RU2469271C1 - Universal topographic precise positioning and navigation system - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: universal topographic precise positioning and navigation system has a set of main and auxiliary equipment. The main equipment consists of a basic inertial navigation system, an altitude determining system and a Doppler velocity sensor. The basic inertial navigation system includes a self-contained navigation apparatus - a gimballess inertial navigation and topographic precise positioning system, navigation apparatus for satellite navigation system consumers, consisting of an electronic receiver-indicator unit and antenna module, matching unit and a universal mechanical velocity sensor. The altitude determining system consists of an atmospheric pressure digital metre, a temperature sensor and a data processing unit. The gimballess inertial navigation and topographic precise positioning system, the electronic receiver-indicator unit of the navigation apparatus of satellite navigation system consumers, the matching unit and the data processing unit of the altitude determining system have data exchange channels for communication with a hardware and software system. The universal mechanical velocity sensor is electrically connected to the matching unit and has a cable channel for connection to the chassis electrical equipment system. The shaft of the universal mechanical velocity sensor is rigidly connected to a unit for connecting the speedometer of the transfer gearbox of the chassis. The Doppler velocity sensor is connected to the matching unit. The auxiliary equipment includes a plate made from aluminium alloy and provided with mounting pads with threaded steel bushings for mounting the gimballess inertial navigation and topographic precise positioning system, a cantilever and a clamping frame for mounting the Doppler velocity sensor, having a shock-absorbing lining, with a set of adjusting washers, a post for mounting the matching unit, the data processing unit and the atmospheric pressure digital metre of the altitude determining system. The auxiliary equipment can additionally be provided with a cantilever for mounting the temperature sensor.

EFFECT: design of a universal topographic precise positioning and navigation system which provides high accuracy of determining topographic and geodetic parameters and configured for use in mobile weapon systems having different functionalities.

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Description

The invention relates to navigation equipment and can be used to determine navigation and topographic and geodetic data on mobile weapon systems of various functional orientations, located on the basis of the chassis of vehicles, which are their transport, energy and information-analytical base.

Known unified mobile command post (see certificate for utility model RU 29600 U1, G06F 13/00, H04B 7/00, 05/20/2003), adopted for the prototype. The unified mobile command post is intended for automated control in the movement and in the parking lot by the actions of the air defense units and contains the following complexes:

- a computer complex with software - a hardware-software complex (PAC);

- navigation, topographic and orientation equipment;

- means of registration and documentation;

- a complex of means of communication and data transmission;

- power supply system;

- a set of means of life support;

- chassis.

Navigation, topographic and orientation equipment includes:

- navigation equipment of consumers of satellite navigation systems GLONASS and GPS, consisting of: receiver indicator, antenna unit;

- tank navigation equipment (autonomous navigation equipment) consisting of: gyro pointer, control panel, voltage converter, mechanical speed sensor, coordinator, indicator tablet, direction indicator, distribution box;

- equipment for remote binding - periscopic artillery compass, sighting sight.

The disadvantages of navigation equipment, topographic location and orientation of a unified mobile command post are:

- the impossibility of using navigation equipment and topographic location without significant changes in other weapon systems having various types of chassis and functional orientation;

- lack of accuracy in determining the topographic and geodetic parameters with the above hardware.

The proposed invention solves the problem of increasing the combat effectiveness of mobile weapons systems.

The technical result obtained by carrying out the invention is to create a universal system of topographic location and navigation, providing high accuracy in determining topographic and geodetic parameters and made with the possibility of use as part of mobile weapons systems with different functional orientations.

The specified technical result is achieved by the fact that in the proposed universal system of topographic location and navigation, containing topographic location and navigation tools as part of the navigation equipment of consumers of satellite navigation systems, autonomous navigation equipment, a mechanical speed sensor, new is that the means of topographic location and navigation are made in the form of a set fixed and auxiliary means, fixed assets form the actual navigation and topographic location system and consist of a base inertial ground navigation systems, including autonomous navigation equipment - strapdown inertial navigation topographic reference and navigation system (BINS-TP), navigation equipment of satellite navigation system consumers, matching unit, which have data exchange channels for communication with the hardware-software complex (PAK), universal mechanical speed sensor, electrically connected to the matching unit and made with the possibility of connecting the chassis and mechanic to the electrical system the connection of its shaft with the connection node of the speedometer of the chassis transfer case, a height determination system with an information exchange channel for communication with the PAK, a Doppler speed sensor connected to the matching unit, auxiliary means include a plate made of aluminum alloy and equipped with installation sites with threaded steel bushings to accommodate BINS-TP, a bracket and a clamping frame for installing a Doppler speed sensor with a set of shims, a rack for ki acceptance unit, the data processing unit and digital meter height determining system atmospheric pressure, auxiliary means may be additionally equipped with a bracket for mounting a temperature sensor.

The implementation of topographic and navigation tools in the form of a set of basic and auxiliary tools allows you to:

- expand the range of application of this topographic and navigation system;

- reduce the cost of developing and installing navigation aids on weapons systems for various functional purposes. Inclusion of fixed inertial ground navigation system, which includes autonomous navigation equipment, into fixed assets: strap-down inertial navigation system of topographic location and navigation BINS-TP, navigation equipment of consumers of satellite navigation systems, matching unit, which have data exchange channels for communication with hardware and software complex (PAK), as well as a universal mechanical speed sensor, electrically connected to the matching unit and made with possibly By connecting the chassis to the electrical equipment system and mechanically connecting its shaft to the speedometer connection unit of the chassis transfer case, the height determination system with an information exchange channel for communication with the PAK, the Doppler speed sensor connected to the matching unit, it allows:

- to ensure high accuracy in determining navigation information by combining information from sensors built on various physical principles;

- to ensure continuous real-time determination of the location and angular orientation parameters of the mobile weapons system in the parking lot and in motion: coordinates and altitude, course angles, roll and pitch, linear and angular velocities and accelerations (in motion) in a given coordinate system at any time days, at specified geographical latitudes in simple and difficult weather conditions;

- ensure the exchange of PAC information via the RS-232 interface (RS-422 / RS-485) with the components of the topographic and navigation system;

- to ensure the reception of signals from the space navigation systems GLONASS or GPS, or according to the signals of these two systems simultaneously;

- using a universal mechanical speed sensor to ensure the conversion of the angle of rotation of the shaft associated with the chassis of the chassis of the complex, into electrical signals that carry information about the increment of the path and its sign;

- using a Doppler speed sensor, generating measurement information about the speed of the object (the distance traveled), information about the technical condition of the sensor, a command to prohibit the use of the sensor output signal;

- automatic determination of the height of terrain points on the route relative to the starting (starting) point of the route with a known height value above sea level.

The inclusion in the composition of auxiliary equipment of a plate made of aluminum alloy and equipped with installation sites with threaded steel sleeves to accommodate BINS-TP allows:

- to carry out the installation and fastening of BINS-TP on a rigid base;

- to facilitate the adjustment work: leveling and accurate installation of BINS-TP relative to the longitudinal axis of the complex with further determination of the initial corrections to the angular parameters (azimuth, roll, pitch) determined by the BINS-TP strapdown inertial navigation system for accounting in PAK;

- to ensure reliable fastening of BINS-TP in steel threaded bushings after repeated installation / disassembly during scheduled adjustment work and repair.

The inclusion of a bracket and a clamping frame for installing a Doppler speed sensor with a set of shims allows:

- evenly fasten the Doppler speed sensor equipped with a cushioning pad to the bracket;

- to ensure the regular functioning of the Doppler speed sensor with obtaining the necessary measurement accuracy.

The inclusion of a rack for installation of a matching unit, a data processing unit, and a digital atmospheric pressure meter, an altitude determination system allows you to:

- compactly place the above devices in a limited space of the chassis;

- ensure their reliable fastening.

An additional inclusion of the bracket for installing the temperature sensor in the auxiliary tools is necessary for its installation on the chassis of the complex. Moreover, depending on the location and type of chassis, the design of the bracket may be different.

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 a structural diagram of a universal system of topographic location and navigation; figure 2 - installation of a universal mechanical speed sensor; figure 3 - installation BINS-TP; figure 4 is a General view of the plate for installing BINS-TP; figure 5 - section aa, installation of a steel sleeve; figure 6 - installation of the speed sensor Doppler; Fig.7 - installation of racks to accommodate the matching unit, the data processing unit and the digital atmospheric pressure meter of the height determination system; on Fig - installation of a temperature sensor.

The universal topographic and navigation system is designed to be used on mobile weapon systems for various purposes containing a vehicle equipped with operator workstations.

The universal system of topographic location and navigation contains a set of basic and auxiliary tools. Fixed assets consist of a basic inertial ground navigation system 1, a height determination system 2, a Doppler speed sensor 3. The basic inertial system 1 of ground navigation includes autonomous navigation equipment 4 - strapdown inertial navigation system of topographic location and navigation (BINS-TP), navigation equipment 6 consumers of satellite navigation systems, consisting of block 7 of the electronic receiver-indicator and antenna module 8, block 9 matching, universal mechanical speed sensor 10. The height determination system 2 consists of a digital atmospheric pressure meter 11, a temperature sensor 12, and a data processing unit 13. BINS-TP 4, block 7 electronic receiver-indicator of navigation equipment 6 consumers of satellite navigation systems, block 9 matching, block 13 data processing system 2 determine the height have channels 14 information exchange for communication with the hardware-software complex (PAK) 15. Universal mechanical sensor 10 speed is electrically connected with the coordination unit 9 and has a cable channel 16 for connecting to the chassis electrical system 17. The shaft of the universal mechanical speed sensor 10 is rigidly connected to the node 18 connecting the speedometer of the chassis transfer case. The Doppler speed sensor 3 is connected to the matching unit 9.

Auxiliary tools include a plate 19 made of aluminum alloy and equipped with mounting pads 20 with threaded steel sleeves 21 for accommodating BINS-TP, an arm 22 and a clamping frame 23 for mounting a Doppler speed sensor 3 having a shock-absorbing pad 24 with a set of shims 25, a rack 26 for installing the matching unit 9, the data processing unit 13, and the digital atmospheric pressure meter 11 of the height determination system 2. Auxiliary tools can be optionally equipped with an arm 27 for mounting a temperature sensor 12.

A universal system of topographic location and navigation is installed and operates as follows. At the initial stage, auxiliary tools are installed. The plate 19 is fixed on the floor of the chassis, the bracket 22 and the rack 26 are placed on the side wall. If necessary, mount the bracket 27 to install the temperature sensor 12. Next, the installation of equipment that is part of a universal system of topographic location and navigation. BINS-TP 4 is installed on mounting sites 20 of plate 19 and fixed in steel bushings 21. The Doppler speed sensor 3 is fastened to the bracket 22 by means of the clamping frame 23. Due to the fact that the Doppler speed sensor 3 is pressed against the bracket by a perimeter-mounted shock-absorbing pad 24, uniformity fastening is achieved by installing shims 25. Coordination unit 9, data processing unit 13 and digital atmospheric pressure meter 11 of the height determination system 2 are fixed in the rack 26. Sensors to 12 the temperature is installed on the bracket 27. Next, the remaining equipment of the base inertial ground navigation system 1 is installed. Before installing the universal mechanical speed sensor 10, the speedometer sensor is removed from the chassis transfer case, the universal mechanical sensor 10 is installed in its place so that its shaft is rigidly connected to the chassis transfer case speedometer connection unit 18. After completion of assembly work and the conduct of quotation activities with the equipment, the universal topographic reference and navigation system is ready for use.

The principle of operation of autonomous navigation equipment - a strapdown inertial navigation system of topographic location and navigation BINS-TP 4 is based on measuring the parameters of the angular and linear movement of the object by laser gyroscopes and accelerometers, followed by processing the measured parameters in the BINS-TP calculator according to a special algorithm. As a result of processing the data of inertial meters, the necessary navigation parameters are formed: azimuth, roll and pitch angles, location coordinates, distance traveled and speed in a given coordinate system.

To ensure the required accuracy in determining navigation information, information is integrated with sensors built on various physical principles: a universal mechanical speed sensor 10, a Doppler speed sensor 3, a height determination system 2 and navigation equipment 6 consumers of satellite navigation systems.

To increase the accuracy and reliability of 6 consumers of satellite navigation systems information received from navigation equipment, GLONASS and GPS signals can be used together.

The interaction of the base inertial system 1 of ground navigation and system 2 determine the height with the PAK is carried out on channels 14 of information exchange.

A universal mechanical speed sensor 10 has a cable channel 16 for connecting to the chassis electrical system 17, which ensures its operation with a speedometer indicating device.

Thus, in the present invention, the problem is solved to achieve a technical result, which consists in creating a universal system of topographic location and navigation, providing high accuracy in determining topographic and geodetic parameters and made with the possibility of use as part of mobile weapon systems with different functional orientations.

Claims (2)

1. A universal topographic and navigation system, containing topographic and navigation tools as part of the navigation equipment of consumers of satellite navigation systems, autonomous navigation equipment, a mechanical speed sensor, characterized in that the topographic and navigation tools are made in the form of a set of basic and auxiliary tools, the main tools form the navigation and topographic reference system itself and consist of a basic inertial ground navigation system, including autonomous navigation equipment - strap-down inertial navigation system of topographic location and navigation BINS-TP, navigation equipment of consumers of satellite navigation systems, matching unit, which have data exchange channels for communication with the hardware-software complex (PAK), universal mechanical speed sensor, electrically connected to the matching unit and made with the possibility of connecting to the electrical system of the chassis and mechanical connection of its shaft with the speedometer connection unit a full-time chassis box, a height determination system with an information exchange channel for communication with the PAK, a Doppler speed sensor connected to the matching unit, auxiliary means include a plate made of aluminum alloy and equipped with mounting platforms with threaded steel bushings for accommodating BINS-TP , a bracket and a clamping frame for installing a Doppler speed sensor with a set of shims, a rack for installing a matching unit, a data processing unit and a digital meter atmospheric pressure altitude determination system. 2. The universal topographic and navigation system according to claim 1, characterized in that the auxiliary means is additionally equipped with a bracket for installing a temperature sensor.

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