RU2207613C1 - Airborne equipment of control systems of drone - Google Patents

Abstract

FIELD: equipment controlling position and heading of unmanned aircraft, design of drones intended for high-precision guidance on to target. SUBSTANCE: technical result of invention consists in design of complex of airborne systems for control over drone displaying wide potential of adaptation to flight conditions and to arising interference situation to secure high-precision guidance on to target. Airborne equipment incorporates air traffic control system and detection and self-navigation system. Air traffic control system includes angle speed transmitter, inertial unit, central computer, radio altimeter, information conversion facility, amplification-conversion facility of steering drives, steering aggregates, information exchange line. Detection and self-navigation system has central computer, power supply system, signal processing and control facility, receiver, antenna facility, transmitter, information exchange line. EFFECT: design of airborne equipment adaptable to flight conditions and to arising interference situation. 4 dwg

Description

 The invention relates to systems for controlling the location and course of an unmanned aerial vehicle (UAV) and can be used in the design of UAVs designed for high-precision aiming at a target.

 A known UAV control system according to the patent of the Russian Federation 2062503, IPC G 01 C 23/00, B 64 G 1/24, publication June 20, 1996, which contains a radar sighting device that provides measurement of coordinates and target parameters, an inertial navigation system that provides coordinate measurement and UAV motion parameters, a radio altimeter, with the help of which the height and vertical speed of the inertial navigation system are adjusted, an information exchange device, an on-board electronic computer (BEVM) and steering units controlled by a signal s control, are generated by BEVM.

 A disadvantage of the known analogue is the centralized structure of the computing system, which limits the range of tasks and the possibility of interaction with the radar sight, which ultimately leads to a decrease in the accuracy of UAV guidance.

 As a prototype of the invention, a UAV control system, known from the book. Sharov S.N. Fundamentals of designing coordinators of moving objects control systems. Tutorial. USSR State Committee for Public Education. - 1990 - S. 4, Fig. 1.1. The prototype system comprises a motion control system (SUD) comprising a computer and an autopilot, including an inertial unit and steering units controlled by signals generated by a computer, and a detection and homing system (COSH), which is a single-channel monopulse radar system with a phase-shifted sounding signal the composition of the transmitting and receiving devices, an antenna device with a block of controllable antenna drives and a signal processing device including a synchronizer, a range finder, a compression unit ment signals, threshold processing unit and the apparatus fixation coordinates forming signals range and angular position of the reflected signals received by the BEVM.

 An advantage of the prototype system is the use of a phase-shifted sounding signal, which provides higher homing accuracy and higher noise immunity with respect to active and passive interference.

 The disadvantage of the prototype system is the limited ability to adapt the system to UAV flight conditions, in particular to the emerging jamming environment, due to the lack of adjustment of the parameters of the transmitting and receiving devices and the insufficient power of the computing system with centralized information processing.

 The objective of the invention is the creation of a complex of onboard control systems for an unmanned aerial vehicle, which has wide capabilities to adapt to flight conditions and the emerging interference environment to ensure high-precision UAV guidance to the target.

 The essence of the invention lies in the fact that in the complex of onboard control systems for unmanned aerial vehicle (UAV), containing a motion control system (SUD), including steering units and an inertial unit associated with a central electronic computer (digital computer) of the SUD, and a detection system and homing (SOS), which includes an antenna kinematically connected to the drive unit of the antenna and connected to the output of the transmitting device, which forms a pulsed phase-shifted probe signal and the input of the receiving device, the heterodyne input of which is connected to the output signal of the local oscillating frequency of the transmitting device, as well as a signal processing and control device, including a signal compression unit connected to the primary processing device, and a synchronizer, in the COSN the COSM computer connected by the first highways of information exchange with the digital computer of the SUD and by means of a second highway of informational exchange with the device for signal processing and control, the SSS additionally contains an er, an angular velocity sensor and an information conversion device connected to the first data exchange highway, as well as an steering-converter power-converter device, the outputs of which are connected to the inputs of the corresponding steering units by the signals of the rudder tabs, the inputs by the signals of the projections of the UAV angular speed of rotation are connected to analog the outputs of the angular velocity sensor, and the inputs of the steering control signals are connected to the corresponding outputs of the information conversion device, respectively whose output outputs, according to the signals of one-time commands, are connected to the radio altimeter switch on input, the POSN switch input and the switch on switch input, which contains a series-connected exciter and power amplifier with a controlled pulse modulator and power regulator, the exciter being made in the form of a coherent frequency generator constructed according to the amplifier circuit -multiplier chain, the initial functional link of which is a controlled multi-frequency generator of the pathogen, and the final phase The new manipulator, the receiving device contains a passive radio channel in which the sources of radio emissions are detected, as well as active sum and difference channels, in which the conversion to the intermediate frequency is performed with correction of the phase non-identity of the channels in the phase shifters and signal splitter unit, and after preliminary amplification on the intermediate frequency, the main gain is normalized with the normalization of the target signals and interference by means of a block of high-speed automatic regulation amplification leveling (BARU) and limiting amplifiers, to the corresponding outputs of which are connected a vector phase noise detector and a phase target detector, the outputs of which form video codes of the sum and difference signals shifted by the reference voltage, in addition, the corresponding outputs of the sum-channel amplifier-limiter are detected video interference signals, the signal processing and control device further comprises a signal quantization unit, an antenna position control unit, the inputs of which are by signal m of the current angular position of the antenna and the outputs of the antenna drive control signals are connected to the antenna drive unit, as well as a control electronic computer (PC) connected to the information bus, a long-term storage device, a serial channel adapter connected to the second data exchange highway, and a shaper commands for controlling ultra-high and intermediate frequency units, the outputs of which are based on the signals of tuning the carrier frequency, adjusting power and turning off the amplifier The powers are connected to the corresponding control inputs of the transmitting device, and the outputs according to the signals for correcting the phase non-identity of the channels, switching off the differential channel, switching the dynamic gain range and switching the passband of the phase detector of the target are connected to the corresponding control inputs of the receiving device, while the signal quantization unit contains an amplitude signal quantizer interference, the inputs of which are connected to the outputs of the video signals of radio sources and interference receiving device, an analog-to-digital converter, the input of which is connected to the output of the vector phase noise detector, and an amplitude quantizer of the target signals, the inputs of which are connected to the outputs of the phase detector of the target, and the outputs are connected through the Doppler frequency shift compensation unit to the information inputs of the digital matched filter block, included in the signal compression unit together with the buffer random access memory (RAM) of the signal compression unit, to the corresponding inputs of which the outputs are connected a block of digital matched filters, an analog-to-digital converter and an amplitude quantizer of interference signals, the primary processing device is made in the form of a computer, which contains a processor connected to the system bus, RAM, read-only program memory, buffer RAM connected to the output of the buffer RAM of the signal compression unit, galvanically isolated digital I / O adapter, a coupler connected to the information bus, and a serial interface transceiver connected to the code the output of the antenna position control unit, the input of which is connected to the corresponding output of the digital input-output adapter with galvanic isolation by the signals of the initial installation and antenna control, the output of which is connected to the control input of the synchronizer, which is connected to the information bus, by the synchronizer control signal, while the output synchronizer on the control signal of the pulse modulator is connected to the control input of the latter, the output on the signal of the phase manipulation code is connected to the input of us three of the block of digital matched filters and the code input of the phase manipulator, the output from the control signals for normalizing the target and interference signals is connected to the corresponding control input of the intermediate frequency amplifier, and the output from the Doppler frequency shift compensation signal is connected to the control input of the Doppler frequency shift compensation unit.

The invention is illustrated by drawings, on which:
figure 1 - structural diagram of the complex,
figure 2 is a structural diagram of a receiving device,
figure 3 is a structural diagram of a signal processing and control device.

 FIG. 4 is a diagram of the interaction of a digital computer of a motion control system and a detection and homing system.

Figure 1 of the structural diagram of the complex adopted the following notation:
1 - motion control system (SUD),
2 - detection and homing system (SOSN),
3 - the first highway of information exchange, made in accordance with GOST 26765.52-87 (Manchester),
4 - the Central computer of the motion control system (digital court),
5 - digital computer SOSN,
6 - radio altimeter,
7 - inertial block,
8 - angular velocity sensor,
9 - information conversion device,
10, 11,12, 13 - steering units,
14 - power-converting device of the steering gears,
15 - triaxial gyrostabilizer,
16 - block removal and conversion of information,
17 is a block of sensitive elements,
18 - analog-to-digital Converter,
19 - multiplex channel adapter,
20 - block transmission of one-time commands,
21 - multi-channel code-voltage converter (MPKN),
22 - multi-channel voltage-code Converter (MPNK),
23 - power supply system POC,
24 - transmitting device
25 - antenna device
26 - receiving device
27 is a signal processing and control device,
28 - antenna
29 - block drive antennas,
30 - total differential Converter,
31 - the second highway of information exchange (Manchester).

 According to FIG. 1 complex of onboard control systems for an unmanned aerial vehicle contains a motion control system 1 and a detection and homing system 2 connected by means of a first information exchange line 3, to which are connected a digital computer 4 of the SUD and digital computer 5 of the SOSN.

In the COURT 1, a radio altimeter 6, an inertial block 7, an angular velocity sensor 8, and an information conversion device 9 are also connected to the information exchange trunk 3, the first, second, and third outputs of which are output from the ON-RW, ON SOSN, and " On HV "are connected respectively to the turn-on input of the radio altimeter 6, to the turn-on input of the COSH 2, and the turn-on input of the transmitting device 24. The group of outputs of the device 9 for converting information on signals σ ₁ , σ ₂ , σ ₃ , σ ₄ , (σ _i ) for steering wheels and group of inputs according to the signals δ _1K , δ _2K , δ _3K , δ _4K ( δ _iK ) of the rudder control is connected to the corresponding inputs and outputs of the power-converting device 14 of the steering drives, the inputs of which according to the signals ω _X , ω _Y , ω _Z , the projections of the angular speed of the UAV rotation are connected to the analog outputs of the sensor 8 angular speeds, and the outputs by signals ρ ₁ , ρ ₂ , ρ ₃ , ρ ₄ rudder tabs and inputs according to signals δ ₁ , δ ₂ , δ ₃ , δ _{4 the} positions of the rudders are connected to the inputs and outputs of the respective steering units 10, ..., 13.

Radio altimeter 6 is designed to measure the current values of H _PB UAV flight altitude and can be performed according to the active radar scheme, including a transceiver, transmitting and receiving antennas. The turn-on input of the radio altimeter is the input of the secondary power source, controlled by the "On RV" signal.

 Inertial unit 7 is designed to measure linear coordinates - range (D), lateral deviation (Z), altitude (N), linear speed (V) and its projections, linear overload and UAV turning angles along the heading (ψ), roll (γ) and pitch (ν).

 The inertial unit 7 contains a triaxial gyrostabilizer 15, which includes two dynamically tuned gyroscopes, three pendulum accelerometers, three angle sensors and three motors controlled through the electronic key block by the signals from the output of the unit 16 for data acquisition and conversion, the information inputs of which are connected to the outputs of the pendulum accelerometers and angle sensors, and a digital input-output connected to the first highway 3 information exchange.

 The angular velocity sensor 8 contains a block 17 of sensing elements, the outputs of which form the analog outputs of the sensor 8 and are also connected to the inputs of the analog-to-digital converter 18, the output of which forms the digital output of the sensor 8, connected to the first highway 3 of information exchange.

The information conversion device 9 is based on the multiplex channel adapter 19 connected to the first information exchange line 3. The adapter 19 is made in accordance with the scheme according to US Pat. 2163728, IPC G 06 F 15 / 16F, H 04 L 12/66, publication 02.27.2001, which includes, along with code signal transceivers, one-time command shapers. The output of the shaper of one-time commands of the adapter 19 is connected to the relay unit 20 for transmitting one-time commands, the outputs of which are generated by the signals "On RV", "On COSN" and "On VN". MPKN 21 and MPNK 22 are connected to the code inputs and outputs of adapter 19. The MPKN 21 outputs form the group of outputs of the information converting device 9 for rudder control signals σ _i , and the MPNK 22 inputs form its group of inputs by rudder control signals δ _iK .

The power-converting device 14 of the steering drives provides scaling of the signals ω _X , ω _Y , ω _Z coming from the 8 angular velocity sensor, their distribution between the four power steering amplifiers, the summation of these signals with the signals σ _i , the amplification and generation of signals ρ _{i of the} rudders . In addition, the device 14 provides the removal of signals δ _{i the} position of the rudders, their amplification and the issuance in the form of signals δ _iK control rudders in the device 9 information conversion.

 The power-on input of the AHCH 2, to which the signal "On HOSN" is supplied, is the control input of the power supply system 23, which includes secondary power sources (IWEP) of all devices included in the HAM, except for the high-voltage power supply of the transmitting device 24. The power distribution circuit does not have direct relation to the essence of the invention and for simplicity of presentation is not considered in the application materials.

 SOSN 2 is a monopulse coherent radar system (radar) with a phase-manipulated sounding signal, the parameters of which can be tuned depending on the tasks solved by the SOSN during the UAV flight.

 SOSN 2 includes a transmitting and receiving device 24, 26, an antenna device 25 and a signal processing and control device 27 connected via a second information exchange line 31 to the SOSN digital computer 5.

The signal output of the transmitting device 24, on which the pulsed phase-shift keyed probing signal “PMI” is generated, is connected to the antenna device 25, and the outputs from the heterodyne frequency signals “f _get ” and the reference intermediate frequency “f _ПЧО ” are connected to the corresponding inputs of the receiving device 26, signal whose inputs, receiving the total (Σ) and two differential signals (Δ _ψ , Δ _ν ) are connected to the output of the antenna device 25.

The receiver outputs, on which are formed shifted the reference voltage 45 ^o video code total "PD _Σ" (PD _0Σ, PD _45Σ, PD _90Σ, PD _135Σ) and the difference "PD _Δ" (PD _0Δ, PD _45Δ, PD _90Δ, FD _135Δ ) signals, as well as the video signals of the radio sources "VS IR" and two types of jamming signals ("VSP", "PDP"), are connected to the corresponding inputs of the device 27 for signal processing and control, the outputs of which are controlled by the discrete attenuator "DO", blocking the inputs of the receiving channels during the emission of the probe signal (blank and pulses - “BI”), control of the switch of differential channels “Upr PRK”, adjustment of phase non-identities of the channels “Kor F”, disconnection of the differential channel “Off RK”, switching of the dynamic range of amplification “Remote Control”, control of normalization of target signals and interference (blanking BARU - "BAR BAR", gates BAR - "Page BAR") and switching the passband of phase detectors "Upr FD" are connected to the corresponding inputs of the receiving device 26.

The outputs of the signal processing and control device 27, on which the turn-off signal of the UM off transmitter is generated, the carrier frequency tuning signals "P ₁ , ..., P ₄ ", the pulse control modulator control signal "T _IM ", the phase-shift code signal " KFM "and the power control signal" PM "are connected to the corresponding inputs of the transmitting device), and the inputs according to the signals of the current angular position of the antenna (" ψ _A "," ν _A ") and the outputs according to the control signals of the antenna drive" Control ψ _A , ν _A are connected respectively to the information outputs and ravlyaetsya input unit 29 drives the antenna.

 The antenna device 25 contains a two-mirror parabolic antenna 28 (Cassegrain type) with rotation of the plane of polarization and a monopulse irradiator with a sum-difference converter 30 on the slotted bridges. The position of the antenna radiation pattern is controlled by rotating the movable mirror using the antenna drive unit 29, which ensures its turns in two planes - in azimuth (ψ) and elevation (ν).

Block 29 of the antenna drives consists of two asynchronous motors controlled through a power amplifier using the signals "Control ψ _A , ν _A ", equipped with sensors of the current angular position of the antenna, from which the signals ψ _A , ν _A
The transmitting device 24 provides the formation of a pulsed phase-shifted sounding signal of low duty cycle and low pulsed power, the carrier frequency of which is tuned according to a random law, the formation of a tunable local oscillator signals (f _HET ) and a reference intermediate frequency (Gpcho) for the receiving device, stepwise adjustment of signal power.

The transmitting device 24 is a coherent frequency generator. The initial functional unit in the chain of generation of pulsed FM signals is a multi-frequency exciter generator containing four master quartz oscillators, alternately connected in accordance with a frequency tuning control signal (P ₁ , ... P ₄ ), coming from the signal processing and control device 27.

 The causative agent is built according to the direct synthesis scheme, i.e. sequential multiplication of frequencies of master crystal oscillators and their amplification.

 At the output of the pathogen, phase-shift keying of the carrier frequency signal is carried out in accordance with the phase-shift keying code (CPM) received at the code input of the phase shift key from device 27, and then a pulse FM probe signal is generated in the amplifier.

As a power amplifier itself, a small-sized traveling-wave low-voltage lamp (TWT) with a pulse modulator in the reference voltage supply circuit controlled by pulses T _IM , repetition period T _P and duration T _And which determine the repetition period and duration of the probe signal is used. The power amplifier also includes a high-voltage power source, switched by the signals “On HV” and “Off UM”, and a power regulator connected to the TWT output, made in the form of a controlled ferrite attenuator.

 An example implementation of a similar transmitting device can serve as the circuit shown in the description of the invention according to US Pat. RF 2099739, IPC G 01 S 13/42, publication December 20, 1997

 The receiving device 26 is made according to a superheterodyne circuit, with two active (total - Σ and difference - Δ) channels in which the main amplification, filtering and detection of target and interference signals are sequentially performed, and a passive radio channel for detecting signals from third-party radar (radio emission sources).

The structural diagram of the receiving device 26 is presented in figure 2, which indicates:
32 - input amplification converter ultra-high frequency (microwave),
33 - intermediate frequency amplifier (IFA),
34 - detector section,
35 - video amplifier passive radio channel,
36 - circulator
37 - discrete attenuator, made in the form of a waveguide section of the passage type,
38 - the protection device of the total channel, made in the form of a waveguide device on a controlled switch,
39 - switch differential channels, which includes the actual waveguide switch, switching two input waveguides to one output, and protection devices of the differential channel, similar to the device 38 for protecting the total channel,
40, 41 - high frequency amplifiers (UHF) of the total and differential channels, respectively,
42, 43 - double balanced mixers (DBL) of the total and differential channels, respectively,
44 is a block of phase shifters and a splitter of the local oscillator signal,
45 is a preliminary intermediate frequency amplifier (MFC), including two MLC (total and differential channels) with an adjustable gain range and a switching unit PCM differential channel,
46, 47 - amplifier-limiters (UPCHO) total and differential channels, respectively,
48, 49 - attenuators,
50 is an OR element,
51 - block high-speed automatic gain control (BAR),
52 - 90 degree symmetrical interfering signal adder,
53 - vector phase interference detector (PDP),
54 - phase target detector (FDTs),
55 is a block of quadrature phase detectors of the differential channel,
56 - block quadrature phase detectors of the total channel,
57 - shaper discrete shifts.

According to FIG. 2, the receiving device 26 comprises a series-connected input amplifier-converter 32 and a microwave amplifier 33, to the corresponding outputs of which are connected a vector phase detector 53 of interference and a phase detector 54 of the target, including blocks 55, 56 of quadrature phase detectors of difference and total channels, the reference inputs of which generator connected to the outputs 57 discrete shifts (0 ^o, 45 ^o, 90 ^o, 135 ^o), the input of which forms the input signal f _PCHO receiving device 26, the signal input of which "Manage PD" switching strip about uskaniya phase detectors when changing increment duration probe signal blocks formed by the control inputs 55, 56 of quadrature phase detectors. Blocks 56, 55 outputs form the main signal outputs of the receiver 26, which are formed shifted the reference voltage 45 ^o video code total PD _0Σ, PD _45Σ, PD _90Σ, PD _135Σ ( "PD _Σ") and the difference PD _0Δ, PD _45Δ, PD _90Δ , PD _135Δ ("PD _Δ ") signals.

 The inputs of the discrete attenuator 37 form the signal inputs of the receiving device 26 and its input according to the "DO" signal, by which the quality factor of the input circuits of the receiving device 26 is adjusted. The discrete attenuator 37 contains two waveguides of difference signals Δψ, Δν connecting the corresponding outputs of the sum-difference converter 30 with the inputs of the switch 39 of the differential channels, and the passage through the waveguide of the total signal Σ, which is connected to the device 38 for protecting the total channel through the second and third arms of the circuit the radiator 36, and through the second and first shoulders with the output of the power amplifier of the transmitting device 24. The control input of the total channel protection device 38 and the first control input of the difference channel switch 39 form the input of the receiving device 26 receiving the “BI” blank pulses, and the second control input the switch 39 forms its input by the signal "control PRK".

The output of the sum channel protection device 38 and the output of the difference channel switch 39, on which one difference signal Δ is generated, are connected to the signal inputs of the DBL 42, 43 through the UHF 40, 41, respectively, whose inputs are connected to the output of the phase shifter unit 44 and the splitter by the local oscillator frequency signal the local oscillator signal, the corresponding inputs of which form the input of the heterodyne frequency signal f _get "and the input of the phase non-identity correction signal channel" Cor f "of the receiving device 26.

 A video amplifier 35 of the passive radio channel is also connected to the output of the UHF 40 of the total channel through the detector section 34, at the output of which video signals of radio emission sources are formed, calibrated by amplitude with a 15 dB discrete (to simplify the circuit in Fig. 2, one conclusion is shown - “VS IR”).

The outputs of the DBL 42, 43 are connected to the corresponding inputs of the intermediate frequency pre-amplifier 45, the control inputs of which, according to the switching signals of the dynamic range of amplification "Remote Control" and the disconnection of the differential channel "Off RK" form the inputs of the same device 26. The corresponding outputs of the PCB 45 through attenuators 48, 49 are connected to the inputs of amplifier-limiters 46, 47, covered by feedback through the block 51 BAR and 90 ^o symmetric adder 52 interference. The control inputs of the attenuators 48, 49 are connected to the output of the OR element 50, the input of which according to the blanking signal of the BAR BAR BAR and the control input of the BAR block 51 according to the gating signals of the BAR BAR BAR form the input of control signals for normalizing the target signals and interference of the receiving device 26 .

 The first outputs of the UCHE 46, 47 of the total and difference channels are connected to the inputs of the blocks 56, 55 of the quadrature phase detectors of the total and difference channels (included taking into account inversion in the adder 52), their second outputs, on which the quadrature-sum interference signals are generated, are connected to the corresponding the inputs of the vector phase detector 53 interference, the output of which forms the output of the receiving device according to the signal "PDP", and the third output of the control unit 46, formed by sections of amplitude detectors, on which during gating BARU forms ruyutsya four-level video signal interference increments of 15 dB, noise forms output video receiving device 26 (shown for simplicity one terminal - "WWW").

The device 27 signal processing and control is made in accordance with the scheme of figure 3, which indicates:
58 - signal compression unit (BSS),
59 - primary processing device (UPR),
60 - the control unit position of the antenna,
61 - information bus, made in the form of a bus VME,
62 - synchronizer,
63 - driver commands control blocks ultra-high and intermediate frequency (microwave frequency converter),
64 - long-term storage device (DZU),
65 - adapter serial channels
66 - control computer
67 - amplitude quantizer of interference signals,
68 - analog-to-digital Converter (ADC),
69 - amplitude quantizer of the target signals,
70 - block compensation Doppler frequency shift,
71 - block digital matched filters (CSF),
72 - buffer random access memory (RAM) block signal compression,
73 - buffer RAM of the primary processing device,
74 - system bus
75 - processor
76 - RAM
77 - read-only memory (ROM) programs,
78 - interface device with the VME bus (hereinafter referred to as the interface device),
79 - digital input-output adapter with galvanic isolation (hereinafter referred to as the digital-to-analog adapter),
80 - transceiver serial interface,
81 - block digital conversion amplitude-code,
82 - code-time interval converter (PCVI),
83 - master oscillator and pulse distributor,
84 - code-frequency converter,
85 - driver of clock pulses and gates,
86 - code generator,
87 - register status signals
88 - signal conditioner,
89 - Converter code-time interval,
90 - ROM phasing coefficients,
91 - block registers of control commands,
92 - processor
93 - interface device
94 - bus controller,
95 - system bus
96 - RAM
97 - ROM,
98 - system controller,
99 - transceiver,
100 - interface device
101 - non-volatile RAM,
102, 103 - channel adapters,
104, 105 - transformers,
106 - block quantization of signals.

 According to FIG. The 3 inputs of the signal quantization block 106 serve as signal inputs of the signal processing and control device 27, while the inputs of the amplitude quantizer 67 of the interference signals are connected to the outputs of the receiving device 26 by the signals "VS IR" and "VSP", the ADC input 68 is connected to the output of the phase detector 53 interference, and the inputs of the amplitude quantizer 69 of the target signals are connected to the corresponding outputs of the phase detector 54 of the target. The outputs of the amplitude quantizer 69 of the target signals through the Doppler frequency shift compensation unit 70 are connected to the signal inputs of the DSP 71, which is part of the signal compression unit 58 together with the buffer RAM 72 of the FSB, the output of which is connected to the buffer RAM 73 of the primary processing device 59, and to the corresponding inputs - the output of the block 71 digital matched filters, the output of the amplitude quantizer 67 interference signals and the output of the ADC 68. Connecting RAM BSS 72 to the control buses, managing the recording of information and reading it is carried out about known rules.

 The primary processing device 59 is intended for detecting targets and interference, measuring their intensities, determining the coordinates of targets and interference, accumulating data for the review cycle and transmitting them to DOS 5 digital computer 5 for secondary and tertiary data processing.

 The primary processing device 59 is made in the form of a computer, which contains a processor 75 connected to the system bus 74, a buffer RAM 73, a RAM 76, a program ROM 77, a CV adapter 79, a serial interface transceiver 80, and a pairing device 78 connected to the information bus 61.

 The information bus 61 is also connected to a synchronizer 62, a generator 63 of control commands for the microwave-frequency inverter, DZU 64, a control computer 66 and an adapter 65 for serial channels connected to the second communication line 31.

The input of the signal processing and control device 27 by the signals of the current angular position of the antenna (ψ _A , ν _A ) is formed by the information inputs of the amplitude-code digital conversion unit 81, which, together with the converter 82, is a code-time interval in the antenna position control unit 60. The outputs of the code signals "Code ψ _A , ν _A " of block 81 are connected to the transceiver 80 of the serial interface, and the power output (not shown in Fig. 3) is connected to the power inputs of the angle sensors of the antenna device. The input of the PCVI 82 is connected to the output of the CVC adapter 79 according to the initial setting signals ψ _M , ν _M and the antenna control ψ _U , ν _Y , and its output forms the output of the signal processing and control device 27 according to the control signals of the antenna drive Control ψ _A , ν _A ".

 The synchronizer 62 comprises a code-frequency converter 84 and a clock and shaper 85, connected to the information bus 61, whose clock inputs are connected to the corresponding outputs of the master oscillator 83 and the pulse distributor, as well as a code generator 86, the synchronization input of which is connected to the corresponding output of the clock generator 85 and gates, the control input of which is connected to the output of the adapter 79 DAC on the control signal synchronizer "Sync Sync".

A code generator 86 provides generation of phase shift keying codes (CPM), which are a cyclically changing M-sequence with a fixed initial value. Fixing point a new cycle is the M-sequence delivery to the clock oscillator 86 clock pulses, at a frequency f _n = 1 / T _n, where T _n - repetition period of the probing signal. The output of the code generator 86 is the “QPS” signal output of the signal processing and control device 27, which is also connected to the tuning input of the digital matched filter unit 71.

 Shaper 85 clocks and gates generates various pulse sequences to ensure coordinated operation of devices included in the AOS. Shaper 85 is based on a frequency divider controlled by sync pulses of the master oscillator 83, a counter, a decoder, and a trigger block. The output of the driver 85 by the signal "Sync. CSF" is connected to the synchronization input of the block 71 digital matched filters, the output by the signals of the strobing interference in the mode of interference tracking "Page NR, OP" is connected to the control input of the amplitude quantizer 67 interference signals, and the outputs by signals control normalization of the target and interference signals "BI BAR", "Page BAR" and the signal "Tim" control the pulse modulator, form the same outputs of the device 27 signal processing and control. In addition, the signal “Upr B” is formed at the corresponding output of the shaper 85 of sync pulses and gates, which is a sequence of blanking pulses, during which the signals “BI”, “Upr PRK” and “DO” of the control input microwave converter 32 .

The output of the code-frequency converter 84 is connected to the control input of the Doppler frequency shift compensation unit 70, while the pulse sequence "T _D " is formed at the output of the converter 84, the repetition period of which is determined by the Doppler frequency code "K _D " received at the information input of the converter 84 by information bus 61.

 In the generator 63 of the control commands of the microwave frequency converter blocks, a signal status register 87 is connected to the information bus 61, the control input of which is connected to the corresponding output of the CVC adapter 79 by a signal “On detection” (enable detection), a block of 91 control command registers and ROM 90 phasing coefficients the output of which is connected to the information input of the converter 89 is a code-time interval, the output of which forms the output of the device 27 according to the correction signal of the phase non-identity of the Kor F channels. The control input of the ROM 90 phasing coefficients and the second control input of the shaper 88 of the signals are connected to the output of the adapter 79 DAC on the error signal "ψ-ν", which is formed in the mode of "Support" SOSN. The first control input of the shaper 88 of the signals and the control input of the converter 89 code-time interval are connected to the output of the shaper 85 of the clock pulses and gates by the signal "Upr B".

 The outputs of the shaper 88 form the outputs of the device 27 according to the signals "DO", "BI", "Upr PRK", while the signals "BI", designed to disable the inputs of the receiving device during the radiation of the probing signal, are generated in all operating modes of the COSH 2, and signals "Control PRK" and "DO" only in the "Maintenance" mode.

The outputs of the block 91 registers of control commands form the outputs of the device 27 according to the signals of the carrier frequency tuning "P ₁ , ..., P ₄ ", power adjustment "PM", turning off the transmitting device "Off the MIND", as well as the switching signals of the dynamic gain range "Remote control", switching the passband of phase detectors "Upr FD" and turning off the differential channel "Off RK" in the "Overview" mode of SOSN 2.

 The serial channel adapter 65 comprises an interface device 100 connected to the information bus 61 and to a non-volatile RAM 101, to which the first and second channel adapters 102, 103 connected to the transformers 104, 105, respectively, are connected. In this adapter 65, only one channel is used in which a transformer 105 is connected to the second communication line 31.

 The host computer 66 provides the formation of control commands and signals necessary for the operation of the SOSN 2 in the "Overview", "Capture", "Track" and "Generate homing control signals", as will be discussed below, receives internal and external signals characterizing the state SOSN, and also provides communication with the information bus 61, control the bus and its adaptation to work with an external highway 31 information exchange connecting the device 27 signal processing and control with a digital computer 5 SOSN.

 The host computer 66 contains connected to the information bus 61, a device 93 for interfacing with the VME bus and a processor 92, also connected to the system bus 95, to which the RAM 96, ROM 97 and the system controller 98 are connected. In addition, the bus controller 94 is connected to the interface device 93 and a transceiver 99 is connected to the system controller 98.

 In the complex, the following distribution of tasks is realized between the digital computer 4 of the SUD and the digital computer 5 of the OSS.

 The digital computer 4 of the SUD provides the generation of the necessary signals for controlling the movement of the UAV, determines the navigation coordinates and other parameters necessary for control, and corrects the vertical channel according to information from the radio altimeter.

 Computing computer 5 SOSN provides secondary and tertiary processing of information about the radar situation when viewing space, processing information from targets (true and false), sources of interference and radio emissions, selection of false targets and the issuance of control signals for homing UAVs to the selected target.

 The digital computers 4 of the SUD and the digital computers 5 of the SOSN have the same structure built on the basis of unified devices used also in the device 27 for signal processing and control.

 Each of the digital computers 4, 5 contains connected via the VME bus to a DZU, a computer made according to the control computer 66, and an adapter for serial computing channels made according to the adapter 66.

 A set of control systems for an unmanned aerial vehicle operates as follows.

 During the prelaunch preparation of the UAV in the digital computer 4 of the SUR, a flight task is introduced that includes programmed values of the flight altitude and course angle at different parts of the UAV flight path, a priori information about the intended location of the target, its classification features, as well as basic input data for a specific version of the detection system and homing.

After the UAV starts in the initial sections of the trajectory, the motion control is performed by the VESSEL 1. In this case, the TsVM 4 VAS generates control signals for the steering units 10, ..., 13 by solving the well-known system of equations of motion control for heading, roll, pitch and height, based on data comparison contained in the digital computer 4 VESSEL on the basic values of speed and altitude, and current measurements of the inertial unit 7 and the sensor 8 angular velocity. The code signals generated by the digital computer 4 are converted into analog form in the information conversion device 9 and supplied in the form of rudder control signals (σ ₁ , σ ₂ , σ ₃ , σ ₄ ) to the steering-conversion amplifier-14 device, which generates bookmark angle signals rudders (ρ ₁ , ρ ₂ , ρ ₃ , ρ ₄ ), summing the control signals of the rudders with the signals of the projections of the angular speed of rotation (ω _X , ω _Y , ω _Z ). The signals δ ₁ , δ ₂ , δ ₃ , δ _{4 of} the rudder positions from the outputs of the steering units 10, ..., 13 after amplification in the amplifier-converter 14 are transmitted in the form of steering control signals δ _1K , δ _2K , δ _3K and δ _4K through the device 9 for converting information into digital computer 4 of the COURT, thus closing the loop for controlling the position of the UAV in space.

 In the areas of gain and decrease in height, the altitude and vertical speed measured by the inertial unit 7 are corrected according to the readings of the radio altimeter 6, which is turned on by the command of the digital computer 4, transmitted in the form of a “On PB” signal from the corresponding output of the information conversion device 9.

 Upon reaching the flight range specified by the flight task, the “On AHF” signal is generated by a command of the DSP 4, by which the POWER 2 power supply system 23 is turned on, and all secondary AHCH power sources are turned on, except for the high-voltage power source of the power amplifier of the transmitting device 24.

 After supplying power, a test check of the digital computer 5 of the SOSN and the computing system of the signal processing and control device 27 is carried out, then a test check of the drives of the antenna device 25 is carried out, and the test results are transmitted to the digital computer 4 of the SUD, which decides whether the SOSN 2 is ready for further work, which can in the modes "Overview", "Capture", "Tracking" and "Generation of control homing signals".

 Before the start of the "Overview" mode, from the digital computer 4 the SUD is issued through the information conversion device 9 the "On HV" command to turn on the incandescent lamp of the traveling wave in the power amplifier of the transmitting device 24, and on the information exchange line 3 in the digital computer 5 COSN the initial data on the range to the target are issued and the width of the field of view.

 At the same time, in the device 27 for signal processing and control, the program formation of control commands and signals begins.

Using the "Sector" and "Vl-Vp" commands (left-right) formed by the control computer 66, the scanning sector width and the scanning direction of the antenna 28 are transmitted to the primary processing device 59 from the digital computer 5, and signals ψ _M , ν _M "of the initial installation of the antenna, coming through the converter 82 code-time interval of the block 60 control the position of the antenna in block 29 of the antenna drives.

 In the "Overview" and "Capture" modes, only the total channel of the receiving device is used. To disable the differential channel by the command “Off RK”, formed by the computer 66 and transmitted via the information bus 61 to the block 91 registers of control commands, the corresponding output of the latter generates the signal of the same name, which arrives at the same name control input of the preliminary amplifier 45 of the intermediate frequency.

The signal "code f _C " of the tuning code for the carrier frequency of the probe signal is generated in accordance with which the sequence of issuing from the corresponding output of the block 91 of the signal registers Ch ₁ , ..., Ch ₄ , controlling the switching of the driving generators of the exciter of the transmitting device 24, is determined.

 The “Signal 1” command sets the mode for generating phase-shift keying codes of the first type, clock and clock pulses for the first type of FM signals, Tim pulses for controlling a pulse modulator and blank “Pulse B” pulses. The “Signal 1” command corresponds to the maximum duration and maximum power of the probe pulses, while the signal level “PM” is set to zero.

 Subsequently, in the Capture and Track modes, as well as in the Review mode, when working on targets at a shorter range, the AOS will switch to shortened probing signals set by the Signal 2 and Signal 3 commands at the same time, with the “Sync. Sync.” signal from the output of the 79 DAC adapter 79, a new mode for generating clock and synchronizing pulses is set, and the “PM” and “Cont. PD” signals from the outputs of the block 91 of the control command registers establish the corresponding power level of the probe signal and produce switching bandwidth phase detector 54 targets.

The beginning of the "Browse" mode is determined by the moment the "Browse" command is issued and the start of the antenna scan. By this command, in the device 59 of the primary processing, the program starts forming the linear law of scanning the antenna and produces the signals "ψ _U , ν _U " received at the inputs of the converter 82 code-time interval.

At the beginning of the linear section of the scan, the primary processing device 59 generates an “On update” signal, which is input to the signal status register 87, and a signal is issued from register 87, according to which the target and interference detection programs begin to operate, and the installed programs are input from digital computer 5 the values of the codes of the beginning of the detection zone by range (D _H ) and the width of the detection zone (D _WZ ).

 The phase-manipulated sounding signal generated at the output of the transmitting device 24, through the circulator 36 enters the horn of the antenna 28 and is emitted into space.

The position of the antenna beam in space is controlled by the action of the antenna drives in two coordinates (ψ and ν) on the movable reflector. Asynchronous drive motors are controlled through amplifiers according to the signals "Upr ψ, ν", which are formed at the output of the converter 82 code-time interval. Angle sensors generate signals "ψ _A ", "ν _A " of the current angular position of the antenna, received at the input of the amplitude-code digital conversion unit 81, and from its output the code signals "Code ψ _A ", "Code ν _A " are transmitted to the input of the transceiver 80 of the serial interface of the primary processing device 59, thus closing the antenna control loop.

 At the time of the emission of the probe signal, the inputs of the receiving device 26 are blocked by the protection device 38, switched by a signal "BI", which is formed at the output of the signal shaper 88 upon receipt of blanking pulses "Upr B" from the output of the synchronizer 62 at its control input.

 In the pauses between the sendings of the probe pulses, the protection device 38 is open, and the reflected signals are received.

 The microwave signals received by antenna 28 are amplified in a high-frequency amplifier 38, converted into intermediate frequency signals in a double balanced mixer 42, to which a local oscillator frequency signal coherent with the PMF is supplied from the transmitting device 24, and fed to an intermediate frequency amplifier 33, in which normalization target signals and interference.

 The normalization of the FM signals of the targets is carried out using the BARU, which has a low threshold in comparison with the amplifier-limiters 46, 47.

 Normalization of interference sources is carried out during the action of blanking pulses “BI BARU”, by means of which the BARU ring opens for the duration of the BARU strobe action. To normalize the sources of interference, the quadrature normalization principle is used with limiters 46, 47, quadrature-sum signals are generated at the outputs using a 90-degree symmetric adder 52. The angular information is converted into phase information in the vector phase detector 53 of interference, in which normalized multiplication is performed interference signals. At the same time, in the four taps of the section of amplitude detectors of the amplifier-limiter 46, normalized video signals of VSP interference are generated.

 The signals of the target and interference are located in different parts of the range, so their single-pulse processing can be carried out independently of each other.

Phase detection of the reflected FM signals of the target is carried out using the coherent reference voltage "f _ПЧО ", coming from the transmitting device 24 through the _generator 57 of discrete shifts (0 ^o , 45 ^o , 90 ^o , 135 ^o ) to the block 56 phase detectors of the total channel. This allows us to exclude further energy losses of weak reflected signals due to ignorance of the initial phase of the received reflected signal. The passband of the phase detectors are switched by the command "Upr FD", which is formed at the output of the block 91 registers of control commands when changing the duration of the discrete phase manipulation of the probe signal.

The detected mixtures of the reflected signals " _{ФД 0Σ} ", " _{ФД 45Σ} ", " _{ФД 90Σ} ", " _{ФД 135Σ} ", which have the form of bipolar video _codes , enter the amplitude quantizer 69 of the target signals and then to the block 71 of digital compression filters. In a quantizer having a zero threshold, video codes are quantized into two levels, which makes it possible to convert noise into a chaotic sequence “0” and “1”, and signals into a specific sequence “0” and “1” corresponding to the FM code of the probe signal.

To eliminate the distortion caused by the UAV movement in the signal and leading to temporary displacements of the quantized pulse sequences and their sign distortions, the quantized signals are, in the first place, inverted, as a result of which the number of outputs of the block 56 of phase detectors is doubled (8 instead of 4) . Secondly, before applying digital matched filters to block 71, the quantized signals are switched by pulses "T _D ", the repetition rate of which is eight times higher than the Doppler frequency. The pulses "T _D " are fed to the control input of the Doppler frequency shift compensation unit 70 from the output of the code-to-frequency converter 84, into which the signal "K _D " of the Doppler frequency code is transmitted from the digital computer 4 of the ACS, transmitted through the data exchange lines 3 and 31 and then through adapter 65 to data bus 61.

 In block 71 of digital matched filters, a bitwise comparison is made of the received signal with a phase-shift keying code, which is input to the setting input of block 71 from the output of the code generator 86, and summing in a two-input adder. Next, the amplitudes of the compressed packet of signals are recorded in the buffer RAM 72, from which they are transferred to the RAM 73 of the primary processing device 59 during the antenna reversal, at the end of which the program information processing, consisting of six stages, begins. The first two stages of processing - internal review and inter-review processing - are performed in the primary processing device 59, and the remaining four are secondary processing, side lobe selection of interference sources and radio emission sources and tertiary processing are performed in COS digital computer 5 after the review cycle is completed.

In the primary processing device 59, the amplitudes of the compressed signals are integrated over a moving interval, consistent with the duration of the burst of pulses reflected from the target, and compared with a threshold. The position of the threshold is changed by the command "Threshold 1", issued when approaching the target. If it is absent, a low threshold is automatically set. Signals that exceed the threshold are automatically subjected to the operations of detecting and measuring angular coordinates, while the boundaries of the detection zone are set by codes coming from digital computer 5, in particular, "D _N ""D _SHZ ". In the course of solving the range problem, the target angles are recalculated by the time the target is detected in the current private review. At the same time, within each private review, the position of the viewing zone is adjusted to ensure its immobility on the irradiated surface.

Data on detected targets and false alarms, obtained in one review, in the form of codes "N _D " (range), "ψ _H " (beginning of the packet) and "ψ _K " (end of the packet) are recorded in RAM 76 and stored. The removal and transmission of this data for secondary processing in the digital computer 5 is carried out at the boundaries of the field of view (in the extreme positions of the antenna) after the removal of the command "Reception".

 During operation of the AHPS in the "Overview" mode, various active interference may occur. Reducing the effect of Sin and noise interference on the receiving device and eliminating the suppression of target signals due to overload is achieved using the BARU, which ensures the operation of the receiving device on linear sections of amplitude characteristics. The expansion of the dynamic range of amplification by 15 dB, 20 dB and 30 dB is carried out by the commands "remote control" received at the control input of the preliminary amplifier 45 of the intermediate frequency. The detection of continuous interference is achieved by strobing (turning off) the BARU for the duration of the SB gate at the end of each repetition period, and the detection of simulating response interference (OP) is achieved by turning the BARU off by the SOP gate, which is located at the beginning of the detection zone.

The interference signals "VSP" that occur during the action of the strobe "SB" and "SOP", after they are quantized in the amplitude quantizer 67 of the interference signals and transmission through the buffer RAM 72 to the device 59 of the primary processing, the azimuthal positions of the interference sources are measured at the beginning of "ψ _H "and the end of" ψ _K "bursts of signals. Further, the interference information is transmitted to the digital computer 5 in the same way as the target information.

 During operation of third-party radars, their signals are detected by the detector section 34 and amplified by the video amplifier 35 of the passive channel, from the output of which the signals of the “VS IR” are sent to the processing similarly to the signals of the “VSP”.

 The processes of early detection of target signals continue for 16 review cycles. The digital computer 5 performs identification (confirmation of data by purpose), secondary processing and solves the task distribution programmatically using data from the digital computer 4CUD. Among the criteria used for selecting targets, the total intensity of signals received from each target, the belonging of the signal source to the targeting zone, the absence at a small distance from the detected source of another source that is superior in intensity, etc. are used.

 At the stage of selecting side lobes, the most powerful objects of each type are identified from all detected sources of interference and sources of radio emissions.

 When identifying targets for each of the goals left after the secondary processing, a special feature is formed that characterizes the fact of its coincidence or mismatch with each of the detected sources of radio emissions.

 Based on the results of the operations performed, the system switches to the Capture mode.

In the "Capture" mode, the "Review" and "Vl-vp" commands are removed, the antenna scanning stops, and new values of the codes "D _Н ", "D _ШЗ ", and also the commands "Begin." update "and" Capture ". In the block 60 control the position of the antenna receives new values of the codes "ψ _M , ν _M ", which sets a specific fixed position of the antenna.

On the command "On.Obn" in the device 59 of the primary processing, the detection cycle is repeated with the issuance of the number of the range quantum N _D , in which the target is located, and the transmission of all data to the digital computer 5 at the end of the cycle.

 Upon receipt of this data, the AECS switches to the "Maintenance" mode. The digital computer 5 generates a command to start the target tracking mode "Sopr Ts", or a tracking command for noise sources "Sopr P", or response interference "Sopr OP".

 In the "Maintenance" mode, the "Off RK" command is removed and the difference channel of the receiving device begins to function. Switching the differential signals to one input of the high-frequency amplifier 41 is carried out by the signal "Upr PRK", which is supplied to the second control input of the switch 39 of the differential channels. Signal processing of the difference channel is carried out similarly to the total channel.

In the case of issuing the “Sop Ts” command, the rangefinder of the primary processing device 59 proceeds to automatically track the target according to the target designation contained in the code “D _H ” that existed before the generation of the Sop Ts command. While the target signal is being pulled into the target tracking gate “SSC” programmatically generated by the rangefinder, the quality factor of the tracking circuit is increased by the “DO” commands received at the control input of the discrete attenuator 37. The rangefinder starts issuing more accurate tracking data in the form of the code “D ", and the" SSC "strobe is used for gating the integrators of the angular mismatch signals in order to generate the angular mismatch signals" ψ-ν "and for gating the meter intensively STI followed the signal. According to the signal "ψ-ν" from the ROM 90 phasing coefficients through the code-time converter 89, the signals "Cor Ф" are supplied to the control input of the block 44 phase shifters and splitters of the local oscillator signal to correct the phase non-identity of the channels. At the same time, control signals are generated to work out slow changes in the position of the target relative to the equal-signal direction of the antenna.

 The transition to tracking the interference source is carried out by the commands "Sopr P" or "Sopr OP", while the range gates are combined with the strobe "SB" or "SOP" of the BARU, and the output signals of the vector phase detector 53 of interference are used as angular mismatch signals, which after analog-to-digital conversion, the ADC 68 is fed to the angular mismatch integrators of the primary processing device 59.

 Direction finding of radio emission sources is carried out by scanning the antenna and determining the center of the pulse train.

 To increase the efficiency of target distribution during the implementation of the selection process of goals, short-term follow-up of each of the goals (support) is organized, the results of which form the initial data necessary for the operation of selection algorithms. All goals included in the group are alternately followed in ascending order of their azimuths. Thus, the total maintenance time is minimized.

 To support the next target, the SSOS antenna is turned in the direction of its expected location, the target is detected with a stationary antenna stabilized in space, and the intensity of the signal reflected from the target is measured. In case the signal intensity is sufficient, the elevation angle of the escorted target is measured.

 The method of selecting true and false targets is based on the use of differences in the signals reflected from them. Improvement of selection results is achieved by the implementation of elevational selection of false targets, when goals with large elevation angles are excluded from the set of goals presented to the input of the target distribution algorithm, i.e. being false targets with high staging. To reduce the influence of errors in determining the pitch and roll angle of the UAV on the selection results, a regression analysis mathematical apparatus was used to clarify the position of the UAV horizon line (initially determined from the inertial unit 7) using information about the dependence of the target elevation angles and their azimuths. After the object of attack (target or source of interference) is selected, the operations necessary to move to its support are performed. At each transition to the target tracking mode, the procedure of retracting into its tracking is implemented in the same way as when solving the problem of target selection. When the transmitting device 24 is turned on, the transmitter power and the sensitivity of the receiving device 26 are monitored to increase stealth and linearize the direction-finding characteristic of the target tracking angular tracking system.

 In the event of a failure in the tracking of the initially chosen target, the solution of the task of target distribution is blocked and a simplified selection of the object for attack is made. After selecting an object of attack, a transition to its maintenance is carried out. When a fixed range is reached to the target, the duration of the probing signal is reduced and the resolution of the AHPS in range is increased. The use of a "short" signal allows the selection of false leading targets by analyzing the length of the target being tracked and its support along the leading or trailing edges of the reflected signal.

 The target tracking algorithm provides a special logic of operation of the POSN 2 when the target is lost by temporarily opening the target tracking circuits and stabilizing the POSN antenna in the last remembered direction with the organization of moving the range finder strobes by reckoning. If the signal from the target is not restored within a fixed time interval, then tracking of the target continues, otherwise the presence of interference (continuous or response) is checked, and if there is interference, a transition to tracking the source of the interference is organized. In the absence of interference, the transition to the selection mode for re-selecting the target. If the source of interference is selected as the attack object, the AHCH will turn the AHCH antenna in the direction of the interference source, capture for tracking, monitor the course of tracking with the organization of tracking the noise source from memory and the branched logic of the behavior of the AHCH in case of loss of interference. The algorithm provides the generation of signals necessary for tracking targets in the direction of the accompanied interference source.

 Data on the number of detected targets and their ranges are recorded in the digital computer 5. According to this information, at any time, both when the interference source is lost and its tracking is continued, a decision can be made to stop tracking the interference source and switch to tracking one of the targets. In the process of tracking the source of interference, as well as tracking the target, the software performs the operations of stabilization of the AOSCH antenna, taking into account the Doppler frequency offset, adjusting the code for the beginning of the detection zone, etc. As before, a symptom is formed in digital computer 5 of SOSN that characterizes the phase of solving the tracking task to take into account the current situation in UAV motion control algorithms.

 The logic and algorithms of the complex in the mode "Generation of control homing signals" are distributed between SOSN 2 and SUD 1.

 The implementation of the algorithms in the homing section ("CGS" - homing in the horizontal plane, "SVP" - homing in the vertical plane) requires a constant exchange of commands and conditions developed by the digital computer 5 SOSN and digital computer 4 SUD. This close connection of the homing circuits generated by the digital computer 5 of the SOSN with the angular stabilization loops and other algorithms of the digital computer 4 of the SUD consists, firstly, in the requirements for the phase frequency characteristics of the closed angular stabilization loops. These requirements are ensured by the reduction of gear ratios at the moments of “SVP” and “SGP” by the signals of the pitch and heading angular velocity sensors. Secondly, to implement the “SVP” and “SGP” algorithms, it is necessary to quickly update the information of the inertial block 7 and the combined channel for measuring the height, as well as the calculated values of the angle of attack, slip, balancing angle of attack, mass coefficient, and gear ratio pitch angle.

 The block diagram of FIG. 4 illustrates the necessary exchange of information between DCH 5 DOS and DCH 4 DSC.

In FIG. 4 are indicated:
V, D, Z, Hk, Hk '- speed, range, lateral deviation, flight altitude and its derivative;
ψ _A , ψ _S , ν _S , Dрц - antenna deflection angle in azimuth, ACS integrator signals in azimuth and elevation, measured UAV-target range;
PVC, PS - signs of target selection and tracking;
SGP, SVP, SS, RVS, SVP ₁ , Vsn - trajectory conditions for homing (SS - failure to follow, RVS - turn in the vertical plane for homing, CBP ₁ - condition for connecting the averaging algorithm before the start of SVP, Vsn - sign of the mode of homing from great heights ");
α _P , α _ball , β _P , k _m - calculated values of the current and balancing angle of attack, current angle of slip and mass coefficient;
In _i , Н _B , t _Э - sign and characteristics of the trajectory;
PV, BV, E, IVS, MB - trajectory conditions on the program control section (PV - connecting the height program at a lower level, BV - sign of "high altitude" on the "jump", E - beginning of the exponential transition program to "low altitude", MB - sign of reaching low altitude);
and _k is a sign of the operation of the radio altimeter;
N _CGP is an integer variable depending on the number of cycles of CGG renewal (in case of target tracking failures).

Digital control signals of i-rudders (i = 4) are formed as follows:
σ ₁ = σ $\genfrac{}{}{0ex}{}{\text{ogre}}{\text{n}}$ -σ $\genfrac{}{}{0ex}{}{\text{ogre}}{\text{uh}}$ ;
σ ₂ = σ $\genfrac{}{}{0ex}{}{\text{ogre}}{\text{in}}$ ;
σ ₃ = σ $\genfrac{}{}{0ex}{}{\text{ogre}}{\text{n}}$ + σ $\genfrac{}{}{0ex}{}{\text{ogre}}{\text{uh}}$
σ ₄ = σ $\genfrac{}{}{0ex}{}{\text{ogre}}{\text{in}}$
σ $\genfrac{}{}{0ex}{}{\text{ogre}}{\text{n}}$ , σ $\genfrac{}{}{0ex}{}{\text{ogre}}{\text{uh}}$ , σ $\genfrac{}{}{0ex}{}{\text{ogre}}{\text{in}}$ - limited in size digital control signals in the channels of the course, roll and pitch, respectively.

Здесь ψ - угол рыскания (курса),
ϑ - угол тангажа,
γ - угол крена,
ω_x, ω_y, ω_z - проекции угловой скорости на связанные оси ракеты,
F(σz) - сигнал управления боковым отклонением, F(h) - сигнал контура управления высотой,
F(σ_sh) - сигнал интеграла высоты,
δ_пр - программный сигнал,
σ_sγ - сигнал интеграла крена,

- коэффициенты управления и стабилизации,
σ_nz - сигнал управления поперечной перегрузкой,
σ_ny - сигнал управления нормальной перегрузкой, включающий в себя дополнительный управляющий сигнал самонаведения σ_ny1,
σ_νc - дополнительный управляющий сигнал самонаведения,
ϑ₁ - программа тангажа,
ψ₁ - программа курса.In this case, digital signals in the channels of the course (σ _n ), roll (σ _e ) and pitch (σ _in ) are determined as follows:

Here ψ is the yaw (course) angle,
ϑ - pitch angle
γ is the angle of heel,
ω _x , ω _y , ω _z are the projections of the angular velocity on the associated axis of the rocket,
F (σz) - side deviation control signal, F (h) - height control loop signal,
F (σ _sh ) is the signal of the height integral,
δ _pr - program signal,
σ _sγ is the roll integral signal,

- control and stabilization factors,
σ _nz - transverse overload control signal,
σ _ny - control signal of normal overload, which includes an additional control signal homing σ _ny1 ,
σ _νc is an additional homing control signal,
ϑ ₁ - pitch program,
ψ ₁ - course program.

The signals ϑ ₁ , ψ ₁ , σ _νc , σ _ny1 are generated by various algorithms in the areas of programmed control and in homing. In the homing process, these signals are control signals of homing.

The control signals SGP - ψ ₁ and SVP - ϑ ₁ are the results of integration (with a restriction on the rate of change) of the variables σ _ψ1 and σ _ϑ1 .

Homing in the horizontal plane is divided into two successive stages:
the stage of working out the initial mismatch, in which the UAV longitudinal axis is rotated to the target in the horizontal plane with the maximum allowable angular velocity. At this stage, the value of σ _{ψ1 is} proportional to the angle of the antenna deviation in azimuth (ψ _A );
the stage of working out small perturbations, which begins at the end of the turn to the target. At this stage, control is carried out based on the principle of proportional navigation and implemented by the control law with additional feedback on the estimated slip angle β _p .

где

- коэффициенты управления,
ψ_упр, β_рупр, ψ_s1упр - значения параметров ψ, β_p, ψ_s1 на момент начала самонаведения с упреждением,
ψ_s1 - переменная, зависящая от сигнала интегратора СОСН ψ_s (при сопровождении цели принимается ψ_s1 = ψ_s, в противном случае производится экстраполяция полезной составляющей сигнала ψ_s).The control variable σ _ψ1 has the form

Where

- control factors
ψ _control , β _rupeer , ψ _{s1 control} - the values of the parameters ψ, β _p , ψ _s1 at the start of homing with anticipation,
ψ _s1 is a variable depending on the signal of the integrator COSN ψ _s (when tracking the target, ψ _s1 = ψ _{s is} taken, otherwise the useful component of the signal ψ _s is extrapolated).

 Homing in the vertical plane can be carried out in several modes: homing from low altitudes, from high altitudes and homing to the source of interference.

где K_ϑ7, K_Jϑ - коэффициенты управления,
K_ϑ - коэффициент стабилизации по тангажу,
α_БАЛ - балансировочный угол атаки,
θ_ЦР - расчетное значение угла места цели (вычисляемое по информации о текущей высоте полета и дальности до цели),
α_СВП, θ_ЦРСВП - значения параметров α_БАЛ и θ_ЦР на момент начала СВП.The main mode is homing at a target from low altitudes using a radio altimeter 6. In this mode, the variable σ _ϑ1 has the form

where K _ϑ7 , K _Jϑ - control coefficients,
K _ϑ - pitch stabilization coefficient,
α _BAL - balancing angle of attack,
θ _CR - the estimated value of the elevation angle of the target (calculated from information about the current flight altitude and range to the target),
α _SVP , θ _RVDS - the values of the parameters α _BAL and θ _CR at the beginning of the SVP.

 To ensure accuracy in a wide range of shooting conditions, pre-emptive homing is used, and control algorithms introduce components that compensate for changes in the balancing angle of attack depending on changes in UAV flight speed.

It is planned to use a signal component that is additionally connected when approaching the target and provides a shift of the hit point by a predetermined value, and a correction signal that prevents flooding (σ _B1 , σ _PRIN ).

Control signals σ _νc and σ _ny1 are introduced to improve the stability of homing processes and reduce disturbances associated with the restructuring of control algorithms during tracking failures and repeated modes.

 Thus, the proposed complex, which uses a detection and homing system with a pulsed phase-manipulated probing signal and a distributed computing structure, has wide capabilities for tuning the parameters of the detection and homing system to adapt to the emerging jamming environment and provides high-precision UAV guidance to the target in conditions of active electronic countermeasures.

 Industrial applicability of the invention is determined by the fact that the proposed complex can be manufactured in accordance with the proposed description and drawings on the basis of well-known components using modern technological equipment and used for its intended purpose for controlling unmanned aerial vehicles.

Claims (1)

 A complex of onboard control systems for unmanned aerial vehicles (UAVs), containing a motion control system (SUD), including steering units and an inertial unit connected to the SUD central electronic computer (CVM), and a detection and homing system (SOS), which includes an antenna kinematically connected to the drive unit of the antenna and connected to the output of the transmitting device, on which the pulse phase-manipulated probing signal is generated, and the input of the receiving device, the local oscillator the course of which is connected to the output signal of the local oscillator frequency of the transmitting device, as well as a signal processing and control device, including a signal compression unit connected to the primary processing device, and a synchronizer, characterized in that the AOSCH computer connected via the first information exchange is additionally introduced into the COS with the digital computer of the SUD and through the second highway of information exchange with the signal processing and control device, the SUD additionally contains a radio altimeter, an angular velocity sensor information converter and device connected to the first highway of information exchange, as well as power steering converter device, the outputs of which are connected to the inputs of the corresponding steering units by the signals of the rudder tabs, the inputs from the signals of the projections of the angular velocity of the UAV rotation are connected to the analog outputs of the angular velocity sensor and the inputs of the steering control signals are connected to the corresponding outputs of the information conversion device, to the corresponding outputs of which according to the signals of one-time commands, the radio altimeter switch-on input, the POSN switch-on input and the transmitting device switch-on input, which contains a pathogen and a power amplifier with a controlled pulse modulator and a power regulator in series, are included in the form of a coherent frequency generator constructed according to the amplification-multiplier chain , the initial functional link of which is a controlled multi-frequency generator of the pathogen, and the final - phase manipulator, receiver The device contains a passive radio channel in which the sources of radio emissions are detected, as well as active sum and difference channels in which the conversion to the intermediate frequency is performed with correction of the phase non-identity of the channels in the phase shifter unit and the local oscillator signal splitter, and after preliminary amplification at the intermediate frequency, the main amplification with normalization of target signals and interference by means of a block of high-speed automatic gain control (BARU) and limiter amplifiers, the corresponding outputs of which are connected with a vector phase noise detector and a phase target detector, at the outputs of which the video codes of the sum and difference signals shifted in reference voltage are generated, in addition, interference signals are detected at the corresponding outputs of the amplifier-limiter of the total channel, signal processing device and control further comprises a signal quantization unit, an antenna position control unit, the inputs of which are based on the signals of the current angular polo Antenna outputs and outputs from antenna drive control signals are connected to the antenna drive unit, as well as to a control electronic computer (PC) connected to the information bus, a long-term storage device, a serial channel adapter connected to the second data exchange highway, and a command control unit ultra-high and intermediate frequency, the outputs of which according to the signals of the tuning of the carrier frequency, power adjustment and shutdown of the power amplifier are connected with the corresponding the existing control inputs of the transmitting device, and the outputs according to the signals for correcting the phase non-identity of the channels, switching off the differential channel, switching the dynamic gain range and switching the passband of the phase detector of the target are connected to the corresponding control inputs of the receiving device, while the signal quantization unit contains an amplitude quantizer of interference signals, inputs which are connected to the outputs of the video signals of the sources of radio emissions and interference of the receiving device, analog a background converter, the input of which is connected to the output of the vector phase interference detector, and an amplitude quantizer of the target signals, the inputs of which are connected to the outputs of the phase detector of the target, and the outputs are connected through the Doppler frequency shift compensation unit to the information inputs of the digital matched filter unit included in the compression unit signals together with a buffer random access memory (RAM) of the signal compression unit, to the corresponding inputs of which the outputs of the digital matching unit are connected filters, analog-to-digital Converter and amplitude quantizer of interference signals, the primary processing device is made in the form of a computer, which contains a processor, RAM connected to the system bus, read-only memory program, buffer RAM connected to the output of the buffer RAM of the signal compression unit, digital adapter galvanically isolated I / O, a coupler connected to the information bus, and a serial interface transceiver connected to the code output of the control unit position of the antenna, the input of which is connected to the corresponding output of the digital input-output adapter with galvanic isolation by the signals of the initial installation and control of the antenna, the output of which is connected to the control input of the synchronizer, which is connected to the information bus, by the synchronizer control signal, while the output of the synchronizer is the control of the pulse modulator is connected to the control input of the latter, the output by the signal of the phase manipulation code is connected to the setup input of the digital cog block filters and the code input of the phase manipulator, the output from the control signals for normalizing the target and interference signals is connected to the corresponding control input of the intermediate frequency amplifier, and the output from the Doppler frequency shift compensation signal is connected to the control input of the Doppler frequency shift compensation unit.

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