RU2595328C1 - Method of inertial-satellite positioning of mobile objects - Google Patents

Abstract

FIELD: aviation.

SUBSTANCE: invention relates to aerospace instrumentation and can be used in systems for determining coordinates of mobile objects (MO) using a complex method of navigation functionally combining inertial and satellite methods, and can be used in high-precision positioning of MO, as well as during flight of aircraft (AC) in difficult navigation conditions. Technical result is higher accuracy. For this purpose, between the orbits of satellites and MO is placed aerostat suspension (AS) with equipment, performing search, capture and automatic tracking of constellation of visible satellites and MO in response to control-correction station (CCS) and MO. AS transceivers transmit navigation information to ground-based tracking station (CCS) and to consumer (MO). Besides, an optical apparatus for monitoring and tracking of stars in order to correct an inertial navigation system (INS) and local Cartesian coordinate system are mounted on AS. Supposed to be launched in stratosphere several (4-5) AS, radio and optically connected to each other and to CCS, which geodetically accurately anchored to the received local coordinate system. So, local differential navigation system (LDNS) with observation radius of 50-200 km is forming.

EFFECT: knowing sufficiently accurate position of supporting CCS and using radio-and optical range signals as well as signals of Doppler frequency shift, coordinates and velocity vectors of AS and MO can be accurately determined by increasing zone and time of MO availability.

13 cl, 4 dwg

Description

The invention relates to the field of determining the coordinates of moving objects (PO) using an integrated navigation method that functionally combines the inertial method and satellite, and can be used for high-precision positioning of the software, as well as during the flight of an aircraft (LA) in difficult navigation conditions, characterized by increased the level of variability in the composition of the working constellation of navigation satellites.

A known satellite method for navigating software on N navigation satellites (NS) of the Earth, forming a working constellation, which includes the reception of signals on the board onboard software and the calculation of these signals navigation parameters software [1-3]. But in some cases, due to non-standard conditions for receiving NS signals (partial shading or a large slope of the receiving antenna of the software), the accuracy of navigation determinations decreases significantly and, for some values of these factors, satellite-based coordinates become impossible, because An insufficient number of NS gets into the radio visibility zone of the software antenna. When restoring the normal mode of software movement, NS search again occurs, tracking them, information is extracted and parameters are measured, which determine pseudorange and pseudo-speeds for each "visible" NS. This mode of operation of the equipment has an additional reduction in the time of continuous positioning, which can affect the performance of the software targets. In addition, when the composition of the working constellation changes in the coordinate estimates, discontinuities of the second kind appear, jumps, which complicates the operation of devices to the input of which the data of navigation definitions are supplied.

One of the ways to improve the accuracy of navigation definitions in such emergency situations is the integrated use of the satellite navigation method (SOS) and inertial navigation method (SIS), carried out by an inertial system on board the software [4-8].

In the patents [4-7], when combining data from the SSN and the ISN, data from the satellite system are used for any composition of the working constellation. The coordinates and rates of their change are determined as a result of the joint processing of all available information coming from the SSN and ISN. However, the disadvantages inherent in these methods are the inability to control the working constellation of the NS taking into account the angular orientation of the software and the insufficiently accurate representation of this method (in the form of a correlation matrix of the error) when combining the information of the SSN and ISN, which leads to a decrease in the accuracy and reliability of navigation definitions, especially dangerous in difficult navigation conditions, as a change in the composition of the working constellation of the NS is accompanied by spasmodic transients leading to a decrease in the accuracy and continuity of estimating the coordinates of the software using a complex inertial-satellite navigation method.

The inertial-satellite navigation method, protected by the patent [8], is a prototype of the claimed invention. The prototype method consists in the joint processing of data on the position of the aircraft, generated independently by inertial sensors (ID), generating vectors of angular velocity and acceleration of the aircraft, a barometric altimeter and satellite receiver with a known satellite almanac, while data are generated in the input processing on the position of the aircraft in an inertial manner, in parallel, data on the position of the aircraft determined by the satellite method is isolated, and in the output processing based on the mentioned estimates of the inertial and satellite methods the bows perform error estimation of the inertial method using the extended Kalman filter (FC), and then, performing the correction of the errors of the ISN in the input processing, they specify the position of the aircraft in the output processing; in addition, intermediate processing is performed between the input and output processing, including the formation of the working constellation data based on the updated position of the aircraft and information about the orientation of the aircraft, the satellite almanac, the antenna pattern of the receiver, as well as the formation of a correlation matrix of measurement errors. The direction vectors to the satellites are formed using information about the orientation of the aircraft.

Thus, taking into account the orientation of the aircraft and the introduction of intermediate processing allow us to clarify the position of the aircraft, determined by the complex inertial-satellite method.

Although the known methods allow software navigation at any composition of the working constellation, and the coordinates and rates of their change are determined as a result of the joint processing of all available information from the NS and ID, these methods have a common drawback - the possibility of loss of NS radio observations due to emergency situations: shading or a large inclination of the receiving antenna of the software, as well as a possible influence on the accuracy and quality of the navigation signal from the side of controllers who are hostile (due to "sanctions") tuned r stations of escort of foreign states.

Another disadvantage of the prototype method may be insufficiently high positioning accuracy necessary to perform a number of special tasks, as well as a decrease in the accuracy of estimating software coordinates in difficult navigation conditions (large ionospheric noise, the influence of multipath, errors in setting ephemeris NS, etc.).

The objective of the proposed method is to increase the accuracy of estimating software coordinates in difficult navigation conditions due to the formation of a local differential navigation system (LDNS).

The problem is solved as follows.

It is proposed to place several aerostat suspensions (AS) between the orbits of the NS and the trajectories of the software, at an altitude of 35-60 km from the Earth’s surface, at the height of a fairly calm atmosphere (stratosphere).

These APs must be connected by radio and optical channels with each other and with a control and correction station (CCS), as well as connected with software. The CCS is geodesically precisely tied to the adopted local coordinate system and then form an LDNS with a circular viewing area on the Earth's surface of one AP from 100 to 200 km. Radio-optical channels are used to synchronize the operation of generators at two close frequencies F1 and F2, as well as in the region of light wavelengths of 0.4-0.6 microns. In this way, temporary (phase) synchronization of the separated synthesizers of the AP and PO transmitters is carried out, as well as the transmission of information about the coordinates of the movement of the AP, meteorological parameters, and other necessary information (for example, recommendations for choosing the constellation of working APs).

Unlike SSN, LDNS operates in interrogation mode, according to encoded commands from software and KKS. On board the AP, both the own coordinates of the AP are determined, and the constellations of the NS and PO (based on the signals of the PO transmitters) are used, while both range signals and relative speed signals are used for Doppler frequency shift. By signals from the CCS and software, the coordinates of the location and speed of the AP and software are corrected. For this, on board the software and the AP, a joint independent processing of all incoming information is performed using calculations in the local coordinate system and using the ANN, the orientation of which is corrected according to the stars and the constellation of the NS.

To create the LDNs, several APs are used that surround the KKS located in the center of the software and AP working area. In addition, the KKS itself can be performed both in a stationary and in a mobile version; the main thing is that it should be geodesically precisely tied to the adopted coordinate system. On board the AP, optical equipment can also be used to observe and track stars to correct the ANN and the local Cartesian coordinate system, as well as a platform stabilized in inertial space.

In [9], it is proposed to use a network of relay towers and one support (reference) tower for solving problems of monitoring ground objects. The functions of the towers in the case of high-precision positioning can be successfully performed by the AP network, and the tasks of the reference tower are the working CCS, which is installed in the center of the LDNS working area.

With errors in determining coordinates using an optical emitter of 1-2 mm, the task of positioning objects with an error of about 2-3 mm is quite realistic [9].

KKS emits not only signals for software that needs to be positioned, but also clock signals for the AP. At the same time, to increase accuracy, two optical carrier frequencies are used for all LDNS transmitters. In accordance with this, the composition of the receivers should include photodetectors that receive and process optical carrier signals.

It is also proposed to constructively construct ACs in such a way that, to work with the working constellation of the NS, use a system of antennas located in the upper part of the AC and serving the upper hemisphere of the atmosphere, and for observations and work with ground objects, use antennas located in the lower part of the AC and directed downward.

In addition, to solve the problems of geodesy, cartography, and special tasks (for example, measuring the flight altitude of an aircraft, etc.), it is proposed to use a high-precision absolute, stabilized in the local coordinate system (X, Y, Z) gravimeter on board the aircraft.

It is also proposed to use special optical equipment at the AP for monitoring the surface and photographing objects on command from the reference CCS.

Using AP, it is possible to monitor the atmosphere and the ionosphere and predict weather changes, including, among other things, impairing visibility and radio communications.

Operation LDNS allows different modes of operation:

1 - joint work of ISN, SSN, LDNS, when the transceivers serving the upper and lower hemispheres work simultaneously;

2 - stand-alone mode, when the transceivers are used for high-precision positioning, directed downward, i.e. only LDNs are implemented using the cellular infrastructure. In this mode, LDNS can be structurally implemented in two ways:

- LDNS consists of 4-5 AP and one reference (reference) KKS. The total viewing area will be from 400 to 1000 km;

- LDNS consists of one AP and one reference KKS and 3-4 mobile relay KKS within optical visibility. The total field of view in this case will be up to 200 km under favorable relief and weather conditions.

In principle, using the LDNS network, it is possible to provide high-precision positioning to the entire territory of the Russian Federation.

Considering that launching a nuclear power plant into the stratosphere is much more economical than launching an artificial satellite, it is advisable when the aircraft leaves the working area, at the command of the CCS, to soft-land the nuclear weapons with subsequent verification of the equipment’s operability and updating the memory cells and program. After that, you can restart the AP in a new working area.

To create an AP, materials and coatings masking the AP from observing it in the stratosphere can be used.

The essence of the proposed method is illustrated using FIG. 1-4.

In FIG. 1 shows a diagram of the communication and interaction of the method objects.

In FIG. 2 is a flowchart of the main process flow.

In FIG. 3 shows a variant [9] of a functional diagram of a positioning system, with radio and optical communication channels located on the KKS and AP.

In FIG. 4 is a functional diagram of a receiving positioning system located on the software.

The method of FIG. 1 includes typical for the prototype method of communication and interaction of the NS with the control and measuring complex (CFC) and with the moving object PO, therefore, in FIG. 1 they are not shown in detail.

New operations that implement the claimed method are proposed. The novelty of the method lies in the fact that between the orbits of the NS and the software place the AP, radio and optically connected with the software and the SCS, which is precisely tied to the local coordinate system. With the help of several APs and KKS, LDNs are thus formed with a field of view of 100-200 km. The necessary angular distributions of optical signals are provided by wide-angle lenses scanning in the space of the optical system.

KKS-1 is at the same time a reference (reference) station. It plays the role of phasing diversity generators using two optical carrier frequencies in the wavelength range of 0.4-0.6 microns. KKS-1 emits not only signals for software that needs to be positioned, but also clock signals for AP-1 - AP-4. The error in tracking the movement of optical emitters on AP-1 in this way is less than 1 mm in two horizontal coordinates and is transmitted in radio-encoded form to other APs and software.

The following is a brief mathematical justification of the achievable accuracy of the method.

The geometric distance to the object can be determined by the formula [10].

where L ₁ , L ₂ are the optical distances from the emitter to ON;

f (λ) is a function depending on the wavelength of light λ.

When λ in the range from 0.4 μm to 0.6 μm, the optical distance L ₁ will be:

where p, T are the average values of pressure and temperature, measured in the atmosphere;

e - air humidity, expressed through the partial pressure of water vapor, in millibars.

будет равно:

When e is in the range from 0 to 20 mbar, the second term in (2) is much smaller than the first, then the average ratio

will be equal to:

Thus, with values of λ ₁ , λ ₂ = 0.4-0.6 μm, measurement errors L ₁ , L ₂ = 0.1 mm and e <5 mbar, f (λ ₁ ) / [f (λ ₁ ) - f (λ ₂ )] = 20, the measurement error D will not exceed 1-2 mm.

If there is no direct visibility between the AP and the software, and measurements are carried out at only one radio frequency, then the positioning error will be ~ (10-20) mm.

Additional benefits of LDNS can be obtained by using the infrastructure of mobile cellular communications. This will increase the convenience in work and accuracy in coordination when solving special problems, will ensure the issuance of information not only on the scoreboard, but also on the map of the area, plan.

The basic flowchart shown in FIG. 2, coincides with the block diagram of the operations of the prototype: the formation of input data by inertial sensors (ID) 1, barometer 2, satellite receiver (SPR) 3, the input processing of the mentioned data 4, including the generation of data on the position of the software inertial navigation 5 and highlighting data on the software position by the satellite method 6, as well as output processing 7, in which, based on the mentioned estimates of the inertial and satellite methods, ANN errors are estimated using the extended Kalman filter 8. Next, the correction of Ibok input signal processing when forming the software estimates the position and the inertial navigation method in block 9 is determined qualified position PO as the difference ON position estimates, and said certain INS INS error estimates.

Then, between the input 4 and output 7 processing units, an intermediate CCH signal processing unit 10 is introduced, which includes a working constellation data generating unit 11 based on the updated position of the software and information about its orientation, the constellation data almanac and the antenna pattern of the receiver, and then in the block 12 form a correlation matrix of errors.

The novelty of the proposed method consists in the fact that the signals at radio and optical frequencies from radio transmitters and emitters located on the KKS and on the AP (blocks 13 and 14 in Fig. 2) launched into the stratosphere to the calm and weak region are fed to the inputs of the software receivers atmospheric air dynamics. This allows you to more accurately (~ 2-3 mm) determine the navigation parameters (coordinates X, Y, Z in the local coordinate system, height h and velocity vector V) for all objects of the method: KKS, AP and PO.

Further, as in the prototype, in block 4 is the input processing of the incoming information.

In block 15, data on the position of the software, its V and h, obtained from the AP and KKS, is extracted. In this case, to synchronize the transmitters and improve positioning accuracy, two optical carrier frequencies in the wavelength range of 0.4-0.6 μm are used, as well as the necessary radio frequencies.

Then, in block 6, data on the position of the software is extracted in a satellite manner, with the weighting coefficients being assigned to the data. Thus obtained data on the position of the software using the AP and CCS, in parallel with the data on the position of the software obtained by the inertial method in block 5, are processed 7 using the advanced Kalman filter 8, they evaluate and correct errors, and then determine in block 9 clarified software position.

Based on the information about the orientation of the software, the radiation pattern of the antenna and the almanac of the constellation AP in block 11, the data of the working constellation AP are generated.

The intermediate processing operations 10 include generating data of the operating constellation of the AP based on information about the orientation of the software, the antenna pattern and the almanac of the data of the working AP. Next, in block 12, the direction vectors of the selected APs and the correlation matrix of measurement errors are generated.

The proposed method also includes the operation of generating the search commands NS or AP in block 16. This operation uses the data of the working constellation NS or AP and creates at the control input of the receiver the search command NS or AP. Thus, the possibility of the appearance of abnormal errors in the AP data is excluded.

In FIG. Figure 3 presents a functional diagram with radio and optical communication channels of a positioning station installed on the AP and KKS. Each station must transmit to the object radio and optical signals, meteorological parameters, coordinates of the emitter bias. In addition, a phased master synthesizer must be present at each station, providing accurate phase-time binding to the synthesizer phase on the reference CCS. This binding is provided by the radio-optical synchronization channel. A synthesizer with an auto-tuning unit 17 adjusts the phase of the signal to the reference signal from the reference station (KKS). For this purpose, either a radio channel 18 or an optical channel from a KKS 19 emitter is used, and the channels are switched using a threshold device 20, a high-frequency switch 21, and a controller 22 when the optical signal reaches values below a critical level. To compensate for the displacements of the emitter 19, displacement meters (accelerometers) in the coding block 23 and digital video cameras 24 are used, the data of which are sent to the controller 22 (or a special processor) for processing, and the error signal generated there also controls the phase shifter 25, which compensates for the displacements of the emitter 26. The horizontal displacements of the top of the KKS emitter using the coding block 23 are transmitted from the radio and optical transmitters 27 to the positioning object. In the same way, the meteorological parameters measured in block 28 are transmitted (T, p, e), however, this information is necessary only in the absence of optical visibility. The optical transmitter 27, as noted, operates through a modulation unit 29 on optical carriers in the region of maximum atmospheric dispersion in the spectral range of 0.4-0.6 μm. To receive signals from the reference CCS, a wide-angle lens 19 is used, the optical signal of which is amplified by a photo amplifier 30 and, through a threshold device 20 and a high-frequency switch 21, is fed to the input of a synthesizer with a phase-locked loop 17.

Although the system for receiving and primary processing of positioning signals (see. Fig. 4) is not original, it is nevertheless advisable to bring it to explain the principle of forming high-precision input information about the position of objects.

A receiver 27 onboard the software receives and decodes the movements of the AP and KKS emitters over the radio channel 18 and / or the optical channel 19, decodes the meteorological parameters from each transmitting station, and also contains an optical receiver with a photo amplifier 30, which receives optical signals in the case of direct visibility. Depending on the optical signal, the threshold device 20 and the high-frequency switch 21 pass either the signals from the photo amplifier 30 or the radio receiver 27 to the synthesizer 17. The synthesizer 17 adjusts its phase via the radio channel (in case of poor visibility) or by the modulation signal of the optical carrier with the CCS. A decoding device with an analog-to-digital converter (ADC) 31 decodes the bias of the emitters, as well as the meteorological parameters. The controller 22, together with the ADC, measures the phases of the signals of the required frequencies. Next, the controller recalculates the phases into distances with reference to the coordinate grid and calculates the coordinates of the object (software), which are displayed on the monitor 32 or display (for visualization).

From the data given in [11], it follows that the stability of the reference generators, the positioning error of the movements of the KKS emitters, and their time synchronization are equivalent to an error of ~ 1 mm (if the time synchronization is carried out via the optical communication channel), and the addition of optical transmitters on all APs and KKS use infrastructure stability for positioning mobile objects with an accuracy of 1 mm.

In addition, improving the accuracy and reliability of navigation software is achieved by using input information from the NS and the AP to generate in the input processing circuit 4 and block 6 selected data on the pseudorange (PD), pseudo-speed (PS) and signal to noise ratio (s / w ) in block 33. Using the channels of the infrastructure of mobile cellular communications 34 also significantly improves the accuracy and convenience of performing work using software in complex and emergency tasks of positioning and coordination of actions using LDNs.

Thus, the novelty of the proposed method is shown above, which is realized, first of all, in the placement of transceiver equipment at an intermediate height, between the NS and the PO, in the zone of a quiet stratosphere, when command signals of control, coordination and correction are formed in the reference CCS located on Earth, the communication of which with each other and other transceivers is proposed to be carried out via radio-optical channels at two carrier frequencies. Thus, a local differential navigation system is created - LDNS.

In addition, the feasibility of using to place transceivers on a balloon suspension - AP is shown. This allows you to significantly save money and time on the creation and deployment of such LDNS, which ensures the effectiveness and convenience of its use in various fields.

The use of radio and optical channels at two carrier frequencies can significantly improve the accuracy, availability and continuity of the navigation support of moving objects in comparison with existing systems of a similar purpose.

And, finally, it should be noted the applied multifunctionality of the proposed LDNS - this is high-precision navigation support, geodesy and cartography, automatic aircraft landing; control over the movement of vehicles, when the ship is moored in narrow places, during the control and construction of complex structures, etc.

The principal advantages of the positioning system using LDNS over satellite systems, in addition to increased accuracy, are:

- much lower cost of manufacturing, withdrawal to the work area of the AP, KKS and KIK, as well as maintenance of the LDNS infrastructure;

- maximum stealth launch and stay in the work area;

- maximum launch efficiency in almost any controlled area;

- the ability to launch from an aircraft at the desired point in space;

- the possibility of reusable use (launch - landing);

- the ability to work offline (in an emergency with GLONASS) provides redundancy and reliability of the system in a "special" period;

- the ability to use a well-developed mobile cellular infrastructure;

- the ability to work "on demand", which allows you to secretly keep the LDNS in the "standby" mode and turn on the system only at the required time "H";

- mobility, which allows you to abandon the creation of stationary tracking and relay systems.

The creation of LDNS allows solving various problems of positioning material objects (mobile, including aircraft and stationary) with the highest accuracy both in the interests of the country's security and in the civilian sector.

Information sources

1. GLONASS. The principles of construction and operation / Ed. A.I. Petrova, V.N. Harisova. 4th ed. reslave. and add. - M.: Radio Engineering, 2005, 800 p.

2. Introduction to satellite navigation / V.V. Malyshev et al. M. Radio Engineering, 2008, - 150 p.

3. The use of GPS / Glonass (study guide) / M.R. Bogdanov, publishing house "Intellect", 2012, 136 pp.

4. RF patent 2334199, cl. G01C 23/00 claimed 03/19/2007, publ. 09/20/2008.

5. Patent EP 1 837 627 A2, cl. G01C 21/28 claimed 03/07/2007, publ. 09/26/2007.

6. Patent EP 202637 A2, cl. G01C 21/16 claimed 08/12/2008, publ. 02/18/2009.

7. USA patent No. 7,873,472 B2, class. G01C 21/00 claimed 02/11/2010, publ. 01/18/2011.

8. RF patent 2536768 C1, cl. G01C 21/00, G01C 23/00, publ. 12/27/2014.

9. Mobile transceivers for positioning systems in monitoring tasks of ground objects / V.I. Grigoryevsky, M.V. Grigoryevskaya, V.P. Sadovnikov, Yu.O. Yakovlev, Measuring equipment, No. 5, 2013.

10. Refraction of electromagnetic waves in the atmospheres of Earth, Venus and Mars. M .: Soviet Radio, 1976.

11. Evaluation of the accuracy of positioning of objects using the infrastructure of mobile communications / V.I. Grigoryevsky, M.V. Grigoryevskaya, Yu.O. Yakovlev / Metrology 2011, No. 8, p. 33-42.

Claims (13)

1. The method of inertial-satellite positioning of moving objects (ON), including aircraft (LA), which consists in the joint processing of input data on the position of the software, generated independently by inertial sensors that generate angular velocity and acceleration vectors of the software, barometric altimeter and a satellite receiver of a global navigation satellite system with a well-known almanac of navigation satellites (NS) and the composition of the working constellation, taking into account information about the position and orientation of the mobile x objects, characterized in that between the orbits of the NS and PO, at an altitude of 35-60 km from the Earth’s surface, a balloon suspension (AP) is placed, radio and optically connected to a control and correction station (CCS), which is geodesically precisely attached to the received the coordinate system of the base station and forming the local differential navigation system (LDNS) with a viewing area of radius ~ (50-200) km, and using radio-optical synchronization channels of generators operating at two close frequencies F ₁ , F ₂ , as well as in the range of lengths light waves ~ (0.4- 0.6) microns, and performing temporary (phase) synchronization of spaced apart synthesizers of AP transmitters, as well as transmitting software information about meteorological parameters and their coordinates of movement. 2. The method according to p. 1, characterized in that the transceiver equipment operating in interrogation mode, generates and transmits navigation and other (meteorological parameters) information on the encoded commands from the software and KKS, performing search, capture and automatic tracking of the worker NS constellations, as well as the reception and transmission of navigation information to the ground tracking station (CCS) and to the software. 3. The method according to p. 1, characterized in that to increase the accuracy, reliability and availability range of the software, form the LDNS of the navigation APs (working "constellation" of 4-5 APs) spaced at optical "visibility" distances ~ (50-120 ) km around the working area of users of navigation information operating at one common frequency, which provides direct optical and radio communication between themselves and the space station at the time of operation. 4. The method according to p. 1, characterized in that to expand the range of autonomous operation of the AP in difficult conditions, on board the AP they use a compact enough inertial navigation system (ANN) with a stabilized platform and corrected for stars and from ground tracking stations (KKS) . 5. The method according to any one of paragraphs. 1, 4, characterized in that onboard the AP they install optical equipment stabilized in inertial space to observe the starry sky, as well as the constellation of satellites of the GLONASS navigation system. 6. The method according to p. 5, characterized in that onboard the AP form an inertial coordinate system, which is converted into a local Cartesian coordinate system x, y, z, corrected by stars. 7. The navigation method according to claim 1, characterized in that for the operation of the AP with the working constellation of the NS, a system of antennas located in the upper part of the AP and serving the upper hemisphere of the atmosphere is used, and for observations and work with ground objects, the antennas located in the lower part AP and directed down. 8. The navigation method according to claim 6, characterized in that for the solution of problems of geodesy and cartography and special. tasks on board the AP use a highly accurate absolute stabilized in the coordinate system x, y, z gravimeter. 9. The method according to p. 8, characterized in that they use special optical equipment for observing the surface and photographing objects on command from a reference observation point (CCS). 10. The method according to p. 9, characterized in that on board the UA carry out observations of the atmosphere (and ionosphere) and predict deterioration in visibility and radio communications, as well as weather changes. 11. The method according to p. 1 or 10, characterized in that to ensure high-precision positioning of the software when performing special work use the infrastructure of mobile cellular communications. 12. The method according to p. 1, characterized in that, for economic feasibility, when the AP leaves the working area, on command from the KKS, the AP is soft-landed, followed by a check of the operation of the AP equipment, updating of the program and memory cells of the AP, and then repeated launch of AP in a new working area. 13. The method according to any one of paragraphs. 1-4, characterized in that to create the AP use materials and coatings that mask the AP from observing it in the stratosphere.

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