RU2364884C2 - Method for determination of angular orientation of object - Google Patents

Abstract

FIELD: physics, measurement.

SUBSTANCE: suggested invention is related to the field of space radio navigation and may be used for determination of angular position of objects in space. Technical result is achieved by the fact that signals are received to distanced receivers of signal, which are located in such a way in the object that they do not lay on single straight line, signal receivers are GPS-receivers, at least three in number, by their readings coordinates are identified for every signal receiver, on the basis of which position of vectors is identified, which set system of coordinates related to object, besides, only those values of coordinates are used that satisfy the condition, in compliance with which distance between GPS-receivers calculated by receivers coordinates should not differ from actual distance between receivers, more than by value Δl=l*tg(Δφ), where l is distance between two GPS-receivers, Δφ is specified value of error in angles determination.

EFFECT: creation of method for determination of object orientation, in which antennas may be located at a distance that is more than wave length, and time for definition of object orientation would only make fractions of seconds.

Description

The present invention relates to the field of space radio navigation and can be used to determine the angular position of objects in space.

Currently, the urgent task is to expand the functionality of global navigation satellite systems, in particular when determining the angular position of objects. This raises the problem of increasing accuracy and reducing the time of measuring the angular position. The proposed method is aimed at solving this problem.

A known method for determining the orientation of objects from the signals of the spacecraft global navigation satellite systems, based on the reception of spacecraft signals by each of the four antenna-receiving devices located on the axes of the objects, the selection of the signal with the Doppler frequency, the determination of the phase shift of the oscillations with the Doppler frequency by integrating them on measuring interval and determining the angular position of objects (RF Patent N 2022294, IPC ⁶ С01S 5/00).

The disadvantage of this method is the long time required to measure the angular position. This is due to the fact that to solve the orientation problem it is necessary that spacecraft emitting signals significantly move in space during the measurement. For spacecraft of global navigation satellite systems, and currently there are two systems: the Russian GLONASS system and the American - CPS, the period of revolution around the Earth of which is about 12 hours, the necessary measurement time corresponds to tens of minutes - hours. This significantly limits the applicability of this method.

A known method of determining the orientation of objects from the signals of the spacecraft of the global navigation satellite systems, taken as a prototype, based on the reception of signals from the spacecraft of the global navigation satellite systems to spaced signal receivers located on the object so that they do not lie on one straight line, and, the signal receivers are GPS receivers, the number of at least three, according to their readings determine the coordinates of each signal receiver, on the basis of which calculate ue vectors defining the coordinate associated with the object (Prohortsev AV system, Blinov, Bogdanov MB, Savel'ev VV Sukhinin BV method for determining the angular orientation of the object. Pat.2248004 RF, IPC ⁷ G01S 5 / 00 // Publish. 10.03.2005, Bull. No. 7. Priority 04.30.03).

The disadvantage of this method is the possibility of inaccurate determination of angles, due to the fact that at certain points in time, incorrect determination of the coordinates of GPS receivers is possible, due to various factors (for example, due to the geometric factor, multipath, internal noise of the receiving equipment, etc. ) In this regard, the accuracy of the proposed prototype of the method is low.

The objective of the invention is to increase the accuracy of measurement by creating a method for determining the orientation of the object, in which the accuracy of determining the angles will not exceed a predetermined value, and the time to determine the orientation of the object would be a fraction of a second.

The problem is achieved in that the signals are received at spaced signal receivers located on the object so that they do not lie on one straight line, the signal receivers are GPS receivers, the number of at least three, according to their readings, determine the coordinates of each signal receiver, based on which determine the position of the vectors that specify the coordinate system associated with the object, and only those coordinate values are used that satisfy the condition according to which the distance between the GPS receivers The information on the coordinates of the receivers (according to the formulas of the analytical geometry) should not differ from the true distance between the receivers determined when the receivers were installed on the object by more than Δl = l * tg (Δφ), where l is the distance between two GPS receivers, Δφ is the set value of the error in determining the angles.

The method of determining the angular orientation of the object is as follows.

GPS receivers (A, B, C) are installed on the object, which determine their coordinates (x, y, z) in the base coordinate system. Various coordinate systems can be selected as the base, for example, a geocentric moving coordinate system (PZ-90, WGS-84, etc.), normal terrestrial, etc.

Consider a particular case of the location of the signal receivers. Let the GPS-receivers on the object be located so that they are at the vertices of a right-angled triangle, and the legs of the triangle are parallel to the axes of the coordinate system associated with the object. Information about the coordinates of each GPS receiver is supplied to the calculator, which determines the position of the associated coordinate system as follows.

The following conditions are checked: whether the distance between the GPS receivers, calculated by the coordinates of the receivers (according to the formulas of the analytical geometry), differs from the true distance between the receivers determined when the receivers were installed on the object. For this:

1. The distance between GPS receivers B and A is determined (see Vygodsky M.Y. Handbook of Higher Mathematics. M: State Publishing House of Physical and Mathematical Literature. - 1959, p. 134):

,

,

where x _A , y _A , z _A ; x _B , y _B , z _B ; x _C , y _C , z _C are the coordinates of the GPS receivers A, B, C, respectively, relative to the selected base coordinate system.

2. The distance between the GPS receivers B and C is determined:

.

.

3. The following conditions are verified:

wherein IA _ist - distance between the GPS-receivers B and A, see scheme setting receivers in the facility (which may be measured when installing GPS-receivers in the facility, e.g., with calipers, a ruler, meters, etc.)

Sun _East - the distance between the GPS-receivers B and C, known under the scheme on-site installation of receivers,

Δφ is the set value of the error in determining the angles.

If the conditions (*) and (**) are not satisfied, then the calculator again receives information about the coordinates of each GPS-receiver. And again, items 1-3 are executed in the calculator. When the conditions (*) and (**) are satisfied, then determine the position of the associated coordinate system as follows (similarly as in the prototype).

:So one axis of the connected system is defined by a vector

:

.

.

:The second axis of the associated coordinate system is defined by the vector

:

.

.

, равный векторному произведению векторов

и

,

:The third axis of the associated coordinate system is defined by the vector

equal to the vector product of vectors

and

,

:

,

,

,

,

,

,

и

, которые совпадают с осями связанной с объектом системы координат и определяют ориентацию объекта относительно выбранной базовой системы координат.So there are three coplanar vectors

and

which coincide with the axes of the coordinate system associated with the object and determine the orientation of the object relative to the selected base coordinate system.

Claims (1)

A method for determining the angular orientation of an object, based on the reception of signals from spacecraft of global navigation satellite systems to spaced signal receivers located on the object so that they do not lie on one straight line, the signal receivers are GPS receivers of at least three, according to their readings determine the coordinates of each signal receiver, based on which determine the position of the vectors that specify the coordinate system associated with the object, characterized in that only those values are used to coordinates that satisfy the condition that the distance between GPS receivers calculated from the coordinates of the receivers should not differ from the true distance between receivers by more than Δl = l · tg (Δφ), where l is the distance between two GPS receivers Δφ is the set value of the error in determining the angles.