RU2453996C1 - System to receive radio signals at objects - Google Patents

Abstract

FIELD: radio engineering.

SUBSTANCE: invention relates to communications equipment, more specifically - to systems to receive radio signals (RS) at objects from a surface six-point transmitting subsystem and may be used preferably for unambiguous detection of space coordinates and other properties of an object, functionally related to its coordinates, also in radio engineering complexes of navigation systems. The system comprises the following components located on an object and serially functionally joined receivers of RS, identification devices, recorders of timing of RS reception, meters of time difference ∆t between timing of RS reception from different points, information processing subsystems (IPS), at the same time phase centres of antennas in a surface transmitting subsystem are arranged in a certain manner, and IPS also comprise calculators arranged with the capability to detect space coordinates with selecting the most accurate one from three versions of their detection in each point of space and using simple expressions depending on ∆t. The system makes it possible to obtain an area of its exposure close to a circular one and considerably increases the volume of this area.

EFFECT: higher accuracy of radio signals reception at objects.

2 cl, 6 dwg

Description

The invention relates to communication technology, and more particularly, to systems for receiving radio signals at objects, including mobile ones, from sources of radio signals transmitted by a ground-based transmitting subsystem, and can be used to determine the spatial coordinates and other characteristics of the object, functionally related to its coordinates, in information and control radio engineering systems for various purposes, including navigation and landing systems for aircraft.

The invention will also make it possible to simplify the corresponding systems, increase their technical and economic efficiency, taking into account all the components that affect the cost and technical indicators. To solve these problems, first of all, an unambiguous and accurate determination of the spatial coordinates of the object is necessary.

Known systems for receiving radio signals at objects, used, inter alia, to determine the coordinates of objects and based on the use of goniometric, rangefinder, difference and total rangefinder and combined methods for determining the location of an object with amplitude, time, frequency, phase and pulse-phase measurement methods parameters of the radio signal [RF patents No. 2018855, 2115137, 2258242, 2309420, 2363117; Fundamentals of Aircraft Testing / E.I. Krinetskiy et al. Ed. E.I.Krinetskogo. - M .: Mashinostr., 1979, p. 64-89; Radio engineering systems / Yu.M. Kazarinov et al. Ed. Yu.M. Kazarinova. - M .: IC "Academy", 2008, chap. 10 .; Melnikov Yu.P., Popov S.V. Radio intelligence. Methods for assessing the effectiveness of the determination of radiation sources. - M .: "Radio Engineering", 2008, Ch. 5]. Known systems have certain disadvantages, for example, the need for mechanical movement of the antenna component, insufficient resolution in range, the need for a priori information about the location of an object, the inability to unambiguously determine the coordinates of an object, unreliability, etc.

According to the criterion of minimum sufficiency, the prototype was adopted a system for receiving radio signals at objects, including mobile ones, including radio receivers located on objects and sequentially functionally connected radio signal sources, identification devices for their respective radio signal sources, recorders for receiving radio signals, for example, according to their temporary positions leading edges, time difference meters between times of receiving radio signals from different sources of radio signals, subsystem s information processing and ground-based point transmitting subsystem with sources of radio signals, the phase centers of the transmitting antennas of each of the transmitting points of which are located at specified and known points on objects in a rectangular coordinate system with the origin at a given point 0, located mainly on the surface of the earth, with a plane ( 0, X, Y) tangent to the earth’s surface at point 0, and the 0Z axis directed away from the earth [Radio engineering systems / Yu.M. Kazarinov et al. Ed. Yu.M. Kazarinova. - M .: IC "Academy", 2008, chap. 10, s 437-443, 449-454].

The advantage of the claimed system for receiving radio signals at objects in comparison with the known and prototype is the ability to improve the technical and economic efficiency of radio systems for determining spatial coordinates. This is achieved by the fact that radio signal receivers from radio signal sources, identification devices for their respective radio signal sources, time recorders for receiving radio signals, time difference meters between times of receiving radio signals from different radio signal sources, information processing subsystems and ground-based transmitting devices are located and sequentially connected functionally a subsystem with radio signal sources transmitted from six points of a ground-based transmitting sub-station Themes. In this case, the phase centers of the antennas are located in a certain way. The information processing subsystems include, but are not limited to, calculators configured to determine spatial coordinates by using simple expressions depending on the measured differences between the indicated times of receiving radio signals. Higher accuracy is achieved, including due to the possibility of choosing from the three proposed options for determining the coordinates of the object at each point in space the best in accuracy. The system allows you to get close to the circular zone of its action and significantly increases the volume of this zone. The system also ensures the elimination of ambiguity in determining coordinates, allows you to configure its coverage area, depending on the task.

, Y₂=-b;

, Y₃=-b, и вторая группа из трех пунктов передачи также содержит преимущественно ненаправленные передающие антенны, фазовые центры которых расположены на одинаковой заданной высоте Z=h₂, в вершинах равностороннего треугольника с координатами на плоскости (0, X, Y), равными Х₄=0, Y₄=-2a,

, Y₅=а;

, Y₆=а, где a и b заданные положительные числа, кроме того, указанная подсистема включает средства обеспечения передачи упорядоченных серий из шести упорядоченных для передачи в серии радиосигналов, по одному радиосигналу с каждого пункта соответственно, при необходимости содержит устройства обеспечения заданных задержек по времени между указанными сериями радиосигналов, не обязательно одинаковыми от серии к серии, и преимущественно включает средства экранирования отраженных от земли радиосигналов, а упомянутые объекты содержат средства измерений преимущественно трех групп разностей Δt_i,j между временами приемов радиосигналов с i-тых пунктов и временами приемов радиосигналов с j-тых пунктов передающей подсистемы, причем эти средства измерений выполнены с возможностью измерения Δt_i,j в первой группе для i-тых пунктов с индексами 2, 3, 4, 5, 6 относительно первого пункта с индексом j=1, измерения Δt_i,j во второй группе для i-тых пунктов с индексами 1, 3, 4, 5, 6 относительно второго пункта с индексом j=2, измерения Δt_i,j в третьей группе для i-тых пунктов с индексами 1, 2, 4, 5, 6 относительно третьего пункта с индексом j=3, также подсистемы обработки информации на упомянутых объектах содержат, в том числе, вычислители, выполненные с возможностью по совокупности указанных разностей времен Δt_i,j через параметрыIn order to achieve the indicated technical result in a system for receiving radio signals at objects, including mobile ones, including radio receivers located on objects and sequentially functionally connected, from radio signal sources, identification devices to their respective radio signal sources, recorders of radio signal reception times, for example, by the temporal positions of their front fronts, time difference meters between times of receiving radio signals from different sources of radio signals, subsystems information channels and a ground-based transmitting subsystem with radio signal sources, the phase centers of the transmitting antennas of each of the transmitting points are located at specified and known points on objects in a rectangular coordinate system with the origin at a given point 0, located mainly on the surface of the earth, with a plane (0 , X, Y) tangent to the surface of the earth at point 0, and the axis 0Z directed away from the earth, in accordance with the present invention, the ground-based transmitting subsystem includes six points broadcasts ordered in a specified way and divided into two groups, the first group of three transmission points containing mainly non-directional transmitting antennas whose phase centers are located at the same given height Z = h ₁ at the vertices of an equilateral triangle with coordinates on the plane (0, X, Y ) equal to X ₁ = 0, Y ₁ = 2b;

Y ₂ = -b;

, Y ₃ = -b, and the second group of three transmission points also contains predominantly non-directional transmitting antennas whose phase centers are located at the same given height Z = h ₂ , at the vertices of an equilateral triangle with coordinates on the plane (0, X, Y), equal to X ₄ = 0, Y ₄ = -2a,

, Y ₅ = a;

, Y ₆ = a, where a and b are given positive numbers, in addition, the indicated subsystem includes means for transmitting ordered series of six ordered for transmission in a series of radio signals, one radio signal from each item, respectively, if necessary, contains devices for providing specified delays for time between the indicated series of radio signals, not necessarily the same from series to series, and mainly includes means for shielding radio signals reflected from the ground, and the said objects contain medium va measurements advantageously three groups Δt _{i differences, j} between time of reception of radio signals from the i-ies points and times of radio reception with j-ies points transmit subsystem, wherein the measurement means is adapted to measure Δt _{i, j} in the first group for the i-ies points with indices 2, 3, 4, 5, 6 relative to the first point with index j = 1, measurements Δt _{i, j} in the second group for i-th points with indices 1, 3, 4, 5, 6 relative to the second point with index j = 2, measuring Δt _{i, j} in the third group of i-ies points with indices 1, 2, 4, 5, 6 relative tre rd item at index j = 3, also referred to the information processing subsystem objects comprise including calculators adapted to jointly specified time differences Δt _{i, j} terms of the parameters

l ₁ = d _6.1 , w ₁ = d _5.1 , u ₁ = d _3.1 , p ₁ = d _2.1 , s ₁ = d _4.1 ;

l ₂ = d _5.2 , w ₂ = d _4.2 , u ₂ = d _1.2 , p ₂ = d _3.2 , s ₂ = d _6.2 ;

l ₃ = d _4.3 , w ₃ = d _6.3 , u ₃ = d _2.3 , p ₃ = d _1.3 , s ₃ = d _5.3 ;

where d _{i, j} = cΔt _{i, j} , s is the propagation speed of the radio signal, for each mentioned j-th group to determine the parameters

;

,

;

,

from the sets of parameters l _j , w _j , u _j , p _j and M _j , N _j determine the parameters

A _j = (2l _j M _j - N _j ) ² / b ² , B _j (2w _j M _j - N _j ) ² / b ² ,

C _j = (2u _j M _j - N _j ) ² / a ² , D _j (2p _j M _j - N _j ) ² / a ²

, по К_j идентифицировать группу и соответствующий ей индекс j=j_m, для которой параметр К_j минимальный, для найденного таким образом значения индекса j=j_m через параметры М_j и N_j определять дальность dt_jm=-0.5N_jm/М_jm от объекта до пункта передачи с индексом j=j_m по dt_jm и совокупностям параметров l_jm, w_jm, s_j определять параметрыand for M _j and the combination of parameters A _j , B _j , C _j , D _j for each of the j-th groups mentioned, it is preferable to determine the parameter

, using К _j identify the group and its corresponding index j = j _m , for which the parameter K _{j is} minimal, for the index j = j _m found in this way, determine the range dt _jm = -0.5N _jm / М using the parameters M _j and N _{j jm} from the object to the transfer point with the index j = j _m by dt _jm and sets of parameters l _jm , w _jm , s _j determine the parameters

,

,

and through them to determine mainly the spatial coordinates of the object (X ₀ , Y ₀ , Z ₀ )

X ₀ = x _jm α _jm + y _jm β _jm , Y ₀ = -x _jm β _jm + y _jm α _jm ,

,

,

; α₃=-1/2,

.where α ₁ = 1, β ₁ = 0; α ₂ = -1 / 2,

; α ₃ = -1 / 2,

.

,

,

, c учетом длительности радиосигналов и разности времен прихода на объекты неотраженных и отраженных от земли радиосигналов, определения разностей Δt_i,j между временами приемов радиосигналов с i-тых пунктов и временами приемов радиосигналов с j-тых пунктов передающей подсистемы системы с учетом времен соответствующих задержек.In addition, for a single-frequency ground-based point-to-point transmitting subsystem, devices have been introduced into it to ensure delays between the radio signals transmitted from each point and delays between these series exceeding the maximum value

,

,

, taking into account the duration of radio signals and the difference in the times of arrival at objects of non-reflected and reflected from the ground radio signals, the determination of the differences Δt _{i, j} between the times of reception of radio signals from the i-th points and the times of reception of radio signals from the j-th points of the transmitting subsystem of the system, taking into account the times of the corresponding delays .

In the current level of technology, no sources of information have been identified that would contain information about systems of the same purpose with a specified set of distinctive features, which allows us to consider the claimed system new and having an inventive step. The proposed system due to the distinguishing features provides an increase in the technical and economic efficiency of systems for this purpose.

Below the invention is described in more detail with reference to the figures. Figure 1 shows the inventive system, figure 2 - the location of points in the ground transmitting subsystem, figure 3-6 are examples of calculating the areas of the system with the given errors in determining the coordinates of the object. As in the prototype, the reception system 1 (figure 1) includes located on the object 2 (explanations are given on the example of one object) and sequentially functionally connected receiver 3 of radio signals from radio sources 8, device 4 for identifying them with the corresponding radio sources (transmitting points), a recorder of 5 moments of receiving radio signals, for example, according to the temporary positions of their leading edges, a meter 6 of the time difference between the times of receiving radio signals from different sources of radio signals, an information processing subsystem mation 7 and ground punktovuyu transmit subsystem 9 sources of radio signals. The phase centers of the transmitting antennas of each of the transmitting points of the subsystem 9 are located, as shown in FIG. 2, at specified and known points on objects in a rectangular coordinate system with the origin at a given point 0, located mainly on the earth’s surface, with a plane (0, X , Y) tangent to the surface of the earth at point 0, and the axis 0Z directed away from the earth.

, Y₂=-b (пункт 2);

, Y₃=-b (пункт 3). Вторая группа из трех пунктов передачи (черные кружки 4, 5, 6) также содержит преимущественно ненаправленные передающие антенны, фазовые центры которых расположены на одинаковой заданной высоте Z=h₂ в вершинах равностороннего треугольника с координатами на плоскости (0, X, Y), равными X₄=0, Y₄=-2а (пункт 4);

, Y₅=а (пункт 5);

, Y₆=а (пункт 6), где a и b заданные положительные числа. Кроме того, подсистема 9 включает средства 17 обеспечения передачи упорядоченных серий из шести упорядоченных для передачи в серии радиосигналов, по одному радиосигналу с каждого пункта соответственно, при необходимости содержит устройства 18 обеспечения заданных задержек по времени между указанными сериями радиосигналов, не обязательно одинаковыми от серии к серии, и преимущественно включает средства 19 экранирования отраженных от земли радиосигналов. Объект 1 содержит средства измерений 10, 11, 12 преимущественно трех групп разностей Δt_i,j между временами приемов радиосигналов с i-тых пунктов и временами приемов радиосигналов с j-тых пунктов передающей подсистемы 9, причем эти средства измерений выполнены с возможностью измерения Δt_i,j в первой группе (10) для i-тых пунктов с индексами 2, 3, 4, 5, 6 относительно первого пункта с индексом j=1, измерения Δt_i,j, во второй группе (11) для i-тых пунктов с индексами 1, 3, 4, 5, 6 относительно второго пункта с индексом j=2, измерения Δt_i,j в третьей группе (12) для i-тых пунктов с индексами 1, 2, 4, 5, 6 относительно третьего пункта с индексом j=3. Также подсистема обработки информации 7 на объекте 2 содержит, в том числе, идентификатор 13, вычислитель дальности 14, вычислитель вспомогательных параметров 15 и вычислитель пространственных координат объекта.The system contains the aforementioned components of the prototype 1 ... 9 and their functional connections, but in contrast to it, subsystem 9 includes six transmission points, shown in figure 2 and indicated by numbers 1 ... 6, ordered in a specified way and divided into two groups. In this case, the first group of three transmission points (white circles 1, 2, 3) contains mainly non-directional transmitting antennas whose phase centers are located at the same given height Z = h ₁ at the vertices of an equilateral triangle with coordinates on the plane (0, X, Y) equal to X ₁ = 0, Y ₁ = 2b (paragraph 1);

, Y ₂ = -b (paragraph 2);

, Y ₃ = -b (paragraph 3). The second group of three transmission points (black circles 4, 5, 6) also contains predominantly non-directional transmitting antennas whose phase centers are located at the same given height Z = h ₂ at the vertices of an equilateral triangle with coordinates on the plane (0, X, Y), equal to X ₄ = 0, Y ₄ = -2a (paragraph 4);

, Y ₅ = a (paragraph 5);

, Y ₆ = a (clause 6), where a and b are given positive numbers. In addition, subsystem 9 includes means 17 for transmitting ordered series of six ordered for transmission in a series of radio signals, one radio signal from each item, respectively, if necessary, contains devices 18 for providing specified time delays between said series of radio signals, not necessarily the same from series to series, and mainly includes means 19 shielding reflected from the ground radio signals. Object 1 contains measuring instruments 10, 11, 12 of mainly three groups of differences Δt _{i, j} between the times of receiving radio signals from the i-th points and the times of receiving radio signals from the j-th points of the transmitting subsystem 9, and these measuring means are made with the possibility of measuring Δt _{i , j} in the first group (10) for i-th points with indices 2, 3, 4, 5, 6 relative to the first point with an index j = 1, measurements Δt _{i, j} , in the second group (11) for i-th points with indices 1, 3, 4, 5, 6 relative to the second item with index j = 2, measurements Δt _{i, j} in the third group (12) for the i-th item s with indices 1, 2, 4, 5, 6 relative to the third paragraph with index j = 3. Also, the information processing subsystem 7 at the object 2 contains, including an identifier 13, a distance calculator 14, an auxiliary parameter calculator 15, and an object spatial coordinates calculator.

The proposed system 1 operates as follows. The radio signals of the ground-based point transmitting subsystem 9 are transmitted from antennas whose phase centers are at specified points in a rectangular coordinate system with the origin at a given point 0, located mainly on the earth’s surface, with a plane (0, x, y) tangent to the earth’s surface in point 0, and the axis 0z, directed from the ground. At the receiver 3 of object 2, receive radio signals from sources of radio signals, identify them in the device 4 to the appropriate points, register the moments of reception of the radio signals by the recorder 5, for example, by the temporary positions of their leading edges, and measure the time differences between the times of receiving radio signals from different points of the transmitting subsystem by the meter 6 and in the subsystem 7 process the received information.

, Y₂=-b;

, Y₃=-b. Во второй группе из трех пунктов передачи 4, 5, 6 радиосигналы передают преимущественно ненаправленными передающими антеннами, фазовые центры которых расположены на одинаковой заданной высоте Z=h₂ в вершинах равностороннего треугольника с координатами на плоскости (0, X, Y), равными Х₄=0, Y₄=-2a;

, Y₅=а;

, Y₆=а. При этом средство 17 обеспечивает передачу упорядоченных серий из шести упорядоченно передаваемых в серии радиосигналов, по одному радиосигналу с каждого пункта соответственно. Средство 19 преимущественно обеспечивает экранирование отраженных от земли радиосигналов. На объекте 2 измерителями 10, 11, 12 производят преимущественно три группы измерений разностей Δt_i,j между временами приемов радиосигналов с i-тых пунктов и временами приемов радиосигналов с i-тых пунктов передающей подсистемы. При этом в первой группе измерителем 10 производят упомянутые измерения Δt_i,j для i-тых пунктов с индексами 2, 3, 4, 5, 6 относительно первого пункта с индексом j=1. Во второй группе измерителем 11 производят упомянутые измерения Δt_i,j для i-тых пунктов с индексами 1, 3, 4, 5, 6 относительно второго пункта с индексом j=2. В третьей группе измерителем 12 производят упомянутые измерения Δt_i,j для i-тых пунктов с индексами 1, 2, 4, 5, 6 относительно третьего пункта с индексом j=3.The technical result, which consists in increasing the technical and economic efficiency of radio navigation systems for determining spatial coordinates and other characteristics of an object, is achieved due to the fact that the ground-based transmitting subsystem 9 includes six transmission points (FIG. 2), ordered in a predetermined manner. Moreover, in the first group of three transmission points 1, 2, 3, radio signals are transmitted mainly by omnidirectional transmitting antennas whose phase centers are located at the same given height Z = h ₁ at the vertices of an equilateral triangle with coordinates on the plane (0, X, Y) equal to X ₁ = 0, Y ₁ = 2b;

Y ₂ = -b;

, Y ₃ = -b. In the second group of three transmission points 4, 5, 6, radio signals are transmitted mainly by omnidirectional transmitting antennas, whose phase centers are located at the same given height Z = h ₂ at the vertices of an equilateral triangle with coordinates on the plane (0, X, Y) equal to X ₄ = 0, Y ₄ = -2a;

, Y ₅ = a;

, Y ₆ = a. Moreover, the means 17 provides the transmission of ordered series of six orderly transmitted in a series of radio signals, one radio signal from each item, respectively. The means 19 advantageously provides shielding of radio signals reflected from the ground. At facility 2, meters 10, 11, 12 mainly produce three groups of measurements of the differences Δt _{i, j} between the times of receiving radio signals from the i-th points and the times of receiving radio signals from the i-th points of the transmitting subsystem. At the same time, in the first group, meter 10 makes the mentioned measurements Δt _{i, j} for i-th points with indices 2, 3, 4, 5, 6 relative to the first point with index j = 1. In the second group, meter 11 makes the mentioned measurements Δt _{i, j} for the i-th points with indices 1, 3, 4, 5, 6 relative to the second point with the index j = 2. In the third group, meter 12 performs the aforementioned measurements Δt _{i, j} for the i-th points with indices 1, 2, 4, 5, 6 relative to the third point with the index j = 3.

In the information processing subsystem 7, the calculators are configured to collectively measure the indicated time differences Δt _{i, j} through the parameters

l ₁ = d _6.1 , w ₁ = d _5.1 , u ₁ = d _3.1 , p ₁ = d _2.1 , s ₁ = d _4.1 ;

l ₂ = d _5.2 , w ₂ = d _4.2 , u ₂ = d _1.2 , p ₂ = d _3.2 , s ₂ = d _6.2 ;

l ₃ = d _4.3 , w ₃ = d _6.3 , u ₃ = d _2.3 , p ₃ = d _1.3 , s ₃ = d _5.3 ;

where d _{i, j} = cΔt _{i, j} , s is the propagation speed of the radio signal, for each of the j-th group of definition of parameters

;

,

;

,

and the sets of parameters l _j , w _j , u _j , p _j and M _j , N _j determine the parameters

A _j = (2l _j M _j - N _j ) ² / b ² , B _j (2w _j M _j - N _j ) ² / b ² ,

C _j = (2u _j M _j - N _j ) ² / a ² , D _j (2p _j M _j - N _j ) ² / a ² .

. По определенным К_j идентификатором 13 определяют группу и соответствующий ей индекс j=j_m, для которой параметр К_j минимальный. В этом случае достигается более высокая точность за счет возможности выбора из трех предлагаемых вариантов определения пространственных координат объекта, производимых в каждой точке пространства, наилучшего по точности. Для найденного таким образом значения индекса j=j_m и через параметры M_j и N_j в вычислителе 14 определяют дальность dt_jm=-0.5N_jm/М_jm от объекта до пункта передачи с индексом j=j_m. Далее по dt_jm и совокупностям параметров l_jm, w_jm, s_j в вычислителе 15 определяют параметрыFor M and the combination of parameters A _j , B _j , C _j , D _j for each of the mentioned j-th group, the parameter is predominantly determined

. The identifiers 13 determined by K _j determine the group and the corresponding index j = j _m , for which the parameter K _{j is} minimal. In this case, higher accuracy is achieved due to the possibility of choosing from the three proposed options for determining the spatial coordinates of the object produced at each point in space, the best in accuracy. For the index value j = j _m found in this way and using the parameters M _j and N _j in the calculator 14, the distance dt _jm = -0.5N _jm / M _jm from the object to the transmission point with the index j = j _{m is} determined. Further, by dt _jm and sets of parameters l _jm , w _jm , s _j in the calculator 15 determine the parameters

and through them in the calculator 16 determine mainly the spatial coordinates of the object (X ₀ , Y ₀ , Z ₀ )

X ₀ = x _jm α _jm + y _jm β _jm , Y ₀ = -x _jm β _jm + y _jm α _jm ,

; α₃=-1/2,

.where α ₁ = 1, β ₁ = 0; α ₂ = -1 / 2,

; α ₃ = -1 / 2,

.

,

,

с учетом длительности радиосигналов и разности времен прихода на объекты неотраженных и отраженных от земли радиосигналов, определения разностей Δt_i,j между временами приемов радиосигналов с i-тых пунктов и временами приемов радиосигналов с j-тых пунктов передающей подсистемы системы с учетом времен соответствующих задержек. Можно уменьшить влияние на точность измерения координат случайных погрешностей измерений Δt_i,j, например, посредством многократного (N раз) повторения измерений, т.к. среднеквадратическая ошибка среднего значения в

раз меньше среднеквадратической ошибки отдельного измерения. Систематические ошибки могут быть исключены путем калибровки.Also, for a single-frequency subsystem 9, devices 18 are introduced into it, which ensure delays between the radio signals transmitted from each point and delays between these series exceeding the maximum value

,

,

taking into account the duration of radio signals and the difference in the times of arrival at objects of non-reflected and reflected from the ground radio signals, determining the differences Δt _{i, j} between the times of receiving radio signals from the i-th points and the times of receiving radio signals from the j-th points of the transmitting subsystem of the system, taking into account the times of the corresponding delays. You can reduce the impact on the measurement accuracy of the coordinates of random measurement errors Δt _{i, j} , for example, by repeatedly (N times) repeating the measurements, because standard error of the mean in

times less than the standard error of a single measurement. Systematic errors can be eliminated by calibration.

The system allows you to vary the configuration of the zone of its action and form it depending on the task. It is possible to obtain zones, including those close to circular, with an error in the zone not exceeding the error of measurement of coordinates at the boundary of the zone. The system has sufficient speed to determine the coordinates and parameters of the object while maintaining the specified accuracy and can be implemented using modern element base and microprocessor technology.

We illustrate the capabilities of the claimed system by the examples of mathematical modeling for determining spatial coordinates. For all the examples, we set the same root-mean-square errors σ of the individual measurements d _{i, j} equal to 0.6 meters, the height of the phase centers of the first three antennas (1, 2, 3) h ₁ = 1 m, the heights of the phase centers of three other antennas (4, 5, 6 ) h ₂ = 3 m, a = 10 km, b = 10 km, z = 10 km. In the figures, asterisks indicate the location of the first three points, and triangles - the second three points, the numbers 1 ... 4 indicate the boundaries of the zones within which the standard errors of determining the values of the distances dt _j from the object to the transmission point with index j do not exceed the specified (1-1 km, 2-0.5 km, 3-0.2 km, 4-0.05 km). Figure 3 presents the simulation results for j = 1, figure 4 for j = 1, figure 5 for j = 3. The simulation results for the case when at each point in space the index j = j _m is determined, for which K _{j is} minimal, and the coordinates are determined for the parameters corresponding to this j _m , are presented in Fig.6. This approach allows you to get close to the circular coverage area and significantly increase its volume.

We list the main advantages of the system:

- provides an unambiguous determination of the spatial coordinates of the object with a given accuracy,

- determination of coordinates is implemented using modern elemental base and microprocessor technology,

- uses the communication resource more efficiently,

- simultaneously serves several objects,

- allows you to get, including close to the circular zone of the system for determining spatial coordinates with a given accuracy and significantly increases its volume.

The effectiveness and efficiency of using the inventive system for receiving radio signals at objects is that it can be applied in practice for the development and improvement of radio systems for determining the coordinates of objects, as well as in other applications. The system allows you to define them unambiguously simple in comparison with known methods.

Thus, the distinctive features of the claimed system provide the emergence of new properties that are not achieved in the prototype and analogues. The analysis made it possible to establish: analogues with a set of features identical to all the features of the claimed technical solution are absent, which indicates the conformity of the claimed system to the “novelty” condition.

The search results for known solutions, including those related to direction finding, radio navigation, radio control and communications, in order to identify signs that match the distinctive features of the claimed system from the prototype, showed that they do not follow explicitly from the prior art. Also, the popularity of the influence of the actions provided for by the essential features of the claimed invention on the achievement of the specified result was not revealed. Therefore, the claimed invention meets the condition of patentability "inventive step".

Claims (2)

1. A system for receiving radio signals at objects, including mobile ones, including located on objects and sequentially functionally connected receivers of radio signals from sources of radio signals, devices for identifying them with the corresponding sources of radio signals, recorders of moments of reception of radio signals, for example, by the temporary positions of their leading edges, difference meters times between the times of receiving radio signals from different sources of radio signals, the information processing subsystem and ground-based transmitting point a subsystem with radio signal sources, the phase centers of the transmitting antennas of each of the transmitting points of which are located at specified and known points on objects in a rectangular coordinate system with the origin at a given point 0, located mainly on the surface of the earth, with a plane (0, X, Y), tangent to the earth’s surface at point 0, and the 0Z axis directed away from the earth, characterized in that the ground-based point-to-point transmitting subsystem includes six transmission points, ordered in a given way and divided into two groups, pr than the first group of three items transmission comprises predominantly non-directional transmitting antenna phase centers which are located at the same predetermined height Z = h ₁ at the vertices of an equilateral triangle with the coordinates on the plane (0, X, Y), equal to X ₁ = 0, Y ₁ = 2b;

Y ₂ = -b;

Y ₃ = -b, and the second group of three transmission points also contains mainly omnidirectional transmitting antennas whose phase centers are located at the same given height Z = h ₂ at the vertices of an equilateral triangle with coordinates on the plane (0, X, Y) equal to X ₄ = 0, Y ₄ = -2a;

Y ₅ = a;

Y ₆ = a, where a and b are given positive numbers, in addition, this subsystem includes means for ensuring the transmission of ordered series of six ordered for transmission in a series of radio signals, one radio signal from each item, respectively, if necessary, contains devices for providing specified delays for time between the indicated series of radio signals, not necessarily the same from series to series, and mainly includes means for shielding radio signals reflected from the ground, and the said objects contain medium va measurements advantageously three groups Δt _{i differences, j} between time of reception of radio signals i-x points and times of receiving radio signals from j-x points transmit subsystem, wherein the measurement means adapted to measure Δt _{i, j} in the first group for the i-pips with indices 2, 3, 4, 5, 6 relative to the first item with index j = 1, measurements Δt _{i, j} in the second group for i-points with indices 1, 3, 4, 5, 6 relative to the second item with index j = 2, measurements Δt _{i, j} in the third group for i-points with indices 1, 2, 4, 5, 6 relative to the third point with index j = 3, the information processing subsystems at the mentioned objects also include calculators, made with the possibility of the combination of the indicated time differences Δt _{i, j} and the parameters d _{i, j} = сΔt _{i, j} defined through them, where - the propagation speed of the radio signal, through parameters with a dimension of length l _j , w _j , u _j , p _j s _j , where j takes values 1, 2, 3, determined through the specified d _{i, j} in accordance with the expressions l ₁ = d _{6 , 1} , w ₁ = d _5.1 , u ₁ = d _3.1 , p ₁ = d _2.1 , s ₁ = d _4.1 ; l ₂ = d _5.2 , w ₂ = d _4.2 , u ₂ = d _1.2 , p ₂ = d _3.2 , s ₂ = d _6.2 ; l ₃ = d _4.3 , w ₃ = d _6.3 , u ₃ = d _2.3 , p ₃ = d _1.3 , s ₃ = d _5.3 , for each of the jth groups mentioned, determine dimensionless parameters M _j and parameters with a dimension of length N _j in accordance with the expressions

from the sets of parameters l _j , w _j , u _j , p _j and M _j , N _j determine the dimensionless parameters A _j , B _j , C _j and D _j in accordance with the expressions
A _j = (2l _j M _j -N _j ) ² / b ² , B _j = (2w _j M _j -N _j ) ² / b ² ,
C _j = (2u _j M _j -N _j ) ² / a ² , D _j = (2p _j M _j -N _j ) ² / a ²
and for M _j and the combination of parameters A _j , B _j , C _j , D _j for each of the j-th groups mentioned, it is preferable to determine the dimensionless parameter

by K _j identify the group and its corresponding index j = j _m , for which the parameter K _{j is} minimal, for the index value j = j _m found in this way, determine the range using the parameters M _j and N _j

from the object to the transfer point with index j = j _m , by

and sets of parameters

s _j determine the parameters

and through them to determine mainly the spatial coordinates of the object (X ₀ , Y ₀ , Z ₀ )

where α ₁ = 1, β ₁ = 0; α ₂ = -1 / 2,

α ₃ = -1 / 2,

2. The system according to claim 1, characterized in that for a single-frequency ground-based point-to-point transmitting subsystem, devices for ensuring delays between the radio signals transmitted from each point and delays between these series exceeding the maximum of values are introduced into it

taking into account the duration of radio signals and the difference in the times of arrival at objects of non-reflected and reflected from the earth radio signals, determining the differences Δt _{i, j} between the times of receiving radio signals from i-points and the times of receiving radio signals from j-points of the transmitting subsystem of the system, taking into account the times of the corresponding delays.

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