RU2481204C1 - Method of operating topographic survey vehicle - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: invention relates to navigation of ground vehicles and may be used in navigation systems using info from various transducers for solving tasks of survey for operations of missiles and artillery. Algorithm of survey vehicle operation comprises: switching on survey vehicle navigation hardware; testing form corrections for compliance; note here that in case of their incompliance, operation of survey vehicle is terminated unless troubleshooting; verifying correct selection and input of initial navigation parameters; selection of "Navigation" mode; input of initial coordinates and direction angle of survey vehicle lengthwise axis; operating said vehicle in motion; operating said vehicle at target point; "maintenance" mode.

EFFECT: higher accuracy.

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Description

The invention relates to the field of navigation of land vehicles and can be used in navigation systems using information from sensors of various types to solve tasks of geodetic training of combat operations of missile forces and artillery of the Ground Forces.

Known top loader UA3-452T (see Top loader UA3-452T. Technical description and operating instructions BI2 511 003 TO, p. 10-15), adopted as a prototype. The UA3-452T topopripper is a UA3-452AE vehicle (transport base), in which a set of special instruments for ground-based navigation equipment with auxiliary equipment is mounted.

The principle (method) of operation of a topographic device (TP) is reduced to a continuous automatic solution of a direct geodesic problem by supplying, at every moment of movement, data on the path traveled by the vehicle and the directional angle of the direction of movement of the vehicle to the calculating and solving device.

The path traveled by a car is removed by a path increment sensor that transfers the amount of path traveled by the front wheels to the calculating and deciding instrument.

The directional angle of the longitudinal axis of the vehicle is continuously and automatically determined by the gyro-pointer, and the results are transmitted in the form of electrical signals to the calculating-decisive device. Thus, when the TP moves, the increment of the path ∆S and the direction angle ∆α in the polar coordinate system continuously enters the course-laying device.

In the course planner, the current coordinates are generated. When the TP moves with a constant directional angle α, the projections of the path traveled by the machine on the axis OX and OY will be equal to:

ΔX ₁ = ΔS ₁ × cosα ₁ ; ΔY ₁ = ΔS ₁ × sinα ₁

If the initial coordinates X _O , Y _{O are} known, then the current coordinates of the machine X _T , Y _{T are} determined as the sum:

X _T = X _O + ΔX ₁ ; Y _T = Y _O + ΔY ₁

When the machine moves in real conditions (with variable directional angles), the increments of coordinates are determined by the formulas:

Therefore, the current coordinates of a moving machine are determined by the formulas:

While the TP is at the starting point with the known coordinates X _O , Y _O and the directional angle α _{OR of the} orientational direction, the sight monocular is pointed at the landmark, the angle β of the _{VIZ is} determined. The directional angle of the longitudinal axis of the vehicle, which is calculated by the formula:

α _OSI = α _OP -β _VIZ

At the first moment of the TP movement from the initial to the anchored point, the path ∆S ₁ will go to the course- _{laying device} , in which this path will be multiplied by the sine and cosine of the directional angle α _{OSI1 of the} longitudinal axis of the car and the resulting products will be summed with the coordinates of the starting point X _O and Y _O , as a result, the coordinates X ₁ , Y _{1 of} the TP location at the first moment of its movement can be read on the scales of the course-laying device.

At the next moment of the TP movement, the directional angle of the longitudinal axis of the vehicle will change by the angle Δα ₁ with respect to the initial angle α _OSI1 and will be equal to α _OSI2 = α _OSI1 + Δα ₁ . This angle change will be detected by the gyro pointer. From the gyro-pointer, the angle Δα ₁ enters the course- _{laying device} , in which the previously set directional angle α _OSI1 will be changed to a new one equal to the directional angle α _{OSI2 of the} longitudinal axis of the car at the second moment of its movement.

At the same time, the path traveled by the TP during the time from the first to the second moment of its movement enters the course-laying device. This path will be multiplied by the sine and cosine of the directional angle α _OSI2 , and the resulting products ΔX ₂ and ΔY ₂ will be summed with the coordinates X ₁ and Y _{1 of} the TP location at the first moment of its movement.

As a result, the coordinates of X ₂ and Y _{2 of} the TP location, the directional angle α _{OSI2 of the} longitudinal axis of the car at the second moment of its movement can be read on the scales of the course- _{laying device} . Since changes in the directional angle and path are continuously received in the course-laying device throughout the entire path of the TP movement, then the coordinates of the TP location and its course of movement (directional angle of the longitudinal axis of the car) can be read from the scaler scales at each moment of movement.

The disadvantages of the 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, which also takes a lot of time;

- a high level of influence of various factors on the accuracy of the determined parameters (human factor, geometric accuracy of the map, weather conditions, type of terrain, etc.).

The present invention solves the problem of improving the accuracy and efficiency of the navigation system of the topographic bin.

The technical result obtained by the implementation of the invention consists in the formation of a topographic device operating method that ensures high accuracy in determining navigation parameters on the basis of inertial autonomous topographic and navigation equipment using corrective information from external sources: navigation equipment of satellite navigation systems consumers, altitude determination systems, high automation the process of determining, recording topographic and geodetic data.

The specified technical result is achieved by the fact that in the proposed method of operation of the top loader, including the continuous determination in real time of the navigational equipment of the top loader, which includes an on-board calculator, path increment sensors and course system, its location parameters and the angular orientation of the parking lot and in motion, display on the corresponding device of the calculator of the current values of the coordinates and the directional angle of the longitudinal axis of the topographic device and its position on the map, It is the fact that the navigation equipment of the topographic converter additionally provides continuous real-time determination of the altitude, roll angles and pitch, display on the video monitor of the on-board computer of the above parameters, the integration of information from sensors built on various physical principles: speed sensors, mechanical and Doppler, inertial autonomous equipment topographic and navigation systems, systems for determining the height and navigation equipment of consumers of satellite navigation data systems, as well as loading digital terrain maps from an external drive into the on-board computer, automatically changing sheets of digital terrain maps of any scale when coordinates go beyond their borders, gluing adjacent nomenclature sheets of a digital terrain map, determining coordinates and heights of points marked on a digital terrain map operator cursor, solving special geodetic problems, switching to maintenance mode.

Providing navigation equipment topopryazchik continuous real-time determination of height, roll angles and pitch allows you to:

- increase the accuracy of determining navigation parameters;

- improve the accuracy of determining the corrective information entered to reduce the errors of the navigation system.

The display on the video monitor of the on-board computer of the above parameters determined by the top loader allows you to:

- ensure the visibility of ongoing processes;

- provide the necessary degree of control.

Integration of information from sensors built on various physical principles: speed sensors of mechanical and Doppler, inertial autonomous equipment of topographic location and navigation, height determination systems and navigation equipment of consumers of satellite navigation systems allows:

- make automatic determination (calculation) of the three current coordinates of the location, the vector of the ground speed, the azimuth of the moving object, the directional angle and the current time;

- improve the accuracy characteristics of navigation information.

Downloading digital terrain maps to an on-board computer from an external storage device allows you to quickly ensure that a previously prepared electronic cartographic material, selected in accordance with the work area, is loaded into the computer.

Providing automatic change of sheets of digital maps of the area of any scale when the coordinates go beyond their border allows to ensure the continuity of the display of the object when it moves on the video monitor of the computer.

"Gluing" of adjacent nomenclature sheets of a digital map of the area allows you to create a specific area on which work is being done to determine the topographic and geodetic parameters.

The automatic determination on the digital map of the terrain of the coordinates and the height of the points marked by the operator’s cursor allows you to quickly create a network of local landmarks with known coordinates and landmark directions.

Providing an automated solution to special geodetic problems allows us to provide solutions to problems of topographic and geodetic support.

This mode provides mathematical calculations to solve the following problems:

- transformation of full rectangular coordinates from one zone to another;

- direct geodetic task;

- inverse geodesic problem;

- calculation of the directional angle of the star for given moments of time;

- calculation of azimuth according to the results of observation of the star;

- direct serif oriented instrument;

- direct serif on the measured angles;

- reverse notch with an oriented device;

- reverse notch on the measured angles;

- backslash over measured distances;

- reverse notch on the measured angle and distance;

- angular course.

Ensuring the transition of navigation equipment to the maintenance mode allows calibration, monitoring and changing of formular corrections and setting system operation parameters.

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 functional diagram of a topographic device; figure 2 - the algorithm of the topographic; figure 3 - working window of the task "Display"; figure 4 - working window of the task "View map"; figure 5 - working window of the task "Calibration"; figure 6 - working window of the subtask "Selection of the initial coordinates"; figure 7 - working window of the subtask "Directional angle"; on Fig - working window of the subtask "ASN mode"; figure 9 is a working window of the subtask "Corrections".

The algorithm for the implementation of the method of operation of the topper is implemented as follows.

1. Turning on the navigation equipment of the topographic device.

When you turn on the on-board computer 1, the special software and mathematical software and the direction angle determination mode are automatically launched. After loading the operating system, the operating window is displayed on the on-board computer screen.

2. Checking the conformity of the values of the formular amendments. In case of mismatch of the formular amendments, it is necessary to stop further operation of the topo-loader until the causes are identified and the mismatch is eliminated.

3. Checking the correct selection and entry of the initial parameters of the navigation system.

Execution of the movement of the topographic device can be carried out in the presence of a readiness message.

4. Selecting the "Navigation" mode.

Management of the operating modes of the system is performed by the operator. When you select a mode on the video monitor on-board computer 1 displays a list of tasks of the selected mode.

The "Navigation" mode is designed to determine the flat rectangular coordinates X, Y, height H in the Baltic system, the directional angle of the top-mover in the parking lot and in motion, as well as pitch and roll angles, speed and distance traveled.

5. Entering the initial coordinates and the directional angle of the longitudinal axis of the topper.

Inertial autonomous topographic reference and navigation equipment 2 or definitions obtained using autonomous devices can be a source of information about the directional angle of the longitudinal axis of a topographic surveyor.

As a source of information about the initial coordinates of the topper can be the navigation equipment of consumers of satellite navigation systems 7 or the definitions obtained using stand-alone devices.

Inertial autonomous equipment of topographic location and navigation 2 is the basis of the navigation equipment of topographic location and determines the vector of the track or absolute speed of the object. Converting the velocity vector by the appropriate algorithms allows you to determine the coordinates and the height of the position of the top loader in the selected coordinate system (geodesic, orthodromic, rectangular, etc.) in real time. In addition to accelerations, velocities and coordinates, inertial autonomous topographic reference and navigation equipment 2 calculates roll, pitch, and true heading angles, as well as their derivatives: angular velocities and accelerations.

6. The work of the toppler in the process of movement.

When the topographic unit moves along the route, depending on the task, it is performed:

- drawing the route of movement on a digital map of the area. If necessary, the operator can apply additional landmarks and special conditions of the route;

- correction of inertial autonomous equipment of topographic location and navigation 2 according to the coordinates of the place and speed. For correction, either navigation equipment of consumers of satellite navigation systems 7 or landmarks with known coordinates are used.

During the movement of the topper, the inertial autonomous topographic and navigation equipment 2 uses the data of the increment sensors of path 3: the mechanical speed sensor 4 and the Doppler speed sensor 5.

When you select the "Status" mode, the video monitor of the on-board computer 1 displays information about the current state of the system and assembly units, the current values of the input and output data:

- readiness message and selected coordinate system;

- current data of the topographic device according to inertial autonomous equipment of topographic location and navigation 2: X, Y coordinates, directional angle of the longitudinal axis of the topographic device α, transverse ψ (roll) and longitudinal φ (pitch) inclination angles, current distance traveled S;

- current data of the topographic device according to the navigation equipment of consumers of satellite navigation systems: X, Y coordinates, height H, standard error (RMS);

- in the sections of the Doppler speed sensor 5 and mechanical speed sensor 4 displays their current status;

- in the section of the system for determining the height displays the current height data 6.

High accuracy of navigation definitions is achieved by combining inertial navigation information, information about the altitude parameters of the top loader with satellite navigation information.

When you switch to the "Work with CCM" mode, you work with digital terrain maps and perform the following tasks: "View maps", "Formation of the work area", "Download maps", "Delete maps".

When viewing a map, the location of the topographic device is determined on a digital map of the area. When you bring the pointer in the form of a crosshair to any place on the map or to the topographic location in the bottom line of the window displays the coordinates of this location or topographic location. When the topographic device moves, the sheets of digital terrain maps of any scale are automatically changed when the coordinates go beyond their border,

Using the task "Formation of the work area", the prospective work area of the topographic unit is formed due to the "gluing together" of the adjacent nomenclature sheets of a digital map of the area.

When the task "Downloading maps" is activated, the digital terrain map is automatically recorded in the on-board computer 1.

7. The work of the top-loader at the final point

At the final point, after the top loader is completely stopped, depending on the task, the following operations are performed:

- the coordinates of the topographic location are specified. Clarification is made using the navigation equipment of consumers of satellite navigation systems or using stand-alone devices in the presence of local landmarks with known coordinates;

- topographic and geodetic reference is made of landmarks on the terrain and firing positions of guns or rocket launchers;

- in the on-board computer 1 solves the problem of determining the directional angles of directions between the points of firing positions and anchored landmarks on the ground.

8. Maintenance mode.

The "Maintenance" mode allows you to ensure calibration, control or change of formular corrections and set the parameters of the system. The "Maintenance" mode includes the following tasks: "Calibration" and "Settings".

Calibration can be done in two ways:

a) calibration by marching along the route with the known coordinates of the starting and ending points:

the topographic device is installed at the starting point of the route, the values of its coordinates are entered in the on-board computer 1. After completion of the exhibition of inertial autonomous equipment for topographic location and navigation 2, calibration begins and movement to the end point of the route begins. The topper is installed on the end point, and in the presence of the message "100%", its coordinates are entered. According to the results of the calibration, the values of the obtained coefficients and corrections are controlled, after which they are stored in the memory of the on-board computer 1;

b) calibration by marching along a route with known coordinates of the starting point:

the topographic device is installed at the starting point of the route, the values of its coordinates are entered in the on-board computer 1. After completion of the exhibition of inertial autonomous equipment for topographic location and navigation 2, calibration begins and movement begins. When the message "100%" appears, the topper is stopped. 10 seconds after the top loader is completely stopped, the calibration results are accepted, the values of the obtained coefficients and corrections are monitored, after which they are stored in the memory of the on-board computer 1.

The "Settings" task is designed to select and enter the initial parameters of the system and includes the following subtasks: "Selecting the initial coordinates", "Directional angle", "ASN mode". "Amendments", "Interface".

The subtask "Selecting the initial coordinates" is intended for entering or adjusting the values of the initial (final) coordinates X, Y, height H, which will be used the next time the system is turned on and the coordinate system is selected (P3-90, SK-42, WGS-84).

The sub-task "Directional angle" is intended to enter the value of the directional angle, select the source and the mode for determining the directional angle. When choosing the directional angle "From memory", the value of the directional angle from the memory of the on-board computer 1 is used, from the "Exhibition" mode, the value of the directional angle determined using inertial autonomous topographic and navigation equipment 2 is used; from the "Long exhibition" mode, the value of the directional angle is used, determined using inertial autonomous topographic and navigation equipment 2 with increased accuracy with increased determination time. This mode of determining the directional angle is used when calibrating the system.

The subtask "ASN Mode" is intended to select the operating mode of navigation equipment for consumers of satellite navigation systems. When choosing the "GLONASS + GPS" mode, the measurement of navigation parameters is used by joint processing of the set of signals of the GLON-ASS and GPS satellite systems, when the "GLONASS" mode is selected, the measurement of navigation parameters by the signals of the GLONASS satellite system is used; when the "GPS" mode is selected, the measurement of navigation parameters based on GPS satellite signals.

The “Corrections” subtask is intended for monitoring and changing the values of the coefficients of a mechanical speed sensor 4, Doppler speed sensor 5, and angular corrections (angle corrections) characterizing the projections of the dynamic axes of the topographic reference device with respect to the inertial autonomous equipment of topographic reference and navigation 2.

The sub-task "Interface" is intended to enable (disable) the display of the virtual keyboard on the screen in the "Navigation" and "Service tasks" modes and prompts at the bottom of the screen.

Thus, in the present invention, the problem is solved to achieve a technical result, which consists in the formation of a topographic device operating method that provides high accuracy in determining navigation parameters based on inertial autonomous topographic information and navigation equipment using corrective information from external sources: navigation equipment of satellite navigation systems consumers, systems determination of height, high automation of the process of determination, registration of topographic and geodetic FIR data.

Claims (1)

Method of operation of the topographic device, including continuous real-time determination of the topographic equipment by navigation equipment, which includes an on-board computer, path increment sensors and a course system of parameters for its location and angular orientation in the parking lot and in motion, displaying on the corresponding calculator device current values of coordinates and a directional angle the longitudinal axis of the topographic device and its position on the map, characterized in that the navigation equipment of the topographic device It provides continuous continuous real-time determination of altitude, roll and pitch angles, display of the above parameters on a video monitor of the on-board computer, integration of information from sensors built on various physical principles: mechanical and Doppler speed sensors, inertial autonomous topographic and navigation equipment, altitude and navigation equipment of consumers of satellite navigation systems, as well as loading digital maps into the on-board computer availability of data from an external drive, automatic change of sheets of digital terrain maps of any scale when coordinates go beyond their borders, “gluing” of adjacent nomenclature sheets of a digital terrain map, determination of coordinates and height of points marked with an operator’s cursor on a digital terrain map, solution of geodetic problems, transition to maintenance mode.

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