuracy and noise immunity.

 In addition, the navigation computer as part of the device solves a limited amount of tasks, has low performance and is closed to the consumer. This does not allow the consumer to solve additional problems in this calculator. In some cases, this makes it difficult to distribute among the on-board equipment calculators the entire volume of tasks, taking into account their specifics, the required speed and reliability.

 The absence of a sufficiently large memory module in the structure of the device under consideration does not provide an opportunity to solve navigation problems using electronic maps, video images, as well as registration of flight and navigation information.

 The aim of the invention is to expand the functionality of the navigation device and its field of application with constant dimensional and weight characteristics.

 This goal is achieved by the fact that the navigation device containing the power supply unit, connected by a two-way communication antenna unit and receiver of satellite navigation systems, is additionally equipped with a connected two-way communication controller and memory module, microcomputer, radio modem, series-connected interface module and indicator, interface module, temperature control unit interconnected with the input-output of the power supply, a common bus connected by two-way communications with the ports of the radio modem, module pairing, interface module, microcomputer and controller, while the second and third ports of the receiver of the satellite navigation systems are connected by two-way communications with the second port of the interface module and the second port of the radio modem, respectively, the second input of the indicator is connected to the signal output of the receiver of the satellite navigation systems, the third port of the radio modem is connected two-way communication with the third port of the interface module, and the outputs of the power supply are connected to a common bus.

Distinctive features from the closest analogue are:
- additional supply of the navigation device connected by a two-way communication controller and memory module;
- supply of a radio modem, microcomputer, interface module, thermal control unit and a common bus;
- supply of serially connected interface module and indicator;
- two-way communication of the common bus with the ports of the radio modem, interface module, interface module, microcomputer, controller;
- two-way communication of the second and third ports of the interface module with the second and third ports of the receiver of satellite navigation systems and a radio modem, respectively;
- two-way communication of the second port of the interface module with the second port of the receiver of satellite navigation systems;
- communication of the signal output of the receiver of satellite navigation systems with the second input of the indicator;
- communication of the outputs of the power supply with a common bus;
- the interconnection of the power supply with the thermal control unit.

As a result of the implementation of the proposed device, the following advantages appear in comparison with the closest analogue:
- the ability to directly connect the radio station, which allows to implement a differential mode of operation of the receiver;
- the ability to solve the problems of inter-aircraft navigation, operational target designation, etc .;
- the possibility of using a navigation device as part of the base ground control and correction station;
- the possibility of the consumer building up additional navigation tasks and aircraft navigation tasks with the use of additional navigation data, digital maps, video images, etc .;
- the ability to register input, output and measured flight and navigation parameters.

 The device is illustrated in the drawing, which shows its structural diagram.

 The navigation device consists of an antenna unit 1, a receiver of satellite navigation systems 2, a pairing module 3, a radio modem 4, an indicator 5, a microcomputer 6, an interface module 7, a controller 8, a memory module 9, a common bus 10, a power supply 11 and a temperature control unit 12.

 In this case, the antenna unit 1 is connected by two-way communication with the first port of the receiver of satellite navigation systems 2. The port of the memory module 9 is connected by two-way communication with the second port of controller 8, and the common bus 10 is connected by two-way communication with the first ports of the radio modem 4, interface module 3, interface module 7 , microcomputer 6, controller 8. The second port of the interface module 3 and the second port of the radio modem 4 are connected, respectively, by two-way communication with the second and third ports of the receiver of satellite navigation systems 2, the signal the output of which is connected to the second input of the indicator 5. The third port and the signal output of the interface module 3 are connected respectively with the third port of the radio modem 4 and the first input of the indicator 5. The input and output of the temperature control unit 12 are connected respectively with the first output and input of the power supply 11, second, third and the fourth outputs of which are connected to a common bus 10.

 Radio modem 4 is designed to organize the interaction of the SNA 2 receiver and microcomputer 6 with a radio station (not shown) and contains a bi-directional frequency telegraphy signal converter, a processor module, a level converter, an asynchronous serial code transceiver of the RS232 standard and an exchange module with a common bus (not shown).

 Microcomputer 6 contains a microprocessor with a clock frequency of 133 MHz, a 16 MB RAM module, a 16 MB non-volatile memory module, a watchdog timer, two RS232 serial code ports and a connector that has a 16-bit ISA bus (not shown) .

The general software recorded in the non-volatile memory module of the microcomputer under the control of the QNX real-time operating system provides:
- the solution of the control problem and the formation of the sign "Computer health";
- consumer recording in the module of permanent non-volatile memory of the block of information programs of the microcomputer 6 with external systems and special software that provides solutions to the tasks of complex information processing, aircraft navigation, inter-aircraft navigation, operational target designation, etc.

 The software is written to the non-volatile memory constant module through the first or second serial port of the RS232 standard microcomputer standard or from the memory module.

 The interface module 7 provides the interaction of the navigation device with consumers and navigation information sensors, for example, in accordance with GOST 26765.52 - 87. Module 7 is used as a terminal device (OS) and operates under the control of an external controller (CC) (not shown), performs reception and decryption of the command words of the controller (QC), determines errors in messages, generates and issues response words to the channel, executes the control commands of the controller (QC) and provides the OA-QC exchange mode.

 The SNA 2 receiver includes a receiver, a preprocessing module, a navigation computer, and an interface module (not shown). In the SNA 2 receiver, standard and differential modes for measuring navigation parameters according to the data of GLONASS and (or) GPS satellite navigation systems are provided, as well as the mode of the base control and correction station.

The interface module 3 provides electrical connections between the radio modem 4 and the receiver SNA 2, interacts with a common bus 10, indicator 5, external systems and contains:
- 8-bit buffer device for receiving one-time commands from external systems (4TTL inputs and 4 inputs of + 27V level) and their subsequent issuance by commands of microcomputer 6 to a common bus 10;
- an output register for receiving 10 8 one-time signals from a common bus for their subsequent delivery to external systems (4TTL outputs and 4 outputs with a + 27V level);
- trigger IRQ interrupt signal for microcomputers on the leading edge of the time stamps of the SNA 2 receiver;
- bidirectional controller for pairing RS232 serial code with a common bus 10 (not shown).

 The controller 8 is designed to organize the interaction of the memory module 9 with a common bus 10 when writing and reading data under the control of a microcomputer 6.

 The memory module 9 is designed to record and store data, for example, a given flight route, digital terrain map, input and output navigation parameters of the device and is implemented on flash memory chips. The capacity of the memory module is 85-1000 MB. To ensure ease of use - recording prepared by an automated flight data preparation system (not shown) of a given flight route and digital terrain map, as well as automated processing of recorded navigation parameters - the memory module 9 is removable.

 The operation of the device is as follows.

 Antenna unit 1 receives signals from navigation satellites, carries out their preliminary amplification and filtering, as well as matching output circuits of the unit with a high-frequency cable. The antenna unit 1 is powered by an input voltage of + 3 - 12 V, supplied to the unit port via a high-frequency cable.

 The choice of navigation systems GLONASS, GPS, on which the SNA 2 receiver should work, as well as its inclusion in the mode of the basic control and correction station, is carried out by the signs in the control word formed by the microcomputer 6 after switching on the device issued by the RS232 standard code in the second port of the receiver from the second port of the interface module 3 or to the fourth port from external systems. The differential mode of operation is generated automatically - if there are differential corrections at the input of the third port.

и формируется слово состояния приемоизмерителя СНС 2.In the standard mode, the signals of navigation satellites previously processed by the antenna unit 1 from the first port of the SNA 2 receiver are received through 20 independent channels, are level-aligned and converted into a digital code. After this, pseudorange, timestamps, Doppler frequencies, ephemeris and almanac data of the GLONASS and (or) GPS navigation satellite systems are generated, which compute the components of the ground speed W _N , W _E , W _H , the coordinates of the object’s location X _C , Y _C , Z _C , UTC time scale parameters, root mean square errors of calculated navigation parameters

and the status word of the SNA 2 receiver is formed.

 The calculated data with a serial code of the RS232 standard and timestamps with TTL level from the second port of the SNA 2 transceiver are output to the second port of the interface module 3, where they are converted to a parallel code of the ISA standard and, upon request, the microcomputers 6 are sent to a common bus 10. From the fourth port of the transceiver, a serial code of the standard RS232, in addition to the calculated data, consumers are given “raw” data - pseudoranges, ephemeris and almanacs of navigation satellites for subsequent registration and implementation of post-differential on the regime.

 From the signal output of the SNA 2 receiver to the second input of indicator 5, a discrete signal of + 5V level is issued, which characterizes its serviceability and operability by navigation satellites for subsequent indication.

 The frequency telegraphy (CT) signal packets coming from the radio station to the fourth port of the radio modem 4 are analyzed and, when they belong to the differential correction standard RTSM SC - 104, are converted into a serial code of the RS232 standard, which is transmitted from the second port of the radio modem to the third port of the SNS 2 receiver.

в слове состояния приемоизмерителя формируется признак дифференциального режима, производится компенсация погрешностей в измеренных псевдодальностях, в соответствии с которыми вычисляются и выдаются потребителям и в модуль сопряжения 3 более точные навигационные данные.If there are 2 signals of differential corrections at the input of the third port of the SNA transceiver

the differential mode indicator is formed in the status word of the receiver, the errors in the measured pseudo-ranges are compensated, according to which more accurate navigation data is calculated and issued to consumers and to the interface module 3.

 Differential mode can be forced off by the signal "Disconnecting DR", supplied from an external system through the interface module 3 to the third port of the radio modem 4.

Формируемые пакеты поправок приводятся к стандарту RTCM SC - 104 и с дискретностью 1-5 сек с третьего порта приемоизмерителя СНС 2 выдаются во второй порт радиомодема 4, где преобразуются в пакеты сигналов частотной телеграфии.In the mode of the basic control and correction station, the coordinates of the installation location of the antenna unit 1 — X _A , Y _A , Z _A — are introduced into the fourth port of the SNA 2 receiver. After that, according to the data of the ephemeris and almanacs of the navigation satellites of the GLONASS and (or) GPS systems, taking into account the coordinates of the location of the antenna unit 1, the calculated pseudorange, the difference between the measured and calculated pseudorange Δ Д _ij and the rate of change

The generated correction packets are brought to the RTCM SC-104 standard and with a resolution of 1-5 seconds from the third port of the SNA 2 receiver, they are sent to the second port of the radio modem 4, where they are converted into frequency telegraph signal packets.

 After the formation of each packet from the fourth port is completed, the “Transmitter On” command is issued to the radio station and, upon receipt of the “Transmitter On” receipt from the radio station, the signal packet from the fourth port of the radio modem 4 is transmitted to the radio station for transmission over the air.

Microcomputer 6, in accordance with the block of information interaction programs with external systems recorded in the permanent non-volatile memory module, receives navigation data from them via interface module 7, interface module 3 and common bus 10, including, for example, angular parameters — roll γ, pitch υ, course ψ, components of the ground speed _{V N, V E, V H} , the absolute pressure altitude nubs., geometric height OTD., measured coordinates operational objective _U φ, λ _C, HN, features characterizing the authenticity of the received DATA Defined modes of flight and operation.

 In addition to the data of external systems, from the common bus 10, the microcomputer 6 also receives navigation data calculated by the SNS 2 receiver, and from the memory module 9 through the controller 8, the elevation of the terrain Nrf. and parameters of a given flight route.

при выполнении полета по заданному или оперативно измененному маршруту, возврата на аэродром, повторного захода на цель, маловысотного полета, облета препятствий и выдачу их через интерфейсный модуль во внешние системы.After that, the microcomputer processes the received data in accordance with special software that implements, for example, the algorithms given in [1], [2], and produces:
- recording of input data to the read-only memory module 9;
- calculation of the current location coordinates;
- correction of calculated coordinates according to the field of terrain;
- integrated processing of incoming information;
- formation of aircraft control signals - Z,

when flying on a given or promptly changed route, returning to an airfield, re-entering a target, low-altitude flight, flying around obstacles and issuing them through an interface module to external systems.

 In passive modes of operational target designation or interplanetary navigation, input data in the form of packets of CT signals arriving at the fourth port of radio modem 4 are analyzed for compliance with the exchange protocols of these modes, then they are converted into a parallel code of the ISA standard and transferred to microcomputer 6.

In the microcomputer 6, data operative targeting - the coordinates operational objective φ _CPU, λ _C H _CPU or data mode mezhsamoletnoy navigation - coordinates and constituting the lead aircraft velocity φ _BC, λ _BC H _Sun, V _NVS, V _EBU, V _HBC with the numeral and the adjusted coordinates of the ground speed of the aircraft φ _C , λ _C , H _C , V _NC , V _EC , V _HC in accordance with the well-known formula dependencies are converted into relative coordinates - target azimuth A _C or azimuth of the lead aircraft A _BC , target distance D _C or D range of the lead aircraft _{armed forces,} etc. Vyshen _C ΔH purpose or target excess lead aircraft ΔH _BC and components of the relative velocity _{ΔV N, ΔV E, ΔV H} .
The generated data is recorded in a read-only memory module, then through a common bus 10 and interface module 7 are issued to external systems.

In active modes of operational target designation or inter-aircraft navigation, the measured coordinates of the operational target φ _C , λ _C , N _C or the current coordinates of the aircraft φ _C , λ _C , H _C together with the speed components V _NBC , V _EBC , V _HBC are formed into packets the bus 10 is issued to the radio modem 4, which converts them into bursts of BT signals, followed by the “Turn on the transmitter” command issued to the radio station, and upon receipt of the receipt, “The transmitter is turned on” issued to it for transmission over the air.

 Switching the radio modem 4 to the microcomputer data reception mode is carried out by the command "computer", fed to the third port of the radio modem 4 from an external system through the interface module 3.

 In the process of operation, the radio modem 4 analyzes the condition of the converters and, when they are in good condition, generates and outputs from the third port to the third port of the interface module 3 the signal "RMA serviceability" for subsequent conversion and display on indicator 5.

 Formed by the microcomputer 6 signal "Computer health" through the buffer device of the interface module 3 is transmitted to the indicator 5 for display. Based on the totality of signals “RMA serviceability”, “Computer serviceability” and time stamps, in the interface module 3 a generalized signal “Serviceability” is generated and issued to consumers.

 The device is powered by a DC voltage of + 27V supplied to the input of a power module 11, which converts this voltage to a DC voltage of + 5V, + 15V, -15V, and issues it to a common bus 10 through which power is supplied to the modules, blocks and units devices.

The temperature control unit 12 is turned on at an ambient temperature below -20 ^o C, brings the temperature inside the device to -10 ^o C, and then generates a signal to turn on the power module 11 and the device as a whole.

Further, the unit maintains the temperature inside the device within the range of -10 ^o ÷ -20 ^o C and thereby provides an increase in the service life of the device.

 The proposed device can be implemented on a typical domestic and foreign base. So, as a receiver of satellite navigation systems, one-board GPS / GLONASS receivers of the GG-24 type from Ashteck (USA) or KS-161 of Kotlin CJSC (St. Petersburg) can be used.

 As a microcomputer, a single-board onboard computer of domestic design BAGET-83 in the PC-104 construct, which provides real-time control, or a microcomputer of the type CM2-4DE-Q-72 REV E from Ampro, can be used.

 As a memory module, FLASH can be used - a PCMCIA standard card with a controller of type MM2-PCC-Q-71, manufactured by San Disk and Ampro.

 The radio modem, the interface module, as well as other blocks and device modules are easily implemented by domestic electro-radio elements - 1533, 533 series microcircuits and foreign elements manufactured, for example, by XILINX and others.

 On the basis of the inventive device, a specialized radio navigation system SRNS-24 was implemented and submitted for state testing for use as part of the aiming and navigation system PNS-24 of the T6-M (MK) aircraft.

Literature
1. Product 126 M. Mathematical description. Part 2. Algorithms for correction, navigation and binding. AB1. 070. 021D5, 1982.

 2. Scientific and technical report "Justification and development of proposals for the implementation and implementation of SU-24M aircraft correlation-extreme navigation system based on digital terrain maps", CJSC "Hephaestus T", Zhukovsky, Moscow. region, 1998

Claims (4)

 1. A navigation device including a power supply unit, a two-way connected antenna unit and a receiver of satellite navigation systems, characterized in that it is further equipped with a two-way connected controller and a memory module, a microcomputer, a radio modem, connected in series with the interface module and indicator, an interface module, a unit temperature control, interconnected with the input-output of the power supply, a common bus connected by two-way communications with the ports of the radio modem, the interface module, interface module, microcomputer and controller, while the second and third ports of the receiver of the satellite navigation systems are connected by two-way communications with the second port of the interface module and the second port of the radio modem, respectively, the second input of the indicator is connected to the signal output of the receiver of the satellite navigation systems, the third port of the radio modem is connected by two-way communication with the third port of the interface module, and the outputs of the power supply are connected to a common bus.  2. The navigation device according to claim 1, characterized in that the radio modem is bi-directional.  3. The navigation device according to claim 1, characterized in that the memory module is made on flash memory chips.  4. The navigation device according to claim 1, characterized in that the common bus is made in the ISA standard.