RU2440558C1 - Method for automated determination of geodetic data using universal topographic surveying vehicle (utv) - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: method for automated determination of geodetic data using a universal topographic surveying vehicle (UTV) involves an operation for preparing for measurement, carrying out orientation at the origin- determining the direction angle and coordinates of the origin, determining geodetic data on a route and determining target coordinates. Three operations are performed in automated mode: "Control", "Setup" and "Operation", performed in the given sequence.

EFFECT: broader functionalities.

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Description

The invention relates to military equipment, and in particular to methods of functioning of mobile navigation and topographic location systems, and can be used for operational automated determination of geodetic data at predetermined points and on given movement routes.

The well-known “Textbook of the Sergeant of the Missile Forces and Artillery of the Ground Forces” for commanders of geodetic divisions and topographic detachments, book 4, approved by the commander of the missile forces and artillery of the Ground Forces, edited by V.V. Burov (pp. 56-84). M .: Military Publishing, 1975.

The textbook sets out the basics (method) for determining geodetic data by topographic and geodetic units and topographic referencing machines adopted as a prototype. Topo-binders are designed to perform topographic and geodetic reference of starting and firing positions, points, posts and positions of artillery reconnaissance equipment for driving convoys of troops at night and in other conditions that are difficult to navigate, plot roads not indicated on the map and to transmit directional angles of orientation directions.

The topographic device automatically determines the coordinates of terrain points using navigation equipment, the principle of which is to continuously generate increments of coordinates and sum them with the coordinates of the previous point. This problem is solved with the help of a special calculating device (course-laying device). To obtain the current coordinates of the route points from the path feeding system (track sensor), data on the distance segments ΔS traveled by the machine is received in the calculating device, and the directional angle α of the longitudinal axis of the machine at each point of the route is generated by a direction indicator. In addition, the topographic unit includes an orientation sight, power sources, electrical equipment, gyrocompass, remote surveying instruments and a radio station.

The method for determining geodetic data by calculating a topographic surveyor includes the following steps:

- preparation of the top loader for work;

- conducting orientation of the top loader at the starting point - determining the directional angle of the machine and the coordinates of the starting point;

- determination of the geodetic data on the route by calculation of the top loader;

- determination by calculation of the topographic coordinates of the target.

The disadvantages of the method for determining geodetic data by the calculation of a topographic surveyor, taken as a prototype, are:

- the need for a branched topographic and geodetic network for high-quality topographic and geodetic reference;

- high error in determining the navigation parameters, which directly depends on the path traveled by the top loader and the error of the initial orientation;

- the need for a large number of control measurements to ensure the required accuracy;

- low level of technical equipment used in the topozapryazchik;

- low degree of automation of geodetic measurements, leading to a high level of errors.

The proposed invention solves the problem of increasing the effectiveness of topographic and geodetic support of the Ground Forces.

The technical result obtained by carrying out the invention consists in the formation of a method for the automated determination of geodetic data using a universal topographic reference device (USP), equipped with modern hardware, which determines the optimal algorithm for performing work on the operative automated determination of geodetic data at specified points and on given routes of USP movement, as well as technical tolerances in their implementation.

The specified technical result is achieved by the fact that in the proposed method for the automatic determination of geodetic data (DG) using a universal topographic reference device (USP), which includes operations for preparing for work, orienting at the starting point — determining the directional angle and coordinates of the starting point, determining geodetic data on the route, determining the coordinates of the target, new is that the fulfillment of tasks is carried out in three main automated modes of operation of the USP: "K ontrol ”,“ Settings ”,“ Work ”, performed in the indicated sequence; the composition of the equipment under test during automatic verification of the technical condition in the "Control" mode is determined by the operator, in the "Setup" mode two tasks are performed: "Definition and input of formular amendments", "Check and correction of formular amendments"; the task “Determination and input of formular corrections” includes the following works: determination and input of formular corrections of the navigation system (NS): corrections Δβ, Δψ to the measured tilt angles, values of the gyroscope’s own departure rate ω _Г , rumba corrections Δα and coefficient K _ДС , determination and entering the formular values of the corrections for the installation of the NS Δα _HA , the sight (B) Δα _B and the pulse price of the speed sensor (DS) δS; in the “Work” mode, two tasks are performed: the task “Determining the DG on the route”, including the operation of linking the TSS to the starting point (IP) and the march along the route with the definition of the DG, the task “Determining the coordinates of the target”, consisting in solving the direct geodesic problem by determining the coordinates of the target X _C , Y _C , H _C ; the operation of linking the USP to the IP consists in performing the input data input procedure: flat rectangular coordinates of the IP X _IP , Y _IP , the height above sea level of the center of the IP H of the _IP , the height of the target target above the center of the IP h of the _CC , the horizontal viewing angle on the IP (according to the visor ) α _G , the vertical angle of sight at the IP (by the sight) α _B , the distance to the target of the IP (by the sight) D, in the calculation of intermediate values: the convergence of the meridians at IP Y _IP , the azimuth from the sight at IP A of the _IP , preliminary coordinate values anchor points X ′ _TP , Y ′ _TP , Merid data on the anchor point Y _TP , in calculating the final coordinates of the anchor point X _TP , Y _TP , in calculating the height of the anchor point N _TP ; the march along the route with the definition of the main direction consists in preparing for the movement, which consists of the input procedure of the input data - coordinates of the control points of the control unit X ₀ , Y ₀ , H ₀ , initial orientation - determination of the initial directional angle (azimuth) of the dynamic axis of the control unit, performed independently with via the NA or using B, and automatic measurement of atmospheric parameters: pressure P ₀ and temperature _T0, in proper movement route, at which produced reckoning geodetic coordinates, which comprises treating the raw data for cial waypoint: plane rectangular coordinates X _0, Y _0, altitude H _0, the azimuth dynamic axis USP α _0, the transformation plane rectangular coordinates X _0, Y ₀ in geodetic B _0, L ₀ and the direction angle α ₀ azimuth A ₀ , calculation of current geodetic coordinates B _i , L _i and azimuth A _{i + 1} in the I-th measurement cycle, conversion of current geodetic coordinates B _i , L _i into flat rectangular X _i , Y _i and azimuth A _{i + 1} in directional angle α _{i + 1} .

Fulfillment of the tasks in three basic automated operating modes: “Control”, “Setup”, “Work”, performed in the indicated sequence, allows to carry out sequentially preparatory diagnostic, control operations to check the technical condition of the equipment, to perform maintenance operations of the UTP and further operations to determine the DG on the route and the coordinates of the target.

The determination of the composition of the equipment under test during automatic checking of the technical condition in the “Control” mode by the operator allows him to change the composition of the equipment being tested depending on the tasks performed, the frequency of use of specific devices, etc.

Fulfillment of two tasks in the “Setup” mode: the tasks “Determination of formular amendments” and the tasks “Verification and correction of formular amendments”, allows fixing formal corrections in the computer complex UTP when putting the product into operation, during regulated maintenance, when replacing and restoring devices, causing changes in the values of the formular amendments.

Inclusion in the task “Definition and input of formular corrections” of the following works: determination and input of formulary corrections NS: corrections Δβ, Δψ to the measured tilt angles, values of the gyro self-departure velocity ω _G , rumba corrections Δα and coefficient K _DS , determination and input of formulary values corrections for the installation of the ANN Δα _HA , the sight Δα _B and the pulse price DS δS, allows you to provide the necessary accuracy of determining the GD in the process of using the USP.

Performing in the “Work” mode the task of “Determining the Direction on the Route”, which includes performing the operation of linking the STP to the IP and the march along the route with the definition of the DT, allows for continuous automatic determination of the DT by the UTD equipment in practical applications.

The execution in the "Work" mode of the task "Determining the coordinates of the target", consisting in solving the direct geodesic task of determining the coordinates of the target X _C , Y _C , H _C , allows to determine the coordinates of the elements of the combat order of troops, landmarks and other stationary objects located in line of sight with UTP at a distance of 50-300 m

Technical solutions with features distinguishing the claimed solution from the prototype are not known and do not follow explicitly from the prior art. This suggests that the claimed solution is new and has an inventive step.

The invention is illustrated by drawings, where figure 1 shows the algorithm for determining the DG using USP; figure 2 is a list of tasks performed in the "Work" mode, figure 3 is a structural diagram of the equipment by definition of the main control unit.

The operational algorithm for using UTP is determined by the guidelines for the organization and operation of the topographic and geodetic units of the Ground Forces.

The technology for the operation of the USP is carried out in accordance with the algorithm generated in accordance with this method of determining the main engine using the USP.

DG data includes:

- flat rectangular coordinates of the Gauss-Krueger (X, Y) - in the systems SK-42, SK-95, MGS-84;

- altitude (N) in the Baltic system;

- directional angle of the orientation direction α _ORN .

The following basic equipment is included in the USP, which ensures the determination of the main engine: NS 1 - navigation system, DS 2 - speed sensor, ASN 3 - satellite navigation equipment, SOV 4 - altitude determination system, D 5 - rangefinder, V 6 - sight, VU 7 - computing device, TsGI 8 - graphic digital indicator.

The main modes of operation of the USP, ensuring the fulfillment of the task of determining the DG, are: "Control", "Settings", "Work". Modes are executed in the specified sequence. The transition to the next mode is possible only after the previous one. The “Control” mode is initially set automatically with the inclusion of the USP equipment.

Enter DG in VU 7, display them when displayed on the indicator TsGI 8 is made in a system of flat rectangular coordinates.

The coordinates in motion are calculated in the SK-42 geodetic coordinate system in order to eliminate the need to reduce measured distances to the Gauss-Krueger projection plane and recalculate plane rectangular coordinates when moving from one coordinate zone to another.

1. Control mode

In the "Control" mode, an automatic check of the technical condition of the equipment for determining the main engine is performed. Control is carried out every time before starting work. If necessary, the operator can change the composition of the tested equipment. The control progress is reflected in the TsGI 8 indicator by means of a countdown of the verification time of each component part of the equipment. At the end of the verification of each component part of the equipment, information on its results appears on the indicator.

Moreover, with negative control results, the possibility of switching to the selected mode is blocked until the causes indicated in the control results are eliminated.

2. Mode "Settings"

The “Settings” mode includes two tasks: “Definition and input of formular amendments”; “Verification and correction of formular amendments.”

The task “Definition and input of formular amendments” includes the following works: determination and input of formular amendments NA 1; determination and input of the formular values of corrections for the installation of NS 1, B 6 and the pulse price of DS 2.

The determination and input of the formal amendments NS 1 includes: determination of the amendments Δβ, Δψ to the measured tilt angles; determination of the formulated value of the gyrocompass self-departure speed ω _G; entering rumbo corrections Δα _i and coefficient K _DS .

The corrections Δβ, Δψ are determined on a specially prepared site with known mean square errors of not more than 1 'β ₀ and ψ ₀ values of the inclination angles in the longitudinal and transverse directions, not exceeding 3 °, and consists in comparing with the inclination angles β and ψ measured using NA 1.

The USP is installed on the site so that its longitudinal axis is located along the longitudinal axis of the site. The initial data (values of the angles of inclination of the site β ₀ and ψ ₀ ), selected from the passport to the site, are entered by the operator in WU 7 using TsGI 8.

Measurement of the slope angles β and ψ of the site, input of their values in WU 7 and calculation of formular corrections is performed automatically at the command of the operator.

The calculation is performed according to the formulas:

Δβ = β ₀ -β;

Δψ = ψ ₀ -ψ.

The determination of the formular value of the gyro’s self-departure velocity ω _{G is} carried out on a stationary USP in a place with a coordinate X, known with an error of not more than 1000 m, and an angle of inclination η not exceeding 6 °. The angle of inclination is calculated by the formula:

The measurements consist in determining the values of ω _G at different azimuthal positions of the azimuthal part of the HC 1. The azimuthal part of the gyroblock is programmatically set in 6 consecutive (at 60 °) points. On each rumba, the value of ω _{G is} calculated by the formula:

where ω ₃ = 72.92 · 10 ^-6 rad / s is the angular velocity of rotation of the Earth;

n is the number of measurement cycles on each rumba;

i is the number of the measurement cycle;

α _i - the value of the reference in the i-th measurement cycle, rad;

τ is the duration of the measurement cycle, s;

j is the number of the rumba.

The formal value of the gyro self-departure velocity ω _{G is} calculated as the average of the values of ω _Гj

Values of rumbo corrections Δα _i and coefficient K _ДС are selected from the passport on НС 1 and written to ROM ВУ 7. The checksum is automatically calculated and written to ROM (printer-recorder)

The determination and input of the formular values of the corrections for the installation of the NS 1 Δα _HA , B 6 Δα _V relative to the dynamic (longitudinal) axis of the UTP and the pulse price of the DS 2 δS is carried out on a specially equipped measuring area.

The value of δS is derived from the ratio of the known length of the measured section to the number of pulses received from the DS 2 while driving along the measured section.

The amendments Δα _HA , Δα _B are the angles between the directions of the reference points of the NS 1 and B 6 and the dynamic axis of the USP, respectively. The values of Δα _HA and Δα _B are derived as the difference in the values of the directional angles of the longitudinal axis of the measured section, calculated from the coordinates of the ends of the measured section known and measured by the USP equipment when using HC 1 and B 6 for initial orientation, respectively.

The values of δS, Δα _HA and Δα _{B are} determined from the UTP races in the measured section with the intersection of its ends. When installing the USP on the measuring section, the entry of formular corrections is checked, the initial data are entered and the initial orientation is carried out. Arrival of the USP in the measured area consists in the straightforward movement of the USP. In the process of movement, the coordinates are calculated and the pulses are counted DS 2. At the moment of crossing the end of the measuring section, the coordinates are counted and the pulses are counted DS 2, the values of X _K , Y _K , S ₀ , values of X _K , Y _K measured coordinates of the end of the measured section, the value N of the number of pulses DS.

The calculation of the correction Δα _GK (Δα _B ) is performed according to the formulas:

Δα _HA (Δα _B ) = α ₀ -α, if (α ₀ -α) ≥0 °;

Δα _HA (Δα _B ) = α ₀ -α + 360 ° if (α ₀ -α) <0 °,

Where

The δS values are calculated by the formula:

Next, the average values of δS, Δα _HA and Δα _B from n arrivals are calculated, which are recorded in ROM WU 7:

Next, a control run is carried out to verify the correct determination of the values of δS, Δα _HA and Δα _B , which consists in determining the coordinates of the end of the measured section taking into account the values δS, Δα _HA and Δα _B recorded in ROM VU 7 and comparing the values of these coordinates with the known values of the coordinates of the measured plot.

The determination of the amendments Δα _GK (Δα _B ) and the impulse price δS is considered correct if, as a result of the control run, the condition:

,

,

Subsequent calibrations stored current values formulary δS amendments, Δα and Δα _{The HA.} In this case, the new values of δS, Δα _HA and Δα _B are calculated by the formulas:

Δα _HA (Δα _B ) = Δα ^f _HA (Δα ^f _B ) + Δα,

where Δα ^f _HA (Δα ^f _B ) - the current formal values Δα _HA (Δα _B );

Δα = α ₀ -α;

The task “Verification and correction of formular amendments” is performed by the operator. Validation of the entry of formular amendments in VU 7 is carried out by reconciling the values of the corrections of the UTP equipment with their value in the form. If necessary, the operator brings the values of the corrections recorded by VU 7 in accordance with the USP form.

3. "Work" mode

The “Work” mode includes two tasks: “Determining the DG on the route” and “Determining the coordinates of the target”.

DGs defined at route points include: X, Y coordinates, and N. Height. The task of “DG determination on a route” includes the following operations: linking the TSS to the starting point, march along the route with the definition of the GD.

The binding of the USP to the IP consists in determining the initial (initial) coordinates (X ₀ , Y ₀ , H ₀ ) at the point of attachment. If it is possible to install the UTP on the center of the IP, the binding is carried out by collision. The center of the IP should be located above B 6. In this case, the coordinates of the IP are taken as the source. If it is impossible to tie the UTP to the IP by hitting, the linking is carried out remotely using NS 1 and B 6. The point on the Earth’s surface located under the sight at a distance of 50–300 m from the IP is taken as the reference point. The operation of binding the USP to the IP is performed according to the following algorithm:

a) the initial data entered in the VU 7: flat rectangular coordinates of the IP (X _IP , Y _IP ), the height above sea level of the center of the IP H _IP , the height of the target over the center of the IP h of the _CC , the horizontal viewing angle on the IP (on the sight) α _B , the vertical angle of sight on the IP (on the sight) α _g , the distance to the target on the IP (on the sight) D;

b) calculation of intermediate values:

- calculation of the convergence of meridians on the IP by the formula:

Y _PI = {[Y _PI - (10 × n-5) × 10 ⁵ ] / 6367558} × tg (X _PI / 6367558),

where Y _IP · 10 ^-6 = n + α;

n is the integer part of the number,

- Calculation of the azimuth from the sight to the IP by the formula:

A _PI = A ₀ -Δα _B -Δα _G ,

where A ₀ is the azimuth of the dynamic axis of the USP determined using NS 1,

- calculation of preliminary values of the coordinates of the anchor points according to the formulas:

X ' _TP = X _IP -D · cosα _B · cos (A _IP -Y _IP );

Y ′ _TP = Y _SP -D · cosα _B · cos (A _SP -Y _IP ),

- calculation of the approach of meridians to the anchor point according to the formula:

Y _TP = {[Y _TP - (10 × n-5) × 10 ⁵ ] / 6367558} × tg (X _TP / 6367558);

c) the calculation of the final values of the coordinates of the anchor points according to the formulas:

X _TP = X _SP -D · cosα _B · cos (A _SP -Y _TP );

Y _TP = Y _IP -D · cosα _B · cos (A _IP -Y _TP );

d) the calculation of the height of the anchor points by the formula:

H _TP = H _IP + h _CC -D · sinα _B -2.3.

March along the route with the definition of the State Duma includes preparation for movement and the movement itself along the route.

Preparing for the movement consists of entering the initial data into VU 7, initial orientation and measuring atmospheric parameters:

a) The source data are the coordinates (X ₀ , Y ₀ , H ₀ ) of the attachment point of the USP. When linking the USP to the IP, hitting the coordinates of the USP takes the coordinates of the IP, which are entered into WU 7 by the operator. When remotely linking the TSS to the IP, the coordinates of the anchor point are used, determined as a result of the binding and recorded in VU7.

b) Initial orientation consists in determining the initial (initial) directional angle (azimuth) of the dynamic axis of the UTF and is performed in one of the ways: autonomously using HC 1 or using B 6 using the value of the known directional angle (azimuth) of the orientation direction.

When using NS 1, the azimuth of the dynamic axis of the USP is calculated automatically (after entering data) according to the formula:

A ₀ = α ₀ + Δα + Δα _HA ,

where α ₀ is the azimuth of the “electric zero” (reference point) of NS 1 obtained in the gyrocompass mode taking into account the code K transmitted from the calculator, calculated by the formula:

- вертикальная составляющая угловой скорости Земли, град/ч;Where

- the vertical component of the angular velocity of the Earth, deg / h;

ω _G - the angular velocity of the gyro’s own departure (from ROM WU 7), deg / h;

K _DS - form factor (from ROM WU 7), deg / h · V;

;

;

;

;

;

;

Determination of a _{0 is} carried out by two consecutive measurements (24 min and 6 min). Between measurements, HC 1 is put into custody mode for 1 min. If the difference between the measurements Δ a ₀ does not exceed 11 ′, then the final value a _{0 is} calculated as the average of two measurements. If the difference between the measurements Δ a ₀ exceeds 11 ′, then the third measurement is automatically performed (6 min), and the final value a _{0 is} calculated as the average of the three measurements, if the difference between the measurements Δ a ₀ between any of the three measurements does not exceed 22 ′. If the difference between the measurements Δ a ₀ exceeds 22 ′, then this value is displayed by flashing on the indicator TsGI 8 and the question of the continuation of work or the replacement of NS 1;

Δα _GK - formular amendment (from ROM WU 7);

Δα = Δα _i + (Δα _{i + 1} -Δα _i ) · ( a ₀ /6-n) - rumba correction,

where n is the integer part of a _0/6 ;

Δα _i , Δα _{i + 1} are the formal rumbar corrections corresponding to the nearest lower and higher azimuth values with respect to α ₀ , respectively.

When using В 6, УТП is installed on a control point, fixing the reference direction so that В 6 is located strictly above the control point. The azimuth of the dynamic axis of the USP is calculated automatically (after entering into WU 7 the values of the directional angle of the landmark and the measured horizontal angle of sight at the landmark) according to the formula:

A ₀ = α _ORP -α _G + Δα _B + γ ₀ ,

where α _G is the horizontal angle of sight at a landmark (according to the sight);

Δα _B - formular amendment (from ROM WU 7);

γ ₀ = {[Y ₀ - (10 × n-5) × 10 ^5] / 6367558} × tg (X _0/6367558) - convergence meridians.

The value of α _{G is} calculated as the average of two measurements. The difference in values from two measurements of α _G should not exceed 1

The value A _{0 is} used when calculating the coordinates. The indicator TsGI 8 displays the value of the initial directional angle:

α ₀ = A ₀ -γ ₀ .

c) Measurement and recording of atmospheric parameters (pressure P ₀ and temperature T ₀ ) is carried out automatically with the help of COB 4 at the command of the operator.

After the values of X ₀ , Y ₀ , H ₀ , α ₀ , P ₀ , T _{0 are} displayed on the TsGI indicator 8, a message appears indicating that the USP is ready for movement.

The movement along the route begins only after receiving a message about the readiness of the USP. In the process of movement, the geodetic coordinates are calculated according to the current azimuth (A _i ) of the dynamic axis of the USP measured by the equipment and the path increment (ΔS _i ).

The value of A _{i is} calculated by the formula:

A _i = A ₀ + ΔA _i + (ω _З sinB _i -ω _Г ) · t _i ,

where ΔA _i is the azimuth increment relative to the source;

ω ₃ - the angular velocity of the Earth;

B _i - the current value of the geodetic latitude;

t _i - time from the beginning of measurements (movement).

The value of ΔS _{i is} calculated by the formula:

ΔS _i = N _i · δS,

where N _i is the number of DS pulses in the i-th measurement cycle;

δS - the formulated value of the impulse price of the DS (from ROM WU 7).

The coordinates are calculated according to the following algorithm:

a) Initial data at the starting point of the route: X ₀ , Y ₀ - flat rectangular coordinates, H ₀ - height above sea level, α ₀ - directional angle of the dynamic axis of the USP.

b) Transformation of plane rectangular coordinates X ₀ , Y ₀ into geodesics B ₀ , L ₀ and directional angle α ₀ in azimuth A ₀ :

- calculation of intermediate values:

Y _USP · 10 ^-6 = n + α;

- calculation of geodetic coordinates:

B ₀ = (b ₅ × z ² -1) × b ₂ × z ² + B _X ;

L ₀ = L ′ ₀ +1;

- calculation of the approach of meridians:

γ = arctan (tgl ₀ × sinB ₀ );

- calculation of azimuth:

A ₀ = α ₀ + γ;

c) Calculation of the current geodetic coordinates B _i , L _i and azimuth A _{i + 1} in the i-th measurement cycle:

- calculation of intermediate values

where β _i is the longitudinal angle of inclination in the i-th measurement cycle (with NS 1);

ΔS _i is the increment of the path for the i-th measurement cycle;

B _i-1 - geodetic latitude calculated in the previous measurement cycle;

- высота над уровнем моря в предыдущем цикле измерении;

- altitude in the previous measurement cycle;

where A _i is the azimuth of the longitudinal axis of the USP in the i-th measurement cycle.

- calculation of coordinates:

B _i = B _i -d;

L _i = L ′ _i-1 -l,

where L _i-1 is the geodetic longitude in the previous measurement cycle.

Calculation of azimuth for the subsequent measurement cycle:

A _{i + 1} = A _i + c.

d) Converting the current geodetic coordinates B _i , L _i into flat rectangular X _i , Y _i and azimuth A _{i + 1} into the directional angle α _{i + 1} :

- calculation of intermediate values:

;

;

;

;

;

where n is the integer part of the number;

α is the fractional part of the number.

- calculation of plane coordinates:

X _i = [(α ₄ × l ² +0.5) × l ² × N-α ₀ ] × sinB _i × cosB _i + 6367558.5 × B _i ;

Y _i [(α ₅ × l ² + α ₃ ) × l ² +1] × l · N · cosB _i × cosB _i + (10 · n + 5) · 10 ⁵ ;

- calculation of the directional angle:

α _{i + 1} = A _{i + 1} -γ.

The task "Determining the coordinates of the target" is performed at the UTP parking lot and consists in solving the direct geodesic problem, the initial data of which are: UTP coordinates (X ₀ , Y ₀ , H ₀ ), directional angle of direction from the sight to the target (α _C ), horizontal laying (S _C ) between the sight and the target.

The coordinates X ₀ , Y _{0 are} determined as a result of their calculation on the march. The height of H is determined using SOW 4 at the point of standing UTP at the end of the march. The directional angle α _{C is} calculated automatically after entering into WU 7 the value of the horizontal angle of sight at α _G measured by the vizier according to the formula:

α _C = α ₀ + Δα _B + α _G ,

where α ₀ is the directional angle of the dynamic axis of the UTP in the standing position, determined during the march (with WU 7);

Δα _in - formular amendment (with ROM WU 7).

In addition, the value of α ₀ with greater accuracy, but also with a greater expenditure of time, can be obtained using NS 1.

The horizontal distance S _{C is} calculated automatically after entering into VU 7 the values of the inclined range to the target D _C and the vertical angle of sight at α _B measured with B 6 according to the formula:

S _C = D _C · cosα _B.

The coordinates of the target are calculated by the formulas:

X _C = X ₀ + S _C · cosα _C ;

Y _C = Y ₀ + S _C · sinα _C.

The height of the target is calculated by the formula:

H _C = H ₀ + D _C sinα _B +2.3.

Thus, in the present invention, the problem is solved to achieve a technical result, which consists in the formation of a method for the automated determination of geodetic data using a universal topographic reference device (UTP), equipped with modern hardware, which determines the optimal algorithm for performing work on the operative automated determination of geodetic data at specified points and on given routes for the movement of the USP, as well as technical tolerances for their implementation.

Claims (1)

A method for automated determination of geodetic data (DG) using a universal topographic reference device (USP), including operations for preparing for work, carrying out orientation at the starting point - determining the directional angle and coordinates of the starting point, determining geodetic data on the route, determining the coordinates of the target, different the fact that the tasks are carried out in three main automated modes of operation of the USP: "Control", "Setup", "Work", produced in the specified sequence In this case, the composition of the equipment under test during automatic verification of the technical condition in the “Control” mode is determined by the operator, in the “Setup” mode two tasks are performed: “Definition and input of formular corrections”, “Check and correction of formular corrections”, task “Determination and input of formular corrections "includes the following activities: definition and administered formulary amendments navigation system (NS): Δβ amendments, Δψ to the measured tilt angles, the values of the velocity gyro own care ω _r, and rumbovyh correction Δα and s cient K _CP, definition and administered formulary value corrections for the installation NA Δα _HA reticle (B) Δα _The prices speed sensor pulse (CP) δS, in the "Operation" mode performs two tasks: the task "Determination of GC-route", comprising the operation of linking the UTP to the starting point (IP) and the march along the route with the definition of the main goal, the task "Determining the coordinates of the target", consisting in solving the direct geodesic task of determining the coordinates of the target X _C , Y _C , N _C , the operation of binding the UTP to IP is to perform the input procedure: p oskih rectangular coordinates SP _{x, SP,} Y _SP, altitude above sea level center SP N _SP height sighting targets over the center SP h _VTS, the horizontal angle of sight to the transmitter (on Scooter) α _F, the vertical angle of sight to the transmitter (on Scooter) α _B , the distance to the target of the target IP (by sight) D, in the calculation of the intermediate values: the approach of the meridians to the IP at the _IP , the azimuth from the visor to the IP A of the _IP , preliminary coordinates of the anchor point X ′ _TP , Y ′ _TP , the approach of the meridians to the point binding Y ′ _TP , in calculating the final values of the coordinates of the anchor point Calls X _TP , Y _TP , in calculating the height of the anchor point N _TP , the march along the route with the definition of the DG consists in preparing for the movement, which consists of the procedure for entering the initial data - the coordinates of the anchor points of the USP X ₀ , Y ₀ , Н ₀ , initial orientation - determining an initial direction angle (azimuth) axis dynamic USP performed autonomously via the NA or using a B, and automatic measurement of atmospheric parameters: pressure P and temperature T _{0 0,} and the actual movement route, wherein the dead reckoning is made to geodetic rdinat, which comprises treating the raw data in the initial route point: plane rectangular coordinates X _0, Y _0, altitude _H0 azimuth dynamic axis USP α _0, the transformation plane rectangular coordinates X _0, Y ₀ in geodetic B _0, L ₀ and the directional angle α ₀ in azimuth A ₀ , the calculation of the current geodetic coordinates B _i , L _i and the azimuth A _{i + 1} in the I-th measurement cycle, the conversion of the current geodetic coordinates B _i , L _i into rectangular rectangular X _i Y _i and azimuth A _{i + 1} to the directional angle α _{i + 1} .

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