RU2740606C1 - Method and device for determining angular orientation of aircrafts - Google Patents

Abstract

FIELD: radio equipment.

SUBSTANCE: group of inventions relates to radio engineering and can be used to determine angular orientation of aircraft in space and on plane. In the method, determination of angular orientation of aircrafts is carried out using optimized spatial filtration when receiving signals of spacecrafts (SC) of global navigation satellite system (GNSS), which is based on a criterion of minimum output power. Method differs from known by calculation of reference phase differences Δϕ_ref. Values Δϕ_ref are determined from the difference of signals of two adaptive antenna arrays (AAA), wherein amplitude-phase shift introduced by each AAA is taken into account. To this end, the calculated phase differences take into account the values of the weight coefficients vector (WCV) of the corresponding AAA. Elimination of contradiction in implementation of adaptive antenna system related to simultaneous performance of spatial filtration of aircraft noise and angular orientation by replacement of M antenna elements on M AAA. Device for determining aircraft angular orientation, realizing the method, comprises M identical antennae from N antenna elements, M ≥ 3, N ≥ 2, a reference signal generation unit, a clock generator, S correlators, S analysis units, S + 1 switches, a correlator initial setting unit, S subtraction units, a memory unit, first and second calculators-generators, a decision unit, a control unit, a display unit, three input setting buses, a radio navigator, connected to each other in a certain manner.

EFFECT: technical result is high noise immunity to deliberate interference.

2 cl, 18 dwg

Description

The claimed objects are united by one inventive concept, relate to radio engineering and can be used to determine the angular orientation of aircraft (objects) in space and on a plane.

The known method of the angular orientation of the object according to radio navigation signals of spacecraft (SC) (options) (US Pat. RF No. 2122217, IPC G01S 5/02, publ. In bull. No. 32, 1998). The method is based on the reception of signals from the S spacecraft by two or more antenna-receiving devices located parallel to one or two axes of the object, the selection of the signal with the Doppler frequency, the determination of the phase incursion over the measurement time interval and the determination of the angular position of the object, during the measurement time interval m measurements of phase shifts between pairs of antenna-receiving devices, and the angular position of the object is determined by solving a system of equations.

The disadvantages of the analogue method and its variants are low noise immunity to deliberate interference, the need to ensure the immobility of the aircraft (object) during measurements and significant time costs. In addition, analogs, when measuring the track angle (azimuth), do not take into account the drift angle of the object.

The known method of angular orientation of objects according to the signals of the spacecraft of global navigation satellite systems (US Pat. RF No. 2105319, IPC G01S 5/00, publ. 20.02.98, bull. No. 5). The method is based on the reception of signals from the spacecraft of global navigation satellite systems (GNSS) to the antenna array (AR) of M, M ≥ 4, spatially separated antenna elements (AE) located in the same plane parallel to the two symmetry axes of the object, measuring the phase shift between the received in the AE with signals from each spacecraft, a single change in the angular position of the plane of the antenna array and repeated measurement of the phase shift between the signals received in the AE, determination of the angular position of the axes of the measured object by solving the main system of equations and an additional system of equations.

The analogous method allows, according to the signals of the spacecraft of global navigation satellite systems, to accurately measure the orientation of objects (azimuth and roll).

The disadvantage of the analogue is low noise immunity to intentional interference, large time costs for solving the main and additional systems of equations, the last of which is nonlinear. In addition, to determine the angular position of the object (AR), it is necessary to change the angular position of the AR to an arbitrary angle, and then return the antennas to their original state (to ensure the formation of an additional system of equations). The fulfillment of this condition requires the presence on board of the object of a device for turning the AP or maneuvers of the object itself, which is not always feasible. Other disadvantages of the analog are:

inability to measure the pitch angle;

when measuring the track angle, the drift angle of the object is not taken into account (not measured).

элементарных зон привязки, где D и D₀ соответственно площади сферы на удалении нескольких тысяч километров от центра АР и элементарной зоны привязки, каждой зоне привязки присваивают порядковый номер b_p, р=1.2. …., Р, определяют координаты местоположения центров элементарных зон привязки, АР выполняют из М, М≥4, пространственно разнесенных антенных элементов, расположенных в одной плоскости параллельно двум осям симметрии ЛА, для каждой пары АЭ А_m0, m=1,2, …, М - 1 рассчитывают эталонные значения разностей фаз прихода сигналов относительно координат местоположения центров каждой элементарной зоны привязки Δϕ_эт.m0(α₀,β₀,θ₀)_р, где

- соответственно значения углов тангажа, крена и азимута АР, последовательно дискретно изменяют ориентацию АР на заданные значения углов Δα, Δβ и Δθ в предварительно заданных интервалах (α_min, α_max), (β_min,β_mах) и (θ_min,θ_max), (α_max-α_min)/Δα=I, (β_mах - β_min)/Δβ=J, (θ_max - θ_min)/Δθ=L без изменения координат центра АР относительно центра элементарных зон привязки, для каждого положения АР

и для каждого центра элементарных зон привязки рассчитывают и запоминают эталонные значения разностей фаз

, в процессе работы принимают сигналы от первого обнаруженного космического аппарата глобальной навигационной спутниковой системы, измеряют разности фаз принимаемых сигналов в антенных элементах АР Δϕ_изм.m0(α,β,θ), вычисляют разность между эталонными разностями фаз, соответствующими углами АР α₀, β₀, θ₀ для b_n-й элементарной зоны привязки, и измеренными разностями фаз сигналов первого КА с априорно известным местоположением

измеренные разности фаз возводят в квадрат и суммируют по всем М-1 используемым в работе парам АЭ, результаты вычислений Δϕ₁(α₀, β₀, θ₀) запоминают, принимают сигналы других КА и определяют значения Δϕ_s(α₀, β₀, θ₀) для всех S наблюдаемых КА, s=1,2, … S, результаты вычислений суммируют по всем S отмеченным в работе КА и запоминают в элементе r(1,1,1) трехмерной матрицы измерений R(α, β, θ), вычисляют значения

для всех возможных углов ориентации АР

i=0,1,2 …, I; j=0,1,2 …, J;

а полученные результаты записывают в соответствующие элементы

трехмерной матрицы измерений R(α,β,θ), за измеренную ориентацию АР и ЛА принимают значения углов

соответствующие элементу

матрицы измерений R(α, β, θ), имеющему минимальное значение.The closest in technical essence to the claimed is a method for determining the angular orientation of aircraft (Patent RF No. 2374659, IPC G01S 5/00, publ. 27.11.2009, bull. No. 33). The method is based on the fact that at the preparatory stage or during the flight of the aircraft (AC), the sphere above the antenna array is evenly divided into

elementary anchoring zones, where D and D _0, respectively, are the area of a sphere at a distance of several thousand kilometers from the center of the AR and an elementary anchorage zone, each anchorage zone is assigned a serial number b _p , p = 1.2. ...., P, determine the coordinates of the location of the centers of the elementary anchoring zones, the ARs are made of M, M≥4, spatially spaced antenna elements located in one plane parallel to the two axes of symmetry of the aircraft, for each pair of AE A _m0 , m = 1.2, ..., M - 1 calculate the reference values of the phase differences of the arrival of signals relative to the coordinates of the location of the centers of each elementary reference zone Δϕ _et.m0 (α ₀ , β ₀ , θ ₀ ) _p , where

- respectively, the values of the angles of pitch, roll and azimuth of the AA, sequentially discretely change the orientation of the AA to the given values of the angles Δα, Δβ and Δθ in predetermined intervals (α _min , α _max ), (β _min , β _max ) and (θ _min , θ _max ), (α _max -α _min ) / Δα = I, (β _max - β _min ) / Δβ = J, (θ _max - θ _min ) / Δθ = L without changing the coordinates of the AA center relative to the center of the elementary reference zones, for each position AR

and for each center of the elementary reference zones, the reference values of the phase differences are calculated and stored

, in the process of operation, they receive signals from the first detected spacecraft of the global navigation satellite system, measure the phase differences of the received signals in the antenna elements of the antenna _array Δϕ _meas.m0 (α, β, θ), calculate the difference between the reference phase differences corresponding to the angles of the antenna _array α ₀ , β ₀ , θ ₀ for the b _n -th elementary reference zone, and the measured phase differences of the signals of the first spacecraft with a priori known location

the measured phase differences are squared and summed over all M-1 AE pairs used in the work, the results of calculations Δϕ ₁ (α ₀ , β ₀ , θ ₀ ) are stored, signals from other spacecraft are received and the values of Δϕ _s (α ₀ , β ₀ , θ ₀ ) for all S observed spacecraft, s = 1,2, ... S, the computation results are summed over all S marked in the spacecraft operation and stored in the element r (1,1,1) of the three-dimensional measurement matrix R (α, β, θ), calculate the values

for all possible angles of AR orientation

i = 0,1,2 ..., I; j = 0,1,2 ..., J;

and the results obtained are recorded in the corresponding elements

of the three-dimensional measurement matrix R (α, β, θ), for the measured orientation of the AA and AC the angles

corresponding element

of the measurement matrix R (α, β, θ), which has a minimum value.

The prototype method allows to reduce the time spent on measuring the roll and azimuth angles, taking into account the drift angle, and provides an additional measurement of the pitch angle.

However, the prototype and analogs have a common drawback associated with their low noise immunity. The radio receiving equipment of GNSS signals is vulnerable to the effects of deliberate interference of various structures (see Patent RF No. 2525299, 2543078, etc.). It is known that when the interference power over the signal is increased by 40 dB without the use of special measures, synchronization breaks down without subsequent detection of satellite signals. As a result, it becomes necessary to use one of the methods of noise protection. The maximum achievable efficiency of the known methods of noise protection is limited by the current level of development of the element base and is 30-40 dB (see Nikitchenko V.V., Smirnov P.L. Estimation of the spatial polarization parameters of signals and interference of radiation reception with pseudo-random tuning of the operating frequency // Radio engineering and electronics, USSR Academy of Sciences, Nauka, T. 35, No. 4, 1990, pp. 767-774). One of the effective methods of dealing with deliberate interference is spatial filtering based on adaptive antenna arrays (AAA).

The aim of the proposed method for determining the angular orientation of aircraft is to increase its noise immunity in the presence of deliberate interference through the use of optimized spatial filtering when receiving GNSS signals based on minimizing the output power.

элементарных зон привязки, где D и D₀ - соответственно площади сферы на удалении нескольких тысяч километров от центра АС и элементарной зоны привязки, присвоении каждой элементарной зоне привязки порядкового номера b_p, р=1,2,…, Р, определении координат местоположения центров элементарных зон привязки (X,Y,Z)_p, расчете для каждой пары антенных элементов АС А_m0 m=1,2,…, М - 1, М - количество использованных в АС антенных элементов (АЭ), эталонных значений разности фаз прихода сигналов относительно координат местоположения центров каждой р-й элементарной зоны привязки Δϕ_эт.m0(α₀,β₀,θ₀)р, где

- соответственно значения углов тангажа, крена и азимута АС, последовательном дискретном изменении ориентации АС на заданные значения углов Δα, Δβ и Δθ в предварительно заданных интервалах (α_min, α_mах), (β_min,β_mах) и (θ_min, θ_mах), (α_max - α_min)/Δα=I, (β_mах - β_min)/Δβ=J, (θ_mах - θ_min)/Δθ=L без изменения центра АС относительно центров элементарных зон привязки, расчете для каждого положения АС

и для каждого центра элементарных зон привязки эталонных значений разности фаз

и запоминании их, приеме в процессе работы сигналов от первого обнаруженного космического аппарата глобальной навигационной спутниковой системы, измерении разности фаз принимаемых сигналов в антенных элементах АС Δϕ_изм.m0(α, β, θ)_р, вычислении разности между эталонными разностями фаз, соответствующими углам АС α₀, β₀, θ₀ для b_р-й элементов зоны привязки с измеренными разностями фаз сигнала первого КА с априорно известным местоположением b_p (X, Y, Z):

возведение в квадрат и суммирование по всем М - 1 используемым в работе парам АЭ измеренных разностей фаз:In the claimed method, the stated goal is achieved by the fact that in the known method for determining the angular orientation of aircraft, including at the preparatory stage or during the flight of the aircraft, a uniform division of the sphere over the antenna system (AS) into

elementary anchoring zones, where D and D ₀ are, respectively, the area of the sphere at a distance of several thousand kilometers from the center of the AC and the elementary anchorage zone, assigning a serial number b _p , p = 1,2, ..., P to each elementary anchor zone elementary anchoring zones (X, Y, Z) _p , calculation for each pair of antenna elements of the AC А _m0 m = 1,2, ..., М - 1, М - the number of antenna elements (AE) used in the AC, reference values of the phase difference of arrival signals relative to the coordinates of the location of the centers of each p-th elementary reference zone Δϕ _et.m0 (α ₀ , β ₀ , θ ₀ ) p, where

- respectively, the values of the pitch, roll and azimuth angles of the AU, sequential discrete change in the AU orientation to the given values of the angles Δα, Δβ and Δθ in predetermined intervals (α _min , α _max ), (β _min , β _max ) and (θ _min , θ _max ), (α _max - α _min ) / Δα = I, (β _max - β _min ) / Δβ = J, (θ _max - θ _min ) / Δθ = L without changing the center of the AC relative to the centers of elementary reference zones, calculated for each position of the speaker

and for each center of the elementary zones of the reference values of the phase difference

and storing them, receiving signals from the first detected spacecraft of the global navigation satellite system during operation, measuring the phase difference of the received signals in the antenna elements of the AC Δϕ _meas.m0 (α, β, θ) _p , calculating the difference between the reference phase differences corresponding to the angles АС α ₀ , β ₀ , θ ₀ for b _p- th elements of the reference zone with measured phase differences of the signal of the first spacecraft with a priori known location b _p (X, Y, Z):

squaring and summing over all M - 1 pairs of AE used in the work of the measured phase differences:

storing the results of calculations Δϕ ₁ (α ₀ , β ₀ , θ ₀ ), receiving signals from other S-1 spacecraft and determining the values of Δϕ _s (α ₀ , β ₀ , θ ₀ ) for all S observables s = 1,2, ... , S, summing up the calculation results:

для всех возможных углов

ориентации AC, i=0,1,2, …, I, j=0,1,2, …, J,

записывании полученных результатов в соответствующие элементы

трехмерной матрицы измерений R=(α, β, θ), принятии за измеренную ориентацию АС и летательного аппарата значения углов

соответствующего элементу

матрицы измерений R=(α, β, θ), имеющему минимальное значение, прием сигналов КА осуществляют на АС, содержащую М идентичных антенных решеток (АР), расположенных в плоскости приема нелинейно и содержащих по N, N≥2 идентичных ненаправленных АЭ, для каждой m-й АР формируют вектор весовых коэффициентов

размерности N, принятые каждым n-м АЭ m-й АР сигналы

комплексно умножают на соответствующий ему элемент

вектора весовых коэффициентов

суммируют полученные значения в рамках каждой m-й АР, М значений которых используют для измерения разности фаз принимаемых сигналов Δϕ_изм.m0(α,β,θ)_р и последующего уточнения значений

m=1,2, …, М, а эталонные разности фаз Δϕ_эт.m0(α₀, β₀, θ₀)_р рассчитывают в два этапа, на подготовительном этапе находят и запоминают расчетные разности фаз прихода сигнала из каждой р-й элементарной зоны привязки между опорным АЭ и всеми другими АЭ АС для всех возможных положений АС

а в процессе работы полученные в рамках каждой АР расчетные разности фаз уточняют путем умножения на соответствующие им элементы

вектора весовых коэффициентов

и суммируют, а эталонные разности фаз Δϕ_эт.m0(α₀, β₀, θ₀)_р определяют как разность суммарных фаз сигнала между антенными решетками.and storing in the element r (1,1,1) a three-dimensional measurement matrix R = (α, β, θ), calculating the value

for all possible angles

orientation AC, i = 0,1,2, ..., I, j = 0,1,2, ..., J,

recording the results obtained in the corresponding elements

three-dimensional matrix of measurements R = (α, β, θ), taking the values of angles for the measured orientation of the AU and the aircraft

corresponding element

of the measurement matrix R = (α, β, θ), which has a minimum value, the spacecraft signals are received at the AS containing M identical antenna arrays (AR) located in the receiving plane nonlinearly and containing N, N≥2 identical non-directional AEs for each m-th AR form a vector of weight coefficients

of dimension N received by each n-th AE of the m-th AR signals

complexly multiply by the corresponding element

weight vector

summarize the obtained values within each m-th AR, the M values of which are used to measure the phase difference of the received signals Δϕ _meas.m0 (α, β, θ) _p and the subsequent refinement of the values

m = 1,2, ..., M, and the reference phase differences Δϕ _et.m0 (α ₀ , β ₀ , θ ₀ ) _{p are} calculated in two stages, at the preparatory stage, the calculated phase differences of the signal arrival from each p-th are found and stored an elementary reference area between the reference AE and all other AEs of the AU for all possible positions of the AU

and in the process of work, the calculated phase differences obtained within each AR are refined by multiplying by the corresponding elements

weight vector

and are summed, and the reference phase differences Δϕ _et.m0 (α ₀ , β ₀ , θ ₀ ) _{p are} determined as the difference between the total signal phases between the antenna arrays.

Thanks to the new set of essential features in the claimed method, the negative impact of deliberate interference is eliminated due to spatial filtering based on the use of AAA.

Known device for angular orientation of objects according to the signals of the spacecraft of global navigation satellite systems according to US Pat. RF No. 2185637, IPC G01S 5/00, 5/02, publ. 20.07.2002, bul. No. 20.

The analog device contains M, M≥4, identical receiving channels from series-connected: antenna element, low-noise amplifier, radio path and digital processing unit, block for generating reference signals, the first group of outputs of which is connected to the second inputs of radio paths of receiving channels, the second group of outputs is connected with the second inputs of the digital processing units of the receiving channels, a clock generator, the first output of which is connected to the input of the reference signal generator, and the second output is connected to the synchronization input of the computing processor, the groups of information inputs of which are connected to the corresponding groups of information outputs of the digital processing units of the receiving channels.

The disadvantages of the analog device are low noise immunity to deliberate interference, significant time spent on measuring the roll and azimuth angles, the aircraft drift angle is not taken into account, and an additional measurement of the pitch angle is required.

The closest in technical essence to the claimed device for determining the angular orientation of aircraft is the device according to US Pat. RF No. 2374659, IPC G01S 5/00, publ. 11/27/2009.

The device for determining the angular orientation of aircraft, includes M, M≥4, identical receiving channels from a series-connected antenna element, a low-noise amplifier, a radio path and a digital processing unit designed to convert an analog signal into digital form and decompose it into quadratures, two groups of outputs of which are the first and second groups of information outputs of the corresponding receiving channel, a reference signal generating unit whose output is connected to the second inputs of the receiving channels' radio paths, a clock generator, S correlators, S analysis blocks designed to assess the quality of signals received from spacecraft, S + 1 switch , block for initial setting of correlators, S blocks for calculating the phase difference, S blocks for subtraction, memory block, calculator-shaper, designed to form a three-dimensional matrix of measurements R [α, β, θ), a decision block designed to find an element of a three-dimensional matrix of measurements ereny with a minimum value, a control unit designed to store the coordinates of the centers of the elementary reference zones and compare these coordinates with the coordinates of the detected spacecraft, an indication unit, the first, second and third input installation tires, a radio navigator and M + 1 antenna element, the output of which connected to the input of the radio navigator, the first information output of which is connected to the control input of the initial setting of correlators, the groups of information inputs of which are combined with the corresponding groups of information inputs of the correlators and the corresponding groups of information outputs of the receiving channels, the clock inputs of which are combined and connected to the clock inputs of the digital processing units of the receiving channels, clock generator output, synchronization inputs of correlators, clock inputs of a control unit, blocks for calculating the phase difference, memory block, subtraction blocks, calculator-shaper, decision block, initial setup block correlators, S + 1-th switch, analysis blocks, the second groups of information outputs of which are connected to the groups of information inputs of the corresponding blocks for calculating the phase difference, the first outputs of the analysis blocks are connected to the control inputs of the corresponding switches, the third groups of outputs of the analysis blocks are connected to the first groups of information inputs corresponding switches, groups of information inputs of analysis units are connected to groups of information outputs of the corresponding correlators, the first groups of control inputs of which are connected to the corresponding first groups of information outputs of the initial setting block of correlators, the second groups of control inputs of correlators are connected to groups of outputs of the corresponding switches, the second groups of information inputs of which are connected to the corresponding second groups of information outputs of the initial setting block of correlators, the groups of information outputs of the phase difference calculation blocks are connected to the corresponding by the input groups S + 1 of the switch, the group of address inputs of which is connected to the group of address outputs of the block of initial setting of correlators, and S groups of information outputs are connected to the groups of inputs of the subtracted corresponding subtraction blocks, the groups of inputs of the reduced ones are combined and connected to the group of information outputs of the block memory, the group of information inputs of which is the second input setting bus of the device for determining the angular orientation of aircraft, and the group of address inputs is connected to the group of information outputs of the control unit, the second group of information inputs of which is the first input setting bus of the device for determining the angular orientation of aircraft, the first group of information inputs of the control unit is connected to the second group of information outputs of the radio navigator, S groups of information inputs of the calculator-generator are connected to the groups of information outputs of the corresponding subtraction blocks tanya, and the group of information outputs of the calculator-generator is connected to the first group of information inputs of the decision block, the second group of information inputs of which is connected to the third input installation bus of the device for determining the angular orientation of aircraft, and the group of information outputs is connected to the group of information inputs of the display unit.

The prototype device provides time savings for measuring the roll and azimuth angles taking into account the drift angle and additional measurement of the pitch angle. However, the prototype also has a disadvantage. The device loses its performance if it is exposed to intentional interference.

The aim of the proposed technical solution is to develop a method and device for determining the angular orientation of aircraft, providing an increase in noise immunity under the influence of deliberate interference through the use of an optimized approach of spatial filtering based on A AC.

In the claimed device for determining the angular orientation of aircraft, the goal is achieved by the fact that in the known device consisting of M, M≥3, identical receiving channels from a series-connected antenna element, a low-noise amplifier, a radio path and a digital processing unit designed to convert an analog signal into digital form and its decomposition into quadratures, a block for generating reference signals, the output of which is connected to the second inputs of the radio paths of the receiving channels, a clock generator, S correlators, S analysis blocks designed to assess the quality of signals received from spacecraft, S + 1 switches, an initial block setting correlators, S blocks for calculating the phase difference, S blocks for subtraction, a memory block, a first calculator-shaper designed to form a three-dimensional measurement matrix R (α, β, θ), a decision block designed to find an element of a three-dimensional measurement matrix with minimum m value, a control unit designed to store the coordinates of the centers of the elementary reference zones and compare these coordinates with the coordinates of the detected spacecraft, the display unit, the first and second input installation buses, a radio navigator, the first information output of which is connected to the control input of the initial installation unit of correlators, a group information inputs of which are combined with the corresponding groups of information inputs of correlators, clock inputs of which are combined and connected to clock inputs of digital processing units of receiving channels, clock generator output, synchronization inputs of correlators, clock inputs of a control unit, phase difference calculation blocks, memory block, subtraction blocks, the first calculator-shaper, the decision-making unit, the unit for the initial setting of correlators, the S + 1-th switch, the analysis units, the second groups of information outputs of which are connected to the groups of information inputs of the corresponding units in calculating the phase difference, the first outputs of the analysis units are connected to the control inputs of the corresponding switches, the third groups of outputs of the analysis units are connected to the first groups of information inputs of the corresponding switches, the groups of information inputs of the analysis units are connected to the groups of information outputs of the corresponding correlators, the first groups of control inputs of which are connected to the corresponding first groups of information outputs of the initial correlator setting block, the second groups of correlator control inputs are connected to the groups of outputs of the corresponding switches, the second groups of information inputs of which are connected to the corresponding second groups of information outputs of the initial correlator setting block, the groups of information outputs of the phase difference calculation blocks are connected to the corresponding groups inputs of the S + 1-th switch, the group of address inputs of which is connected to the group of address outputs of the block of initial setting of correlators, a S г the group of information outputs are connected to the groups of subtracted inputs of the corresponding subtraction blocks, the groups of inputs of the reduced ones are combined and connected to the group of information outputs of the memory unit, the group of address inputs of which is connected to the group of information outputs of the control unit, the second group of information inputs of which is the first input setting bus of the determination device angular orientation of aircraft, the first group of information inputs of the control unit is connected to the second group of information outputs of the radio navigator, the group of information outputs of the first calculator-shaper is connected to the first group of information inputs of the decision block, the second group of information inputs of which is connected to the second input installation bus of the device for determining the angular orientation of aircraft, and the group of information outputs is connected to the group of information inputs of the display unit, additionally introduced (M - 1) × N identical th receiving channels, and all M × N receiving channels are divided into M adaptive antenna arrays containing N parallel-connected receiving channels, each of which is supplemented with a multiplier, the first group of complex inputs of which is connected to the outputs of the corresponding digital processing unit, and each adaptive antenna array supplemented by an adder and a block for generating weight coefficients, N output groups of which are connected to the second groups of inputs of the corresponding multipliers, the output groups of which are connected to the corresponding groups of inputs of the adder, the output group of which is the first group of outputs of the adaptive antenna array (AAP) and is connected to the corresponding group of information inputs block of initial setting of correlators, the second group of AAP outputs is connected to the outputs of the block for forming the vector of weight coefficients, the second calculator-shaper intended for calculating the reference values of the phase differences, M input groups of which are connected to the corresponding the second groups of outputs of the adaptive antenna arrays, the M + 1st group of inputs is connected to the first input installation bus of the device, the M + 2nd group of information inputs is the third input installation bus of the device, designed to enter the coordinates of the antenna elements of the adaptive antenna arrays and the mutual distances between them, the group of information outputs of the second calculator-shaper is connected to the group of information inputs of the memory unit, the antenna input of the radio navigator is connected to the first output of the first AAP, and the synchronization inputs of the second calculator-shaper, multipliers and adders are connected to the output of the clock generator.

The enumerated new set of essential features due to the fact that new elements and connections are introduced makes it possible to achieve the objective of the invention: to provide an increase in the immunity of the device against the effects of deliberate interference.

The declared objects are illustrated by drawings, which show:

in fig. 1 - generalized algorithm for determining the angular orientation of aircraft;

in fig. 2 - order of performing operations:

a, b) - formation of elementary binding zones and assignment of a serial number to them;

c) - determination of the coordinates of the center of the elementary anchoring zones;

in fig. 3 - an algorithm for calculating the vector of weight coefficients;

in fig. 4 shows the AE pairs involved in finding the calculated phase differences;

in fig. 5 - finding algorithm:

a) calculated phase differences;

b) reference phase differences;

in fig. 6 - options for forming arrays:

a) the calculated values of the phase differences Δϕ _rac.m0 (α, β, θ) _p ;

b) reference values of phase differences Δϕ _et.m0 (α, β, θ) _p ;

in fig. 7 - a variant of forming an array of measured values of phase differences Δϕ _meas.m0 (α, β, θ);

in fig. 8 - the sequence of calculating Δϕ (α ₀ , β ₀ , θ ₀ ) of the element r (1, 1,1) of the measurement matrix R (a, β, θ) for the corresponding value of the angles (α ₀ , β ₀ , θ ₀ );

in fig. 9 - a variant of forming a three-dimensional matrix of measurements R (α, β, θ);

in fig. 10 - an algorithm for forming a matrix of measurements R (α, β, θ);

in fig. 11 - shows the results of semi-full-scale modeling:

a) the structure of the AAS used in the analysis;

b) the spectrum of the input and output signal of the AAS;

c) the results of assessing the course angle α by the proposed method when exposed to broadband interference;

in fig. 12 is a block diagram of the claimed device for determining the spatial orientation of aircraft;

in fig. 13 - algorithm of the decision block;

in fig. 14 - algorithm of correlators operation;

in fig. 15 - the algorithm of the blocks for calculating the phase difference;

in fig. 16 - algorithm of the analysis unit;

in fig. 17 - operation algorithm of the block of initial setting of correlators;

in fig. 18 is a block diagram of a nine-channel device for determining the angular orientation of aircraft.

семейства алгоритмов МВМ имеет видThe proposed method is based on the method of the reference (equivalent) phase difference used in interferometers to solve a wide range of problems (see Davydenko A.S., Makarov S.B. Application of the method of the reference phase difference for the spatial orientation of the object // Scientific and Technical Bulletin of SPbSPU . Informatics. Telecommunications. Management. - SPb .: SPbSPU, 2013. No. 2 (169), pp. 39-46). When generating GNSS signals, spread spectrum using pseudo-random sequences is used. As a result, the envelope of the GNSS signals is below the noise floor. To suppress the consumers of signals from GNSS navigation spacecraft, continuous radiation with a higher power is used than that of useful signals. In this situation, to filter such interference, it is advisable to use algorithms based on the minimum output power (MVM) criterion (see Grecan AS, Zoltowski MD Advanced adaptive null steering concept for GPS // IEEE Military Communications Conference: Vol.3, 1995, p. 1214-1218). The advantage of this approach is that the noise attenuation is invariant to the shape of the useful signal envelope. Objective function

family of VMM algorithms has the form

- отсчеты выходного сигнала для N АЭ адаптивной антенной решетки в k-й момент времени,

- вектор весовых коэффициентов, Н - оператор Эрмитова сопряжения. Однако представленный в ряде изданий аналитический подход к минимизации целевой функции min

для решения поставленной задачи не подходит по ряду причин:where E [⋅] is the symbol of the mathematical expectation,

- readings of the output signal for N AE adaptive antenna array at the k-th moment of time,

is the vector of weight coefficients, H is the Hermitian conjugation operator. However, the analytical approach presented in a number of publications to minimizing the objective function min

is not suitable for solving the task for a number of reasons:

Аналитический алгоритм МВМ предполагает расчет максимального количества отсчетов max П входного сигнала, которые используют для нахождения ВВК. Последние составляют 2046 отсчетов при частоте дискретизации 2,046 МГц. Чем больше П, тем точнее оценка автокорреляционной матрицы для вычисления ВВК. Но при этом ухудшаются динамические свойства адаптивной антенной системы. В результате частота обновления ВВК может быть недостаточной. Задача определения углов ориентации ЛА подразумевает, что вектор-база АС находится в движении, а данный подход не может обеспечить регулярное обновление весовых коэффициентов;requires accumulation of P samples of output signals

The analytical algorithm of the MVM assumes the calculation of the maximum number of samples max П of the input signal, which are used to find the IHC. The latter are 2046 samples at a sampling rate of 2.046 MHz. The larger P, the more accurate the estimate of the autocorrelation matrix for calculating the IHC. But at the same time, the dynamic properties of the adaptive antenna system deteriorate. As a result, the IHC update rate may be insufficient. The task of determining the angles of aircraft orientation implies that the base vector of the aircraft is in motion, and this approach cannot provide regular updating of the weight coefficients;

involves calculating the algebraic complements for the inverse autocorrelation matrix, which leads to an increase in computational complexity.

In the framework of the proposed method, the disadvantages of the analytical method for minimizing the objective function (1) are eliminated interactively (gradient descent method). As a result, a working algorithm of the MWM for AAR was obtained, which functions according to GNSS signals. The latter has the form

where n = 2,3, ..., N are the AE numbers, μ is the convergence step of the algorithm, 0 <μ <1.

The proposed method differs from the existing ones in the method of calculating the reference phase differences. The latter is determined by signals from two AARs, and not by signals from two AEs. In addition, for the correct determination of the orientation angles of the base vector (aircraft), it is necessary to take into account the amplitude-phase shift introduced by each AAA. For this purpose, the calculated phase differences take into account the values of the vector of weighting coefficients (VVC) of the corresponding AAP.

The problem of determining the angular orientation of an object using GNSS signals and the problem of spatial filtering of interference using an adaptive antenna system (AAS) are based on the principle of interferometer operation. However, the requirements for the implementation of the antenna system are contradictory. In the case of evaluating the spatial parameters of the signals, a large base length (several wavelengths λ) is required for more accurate determination of the aircraft orientation angles. More effective suppression of AAS interference (to avoid the appearance of spurious maxima in the AAS directional pattern) assumes a base length of no more than 0.5λ. This contradiction is eliminated due to the implementation of the AAS as part of four AARs, mutually spaced at a considerable distance of ~ 1 m and located nonlinearly. In turn, AAR is performed, for example, containing three AEs. As a result of using the proposed AAS structure, simultaneous measurement of three spatial parameters of GNSS signals (α, β, θ) and suppression of two interference signals coming from different directions is provided.

(см. фиг. 2 б, в) из набора р=1,2, …, Р.The implementation of the claimed method is explained as follows. At the preparatory stage, the following operations are performed. The sphere above the AAC is evenly divided into P = D / D ₀ elementary anchoring zones (see Fig. 2 a). The size of the elementary reference zones corresponds to the predetermined accuracy of measuring the angular orientation of the aircraft (accuracy of measuring the angles of pitch α, roll β and azimuth θ of the adaptive antenna system). The sphere above the AAS is calculated at a distance of ~ 20 thousand km (the altitude of the GNSS spacecraft). Next, the geographic coordinates of the centers of the elementary anchoring zones (X, Y, Z) _{p are found} and each of them is assigned a serial number

(see Fig. 2 b, c) from the set p = 1,2, ..., P.

At the next stage, the coordinates of the AE are determined with a given accuracy in the coordinate system of the antenna system (see Patent RF No. 2553270, IPC G01S 5/00, publ. 10.06.2015, bull. No. 16).

After that, the calculated phase differences of the signal arrival are found for each pair of antenna elements of all AAA (see Figs. 4, 5 a, b) Δ _mn0 , n = 1,2, ..., N, m = 1,2, ..., N, relative to the coordinates of the location of the centers of each elementary anchor zone

моделируют размещение эталонного источника поочередно в центрах всех элементарных зон привязки b_p, р=1,2, …, Р.The order of finding the calculated phase differences Δϕ _ras.nm0 (α ₀ , β ₀ , θ ₀ ) _{p is} as follows. The topology of the AC of the object is introduced. The latter includes the mutual distances between the reference and other AEs Δd _nm0 AAS and its orientation. When modeling, the AAS is conventionally placed in the center of the study area at the height of the upcoming measurements, for example, 2-3 km. In the process of calculating values

simulate the placement of the reference source alternately in the centers of all elementary reference zones b _p , p = 1,2, ..., P.

Sequentially discretely change the orientation of the AAS to the given values of the angles Δα, Δβ, Δθ within predetermined limits (α _min , α _max ), (β _min , β _max ) and (θ _min , θ _max ), (α _max - α _min ) / Δα = I, (β _max - β _min ) / Δβ = J, (θ _max - θ _min ) / Δθ = L without changing the coordinates of the AAS center relative to the centers of the elementary anchoring zones.

вычисляют значения разностей фаз

для каждой элементарной зоны привязки b_р;For the combinations of AE pairs used (Fig. 4) and all possible angles

calculate the values of the phase differences

for each elementary binding zone b _p ;

Where

the distance between the plane wave fronts in the mn-th and zero antenna elements, arriving from the b _p- th elementary zone of attachment to the AAS at angles γ _p in the azimuthal and μ _p - in the vertical planes, x _mn , y _mn , z _mn , x ₀ , y ₀ , z ₀ are the coordinates of the n-th AE of the m-th AAR and the zero (reference) AE, c is the speed of light, ƒ _s is the signal frequency of the s-th SC (see Fig. 5 a).

AE location coordinates for different angles of the adaptive antenna system are determined as follows:

where х _mn0 , у _mn0 , z _mn0 are the coordinates of the mn -th AE AAS at α = 0, β = 0 and θ = 0, m = 1,2, ..., М, n = 1,2, ..., N-1 ...

оформляют в виде массива расчетных данных, вариант представления информации в котором показан на фиг. 6 а.The values of the phase differences obtained as a result of calculations

are drawn up in the form of an array of calculated data, the version of which is shown in Fig. 6 a.

In the process of operation, when signals from the s-th GNSS spacecraft are detected, its signals are received on the AAS, which contains M identical adaptive antenna arrays located in the receiving plane nonlinearly and containing N, N≥2 identical non-directional AEs.

размерности N. Принятые n-ным АЭ m-ной ААР сигналы

комплексно умножают на соответствующий им элемент

вектора весовых коэффициентов

Далее полученные значения суммируют в рамках каждой m-ной ААР, которые используют для измерения разности фаз принимаемых сигналов

между ААР адаптивной антенной системы и последующего уточнения значения ВВК

Результаты оформляют в виде массива данных, вариант представления которых представлен на фиг. 7.For each m-th, m = 1,2, ..., M, AAP form a vector of weight coefficients

of dimension N. Signals received by the n-th AE of the m-th AAR

complexly multiply by the corresponding element

weight vector

Further, the obtained values are summed up within each mth AAR, which are used to measure the phase difference of the received signals

between the AAA of the adaptive antenna system and the subsequent refinement of the IHC value

The results are presented in the form of a data array, the representation of which is presented in Fig. 7.

для всех возможных сочетаний пар ААР М-1и заданного числа КА S. Количество последних S обычно определяется возможностями измерителя и наличием в зоне видимости в данном районе в заданное время минимально необходимого КА и др.Here are the values

for all possible combinations of AAP M-1 pairs and a given number of spacecraft S. The number of the latter S is usually determined by the capabilities of the meter and the presence of the minimum required spacecraft in the visibility zone in a given area at a given time, etc.

С этой целью расчетные разности фаз Δϕ_рас.m0(α, β, θ)_р умножают на соответствующие им элементы

вектора весовых коэффициентов

и суммируют в рамках соответствующих АР. Эталонные разности фаз Δϕ_эт.m0(α, β, θ)_р определяют как разность суммарных фаз сигналов между АР.In AAP, weighted processing of input signals is used, and the weights of the IWC are complex factors. As a result, a phase shift is added to the satellite signals at the AAP output, which depends on the IHC values and the direction of arrival of the useful signal. Therefore, the use of AAS involves taking into account the phase shifts when calculating the reference values of the phase differences

For this purpose, the calculated phase differences Δϕ _ras.m0 (α, β, θ) _p are multiplied by the corresponding elements

weight vector

and are summed up within the corresponding AP. Reference phase differences Δϕ _et.m0 (α, β, θ) _{p are} determined as the difference between the total phases of the signals between the AA.

In addition, to find the reference phase differences (one phase measurement, s-th spacecraft) at the AAC output, at least one signal period is required. Therefore, the period of obtaining the measured and reference phase differences is approximately 1 ms (the duration of one period of the spacecraft pseudo-random sequence). Consequently, when using AAS in the calculation of the reference phase differences, it is necessary to use the IHC, averaged over the interval of obtaining the corresponding measured phase difference. The algorithm for calculating the reference phase difference is shown in Fig. 5 B.

оформляют в виде массива, вариант представления информации в котором показан на фиг. 6 б.The calculated phase difference reference values

are drawn up in the form of an array, in which the information presentation is shown in Fig. 6 b.

:At the next stage of the implementation of the proposed method, the difference between the reference phase differences corresponding to the AAS angles α ₀ , β ₀ , θ ₀ for the b _p- elementary anchorage zone (for the zone where the first of the spacecraft of the global navigation satellite system with known coordinates (x , y, z) _p and measured phase differences

:

Information about the spacecraft position comes from its board at a frequency ƒ _s . On the basis of the latter, a decision is made on the current number of the basic reference base in which the spacecraft is located.

Similar operations are performed with the signals of all S used in the spacecraft operation.

возводят квадрат и накапливаютIn the next step, the values

square and accumulate

FIG. 8 illustrates the procedure for calculating the sums Δ _ϕ (α ₀ , β ₀ , θ ₀ ) for the initial position of the AAC. The operation of squaring (7) is necessary so that the differences obtained in expression (6), having different signs, do not compensate each other as a result of performing the addition operation. The obtained value Δϕ (α ₀ , β ₀ , θ ₀ ) is stored in the element r (1,1,1) of the three-dimensional measurement matrix R [α, β, θ).

ориентации ААС: i=0,1,2,…, I, j=0,1,2,…,J,

На основе полученных значений

формируют трехмерную матрицу измерений R(α,β,θ), размерность которой определяется выражением (I+1] × (J+1] × [L+1). Данную операцию реализуют путем записи в элементы

матрицы измерений R(α, β, θ) соответствующих значений

(см. фиг. 9, 10). За измеренную ориентацию ААС и объекта принимают значения углов

соответствующие элементу матрицы

измерений R(α,β,θ), имеющему минимальное значение. Обобщенный алгоритм определения угловой ориентации ЛА приведен на фиг. 1.Similar operations (expressions 6, 7) are performed for all possible angles

AAS orientation: i = 0,1,2, ..., I, j = 0,1,2, ..., J,

Based on the obtained values

a three-dimensional measurement matrix R (α, β, θ) is formed, the dimension of which is determined by the expression (I + 1] × (J + 1] × [L + 1). This operation is implemented by writing to the elements

measurement matrix R (α, β, θ) of the corresponding values

(see Figs. 9, 10). For the measured orientation of the AAS and the object, the angles are taken

corresponding to the matrix element

measurements R (α, β, θ) having a minimum value. A generalized algorithm for determining the angular orientation of the aircraft is shown in Fig. one.

Thus, the proposed method provides an increase in noise immunity to intentional interference due to the use of adaptive antenna system for receiving signals from a set of M adaptive antenna arrays. The proposed AAS made it possible to implement the contradictory requirements for its structure when solving noise protection problems and assessing the spatial parameters of the aircraft.

A semi-natural simulation of the prototype and the proposed method using AAA based on records of real GNSS GPS signals has been carried out. The latter was carried out in conditions of direct visibility of satellite signals and in the presence of broadband interference (1 MHz).

To determine the three angles of spatial orientation (α, β, θ), you must have at least two non-collinear base vectors. For this, the receiving AEs are grouped into three antenna arrays, three AEs each (see Fig. 11a). Adjacent AEs of each grating are spaced apart from each other by λ / 2 = 90 mm, and the AARs themselves are spaced apart by a distance of d = 900 mm. All AEs are located in the same plane on a horizontal platform rotating around its axis.

Based on the practical tests performed, the following conclusions can be drawn:

The use of AAS from three three-element AAA for spatial filtering of interference allows you to get rid of two broadband interference coming from different directions, with the ratio of the interference power to the signal up to 40 dB. FIG. 11b shows the periodograms of the signals before and after the AAS.

It is known that a higher noise protection can be achieved by the joint use of several methods of noise protection (see Nikitchenko V.V., Smirnov P.L.Combined methods of noise protection (use of adaptive antenna systems and signals with pseudo-random frequency tuning) // Foreign radio electronics, 1988, No. 5, pp. 24-31).

The proposed adaptive receive path requires up to 25 μs to calculate the IHC. Finding the IHC makes it possible to carry out weighted complex processing of the received signals, on the basis of which it becomes possible to receive signals from the GNSS spacecraft to obtain spatial measurements of the aircraft.

FIG. 11c shows the results of assessing the course angle α by the proposed method when exposed to a 40 dB broadband interference when the horizontal platform rotates. Signals from 5 GNSS spacecraft were noted in the work. As seen in FIG. 11c, the estimate of the course angle α completely coincides with the readings of the position of the rotary device. Under these conditions, the prototype method is inoperative.

The claimed device for determining the angular orientation of aircraft contains M, M≥3, identical receiving channels from the series-connected antenna element 1.1.3.1-1.1.3.M, low-noise amplifier 1.1.4.1-1.1.4.M, radio path 1.1.5.1-1.1 .5.M and digital processing unit 1.1.6.1-1.1.6.M, intended for converting an analog signal into digital form and decomposing it into quadratures, a block for generating reference signals 2, the output of which is connected to the second inputs of the radio paths of the receiving channels, a clock generator 3, S correlators 4.1-4.S, S analysis units 5.1-5.S, designed to assess the quality of signals received from spacecraft, S + 1 switches 6.1-6.S and 8, a unit for initial setting of correlators 7, S calculation units phase differences 12.1-12.S, S subtraction units 13, memory unit 14, the first calculator-shaper 17, intended for forming a three-dimensional matrix of measurements R (α, β, θ), decision unit 18, intended for finding an element a three-dimensional measurement matrix with a minimum value, a control unit 11 intended for storing the coordinates of the centers of the elementary reference zones and comparing these coordinates with the coordinates of the detected spacecraft, an indication unit 19, the first 15 and second 20 input mounting tires, a radio navigator 9, the first information output of which is connected with the control input of the initial setting unit of correlators 7, the groups of information inputs of which are combined with the corresponding groups of information inputs of the correlators 4.1-4.S, the clock inputs of which are combined and connected to the clock inputs of the digital processing units of the receiving channels 1.1.5.1-1.1.5.S, output of the clock generator 3, synchronization inputs of correlators 4.1-4.S, clock inputs of the control unit 11, blocks for calculating the phase difference 12.1-12.S, memory block 14, subtraction blocks 13, the first calculator-shaper 17, decision block 18, block initial setting of correlators 7, S + 1 of switch 8, blocks a analysis 5.1-5.S, the second groups of information outputs of which are connected to the groups of information inputs of the corresponding blocks for calculating the phase difference 12.1-12.S, the first outputs of the analysis blocks 5.1-5.S are connected to the control inputs of the corresponding switches 4.1-4.S, the third groups of outputs of analysis units 5.1-5.S are connected to the first groups of information inputs of the corresponding switches 6.1-6.S, groups of information inputs of analysis units 5.1-5.S are connected to groups of information outputs of the corresponding correlators 4.1-4.S, the first groups of control inputs which are connected to the corresponding first groups of information outputs of the initial setting block of correlators 7, the second groups of control inputs of correlators 4.1-4.S are connected to the groups of outputs of the corresponding switches 6.1-6.S, the second groups of information inputs of which are connected to the corresponding second groups of information outputs of the initial block setting correlators 7, groups of information outputs of blocks calculating the phase difference 12.1-12.S are connected to the corresponding groups of inputs S + 1 of the switch 8, the group of address inputs of which is connected to the group of address outputs of the block of initial setting of correlators 7, and S groups of information outputs are connected to the groups of inputs of the subtracted corresponding blocks of subtraction 13 , the groups of inputs of the reduced which are combined and connected to the group of information outputs of the memory unit 14, the group of address inputs of which is connected to the group of information outputs of the control unit 11, the second group of information inputs of which is the first input installation bus 15 of the device for determining the angular orientation of aircraft, the first group of information inputs of the control unit 11 is connected to the second group of information outputs of the radio navigator 9, the group of information outputs of the first calculator-shaper 17 is connected to the first group of information inputs of the decision block 18, the second group of information inputs of which is connected inena with the second input installation bus 20 of the device for determining the angular orientation of aircraft, and the group of information outputs is connected to the group of information inputs of the display unit 19, additionally (M - 1) × N identical receiving channels are introduced, and all M × N receiving channels are divided into M adaptive antenna arrays 1.1-1.M, containing N parallel-connected receiving channels, each of which is supplemented by a multiplier 1.1.6.1-1.1.6.3, the first group of complex inputs of which is connected to the outputs of the corresponding digital processing unit 1.1.5.1-1.1.5.3, and each adaptive antenna array 1.1-1.M is supplemented with an adder 1.1.7 and a block for generating weight coefficients 1.1.1, N output groups of which are connected to the second input groups of the corresponding multipliers 1.1.6.1-1.1.6.3, the output groups of which are connected to the corresponding groups the inputs of the adder 1.1.7, the group of outputs of which is the first group of outputs of the adaptive antenna array 1.1-1.M and to the corresponding group of information inputs of the initial setting unit of correlators 7, the second group of outputs AAP 1.1-1.M is connected to the outputs of the unit for generating the vector of weight coefficients 1.1.1-1.1.M, the second calculator-shaper 16, intended for calculating the reference values of the phase differences , M input groups of which are connected to the corresponding second groups of outputs of the adaptive antenna arrays 1.1-1. M, M + 1st group of inputs is connected to the first input installation bus of the device for determining the angular orientation of aircraft 15, M + 2nd group of information inputs is the third input installation bus 10 of the device for determining the angular orientation of aircraft, is designed to enter the coordinates of the antenna elements of the adaptive antenna arrays 1.1-1.M and the mutual distances between them, the group of information outputs of the second calculator-shaper 16 is connected to the group of information inputs of the memory unit 14, the antenna the input of the radio navigator 9 is connected to the the first output of the first AAP 1.1, and the synchronization inputs of the second calculator-shaper 16, multipliers 1.1.6.1-1.1.6.3 and adders 1.1.7 are connected to the output of the clock generator 3.

At the preparatory stage, by analogy with the prototype, the sphere above the antenna system, located at a distance of ~ 20 thousand kilometers, is evenly divided into D elementary reference zones (see Fig. 2). The area of the elementary anchoring zone D ₀ is determined by the accuracy of measuring the angles of pitch Δα, roll Δβ and azimuth Δθ set on the tire 20. The coordinates of the location of the centers of the elementary binding zones (X, Y, Z) _p are determined, which are fed to the inputs of blocks 11 and 16 via the first input bus 15. Each elementary zone is assigned a serial number b _p , p = 1.2, ..., P (see Fig. 2).

и для каждого центра элементарных зон привязки в соответствии с (3) и (4) определяют расчетные значения разностей фаз

. Данные операции реализуются во втором вычислителе-формирователе 16 в соответствии с алгоритмом, представленном на фиг. 5а. Для этого в блок 16 дополнительно по входной шине 15 поступают значения координат центров элементарных зон привязки (X, Y, Z)_p. Результаты выполнения названных операций (формулируют в виде массива данных (см. фиг. 6 а). Выполнение этих операций на подготовительном этапе позволяет существенно сократить временные затраты на вычисление эталонных разностей фаз в процессе полета ЛА.After that, in block 16, the calculated values of the phase differences of the arrival of signals are determined for each pair of adaptive AE A _mn0 , m = 0,1,2, ..., M-1, n = 0,1,2, ..., N relative to the coordinates of the location of the centers of each of the elementary binding zone Δϕ _ras.mn0 (α ₀ , β ₀ , θ ₀ ) _p (see Figs. 4, 5). This operation is time consuming. However, their implementation is possible at the preparatory stage. Subsequently, in the process of work, only the refinement of Δϕ _ras.mn0 (α ₀ , β ₀ , θ ₀ ) _{p will be} required so that they can be used as reference values of Δϕ _et.mn0 (α ₀ , β ₀ , θ ₀ ) _p ... For this, a preliminary description of the spatial characteristics of the AAS is carried out. Bus 10 enter the coordinates of the AE [X, Y, Z) _mn , the mutual distances between the assigned zero AE and other AE AAS d _mn0 . Sequentially discretely change the orientation of the AAM to the values of the angles Δα, Δβ, Δθ set along the bus 10 within predetermined limits (α _min , α _max ), (β _min , β _max ) and (θ _min , θ _max ) without changing the coordinates of the center of the AAM relative to centers of elementary anchoring zones. For each position AAC

and for each center of the elementary reference zones in accordance with (3) and (4), the calculated values of the phase differences are determined

... These operations are implemented in the second calculator-shaper 16 in accordance with the algorithm shown in FIG. 5a. To do this, block 16 additionally receives the values of the coordinates of the centers of the elementary anchoring zones (X, Y, Z) _p via the input bus 15. The results of these operations (formulated in the form of a data array (see Fig. 6 a). Performing these operations at the preparatory stage can significantly reduce the time spent on calculating the reference phase differences during the aircraft flight.

In the process of operation, the AE devices 1.1.2.1 - 1.M.2.N receive high-frequency signals from the first spacecraft detected at a frequency f _s = 1575.42 MHz and amplify in the corresponding low-noise amplifiers 1.1.3.1-1.M.3.N ( see Fig. 12). Then they arrive at the inputs of the corresponding radio paths 1.1.4.1-1.M.1.N М⋅N reception channels. In blocks 1.1.4.1-1.1.4.N, the detected signals are converted into electrical signals of an intermediate frequency, their amplification by 20 dB and selectivity over adjacent reception channels. The bandwidth of blocks 1.1.4.1-1.M.4.N is consistent with the maximum possible Doppler frequency shift of the spacecraft signal. The value of the intermediate frequency is determined based on the characteristics of the analog-to-digital converters (ADC) units 1.1.5.1-1.MSN and are, for example, 90.42 MHz.

Intermediate frequency signals are sampled and quantized in digital signal processing units 1.1.5.1-1.M.5.N. The sampling interval is selected in accordance with the sampling theorem (see Introduction to digital filtering. Edited by R. Bogner and A. Konstantis. - M .: Mir, 1976, pp. 26-27).

Most signal processing algorithms are designed to work with complex signals. Quadrature transforms are used to move from real to complex signals. As a result, at the outputs of each of the M⋅N digital processing units, two sequences of samples I _mn and Q _{mn are formed} , shifted relative to each other by 90 degrees. The synchronization of the operation of the elements of blocks 1.1.5.1-1.M.5.N is carried out by the signals of the clock generator 3. Similarly, they receive, digitize and decompose into quadratures the signal from all S spacecraft.

вектора весовых коэффициентов

. В результате выполнения этой операции обеспечивается взвешенная обработка входного сигнала в рамках каждого mn-го приемного канала, результаты которой поступают на соответствующую группу входов сумматора 1.m.7 m-ой ААР.The values I _mn and Q _mn found by 1.1.5.1-1.M.5.N are fed to the first group of inputs of the corresponding multiplier 1.1.6.1-1.M.6.N. The second group of its inputs receives the corresponding element value

weight vector

... As a result of this operation, weighted processing of the input signal is provided within each mn-th receiving channel, the results of which are fed to the corresponding group of inputs of the adder 1.m.7 of the m-th AAP.

В свою очередь значения ВВК

со второй группы выходов ААР поступают на соответствующую группу входов блока 16 и используются для уточнения расчетных значений разностей фаз Δϕ_pac.mno (α, β, θ)_р.The obtained M values of the sums at the first outputs of the AAP are then used to measure the phase difference of the received signals Δϕ _meas.mn0 (α, β, θ) _p and the subsequent refinement of the IHC values

In turn, the values of VVK

from the second group of AAP outputs are fed to the corresponding group of inputs of block 16 and are used to refine the calculated values of the phase differences Δϕ _pac.mno (α, β, θ) _p .

Spacecraft of global navigation satellite systems use phase-shift keying signals, for example, BPSK, which can only be received coherently (see V.A.Grigoriev, Transmission of messages over foreign information networks. - L .: VAS, 1989, pp. 98-102). Coherent detection consists in comparing a phase-shift keyed signal with a reference voltage U _op (t), which is synchronous and in phase with the carrier and is usually obtained by processing the received signal itself.

It is known that using the GPS U-blox device (block 9 in the claimed device), the signals from the spacecraft of the global navigation satellite system are received with an interval of 1 second, which contain the following parameters:

the current position of the object (X, Y, Z) _s ;

GPS time (TOW);

ephemeris (for each detected satellite).

на данный спутник и его местоположение в пространстве [X, Y,Z)_s. Знание номера спутника s необходимо в связи с тем, что все КА излучают индивидуальные псевдослучайные последовательности. Последние используют далее для корреляционной свертки принимаемых от КА сигналов ƒ_s.According to these data, for each satellite, its number, position in space and the Doppler frequency shift F _add . The latter is due to the fact that the satellite and the object are in motion. Practical tests have shown that the change in F _Dopp is approximately 1 Hz per 1 s. The change itself occurs monotonously, but the rate of this change depends on the position of the satellite (the smaller the elevation angle, the greater the rate of "escape"). Empirically, it was determined that the F _dopl parameter _must be updated at least once every 20 ms, and from the spacecraft the F _{dopl value} arrives only once per second. This problem in the proposed device (by analogy with the prototype) is solved as follows. With the help of block 9 and the first AAP 1.1 signals of the spacecraft are received. The radio navigator 9 determines the number of the detected satellite s, calculates the value of the Doppler frequency shift

to a given satellite and its location in space [X, Y, Z) _s . Knowledge of the satellite number s is necessary due to the fact that all spacecraft emit individual pseudo-random sequences. The latter are further used for the correlation convolution of the signals ƒ _s received from the spacecraft.

В результате на группе информационных выходов блока начальной установки корреляторов 7 присутствуют данные о позиции максимума K_s корреляционной функции, значение

и номер спутника s. Указанные величины параллельно (каждая по своей шине) поступают на первую группу входов управления первого коррелятора 4.1. Исключение составляет значение K_s, которое поступает на вторую группу управляющих входов блока 4.1 через коммутатор 6.1. Кроме того, номер обнаруженного спутника s поступает на соответствующий адресный вход блока 8. При обнаружении сигналов очередных КА в блоках 9 и 7 выполняются аналогичные операции, а результаты вычислений K_s и значения F_допл и s поступают на управляющие входы следующих корреляторов 4.2-4.S. Данная настройка корреляторов 4.1-4.S выполняется один раз на этапе инициализации. В дальнейшей работе устройства проводится только подстройка корреляторов 4.1-4.S с помощью блоков 5.1-5.S. Значения F_допл и s (сформированные блоком 9) в блоке настройки корреляторов 7 дешифрируют и направляют на раздельные управляющие входы корреляторов 4.1-4.S (см. фиг. 9).From the first output of block 9 (RS232 joint) to the control input of the initial setting unit of correlators 7, information about the numbers of the detected satellites s and the corresponding Doppler frequency shifts F _add . The functions of block 7 include determining the position of the maximum of the correlation function between the reference and estimated signals of all detected spacecraft. As a reference signal, a sample of PRS _s with a length of one period (2046 points) is used, formed by block 7 in accordance with the number s of the detected satellite. A sample of points with a length of two PN periods (4092 points), received by one of the receiving channels and recorded in block 7, is used as an estimated signal. Simultaneously with the calculation of the correlation function, the position of its maximum value K _s is searched. It should be noted that the operation of recording the estimated signal in block 7 is preceded by the refinement of the signal frequency ƒ _{s of the} s-th satellite by the value

As a result, the group of information outputs of the initial setting block of correlators 7 contains data on the position of the maximum K _{s of the} correlation function, the value

and satellite number s. The specified values in parallel (each on its own bus) are fed to the first group of control inputs of the first correlator 4.1. An exception is the value of K _s , which is fed to the second group of control inputs of block 4.1 through switch 6.1. In addition, the number of the detected satellite s is fed to the corresponding address input of block 8. When signals of the next spacecraft are detected in blocks 9 and 7, similar operations are performed, and the results of calculations of K _s and the values of F _add and s are fed to the control inputs of the following correlators 4.2-4. S. This setting of correlators 4.1-4.S is performed once during the initialization phase. In further operation of the device, only adjustment of correlators 4.1-4.S is carried out using blocks 5.1-5.S. The values F _dopl and s (generated by block 9) in the correlator tuning unit 7 are decrypted and sent to separate control inputs of correlators 4.1-4.S (see Fig. 9).

The purpose of the correlators 4.1-4.S is to continuously calculate the correlation functions of the signals of the corresponding satellites s = 1,2,3, ..., S. The number of correlators usually corresponds to the number of observed satellites S. Each correlator contains M identical processing channels according to the number of reception channels and tunes in to the signals of "own" spacecraft. In the general case, the larger the number of observed spacecraft and, accordingly, correlators, the more accurately the angular parameters of the object α, β, and θ are estimated. However, this increases the complexity of the implementation of the device and the time spent on the operations performed.

Далее по аналогии с блоком 7 реализуют вычисление корреляционной функции, длина которой составляет 2046 символов. На этапе начальной установки выделяют позиции с максимальным значением функций корреляции K_s (определенные блоком 7) для всех S наблюдаемых КА. Дополнительно с каждой позицией K_s в корреляционных функциях выделяют соседние точки (например пять с обеих сторон). Например, если K_s=100, то в блоке 4.S выделяют позиции с 95 по 105. Это необходимо для отслеживания смещения корреляционного максимума блоками 5.1-5.S в процессе работы устройства из-за отсутствия синхронизации приемной и передающей частей. В результате на выходе каждого из корреляторов 4.1-4.S с интервалом 1 мс формируют значения 11⋅М квадратур сигналов, соответствующие максимальным и соседним значениям функции корреляции. Последние поступают на входы соответствующих блоков анализа 5.1-5.S. Здесь осуществляют анализ качества принимаемых от КА сигналов. Для этого на основе поступивших значений квадратур принятых сигналов вычисляют абсолютные значения элементов соответствующих функций корреляцииIn correlators 4.1-4.S, a complex reduction of the signal frequency ƒ _s by the corresponding value

Next, by analogy with block 7, the calculation of the correlation function is performed, the length of which is 2046 symbols. At the initial setup stage, positions with the maximum value of the correlation functions K _s (determined by block 7) are allocated for all S observed spacecraft. Additionally, with each position K _s in the correlation functions, adjacent points are selected (for example, five on both sides). For example, if K _s = 100, then in block 4.S positions from 95 to 105 are allocated. This is necessary to track the shift of the correlation maximum by blocks 5.1-5.S during the operation of the device due to the lack of synchronization of the receiving and transmitting parts. As a result, at the output of each of the correlators 4.1-4.S with an interval of 1 ms, the values of 11M quadratures of signals are formed, corresponding to the maximum and adjacent values of the correlation function. The latter are fed to the inputs of the corresponding analysis blocks 5.1-5.S. Here, the quality of the signals received from the spacecraft is analyzed. For this, on the basis of the received quadrature values of the received signals, the absolute values of the elements of the corresponding correlation functions are calculated

Если качество сигнала отвечает заданным требованиям

включается механизм подстройки соответствующих корреляторов (к работе подключается необходимый блок 5.S). На первых выходах этих блоков 5.15.S формируются управляющие сигналы, которые поступают на управляющие входы коммутаторов 6.1-6.S переводя их во второе устойчивое положение. В результате вторые группы информационных выходов блока 7, несущие сведения о позиции максимума функции корреляции K_s, отключаются от вторых групп входов управления корреляторов 4.1-4.S, а вместо них подключаются к ним соответствующие группы выходов блоков анализа 5.1-5.S. Номера позиций максимума функции корреляции K_s через соответствующие коммутаторы 6.1-6.S поступают на управляющие входы корреляторов 4.1-4.S. Одновременно квадратуры сигналов, соответствующих максимальному значению

со вторых групп выходов блоков анализа 5.1-5.S поступают на группы входов соответствующих блоков вычисления разности фаз 12.1-12.S.and then determine the maximum values

If the signal quality meets the specified requirements

the mechanism for adjusting the corresponding correlators is switched on (the necessary block 5.S is connected to the operation). At the first outputs of these blocks 5.15.S control signals are generated, which are fed to the control inputs of switches 6.1-6.S, transferring them to the second stable position. As a result, the second groups of information outputs of block 7, carrying information about the position of the maximum of the correlation function K _s , are disconnected from the second groups of control inputs of correlators 4.1-4.S, and instead of them the corresponding groups of outputs of the analysis blocks 5.1-5.S are connected to them. The position numbers of the maximum of the correlation function K _s are fed through the corresponding switches 6.1-6.S to the control inputs of the correlators 4.1-4.S. Simultaneously squaring the signals corresponding to the maximum value

from the second groups of outputs of the analysis blocks 5.1-5.S are fed to the input groups of the corresponding blocks for calculating the phase difference 12.1-12.S.

квадратуры сигналов с выходов соответствующих корреляторов блокируются блоками анализа и не поступают на входы блоков вычисления разности фаз 15.1-15.S.If the threshold conditions are not met

the quadratures of the signals from the outputs of the corresponding correlators are blocked by the analysis units and are not fed to the inputs of the phase difference calculation units 15.1-15.S.

Blocks 12.1-12.S provide the calculation of the phase difference between the signals received in zero and other M-1 AAP:

для р-й элементарной зоны привязки поступают на группы входов уменьшаемого блоков вычитания 13.1-13.S. В функции S+1-го коммутатора 8 входит обеспечение прохождения измеренной разности фаз (9) только от блока 12.S. Последние соответствуют сигналам s-го КА, находящегося в данный момент времени в р-й элементарной зоне привязки. Текущая информация о номере спутника s поступает на группу адресных входов блока 8 с адресных выходов блока 7. Аналогичные операции с помощью блоков 9, 7, 11, 8, 12.1-12.S и 13.1-13.S выполняются по всем S обнаруженным спутникам. Результаты вычислений (выражение 6, фиг. 8) поступают на соответствующие группы информационных входов первого вычислителя-формирователя 17.The results of calculations from the outputs of blocks 12.1-12.S are fed to the corresponding groups of inputs S + 1 of the switch 11 and then to the corresponding inputs of the subtracted subtraction blocks 13.1-13.S. Here, by the next clock pulse of block 3, they are written into the corresponding buffer registers (see Fig. 7). At the same time, the control unit 11 performs the operation of comparing the coordinates of the centers of the elementary anchoring zones [X, Y, Z) _p stored in its reprogrammed memory and the coordinates of the spacecraft [X, Y, Z) _s (from the second group of information outputs radio navigator 9). As a result, at the outputs of the control unit 11, a code of the number p is generated (corresponding to the number of the elementary binding zone in which the s-th spacecraft is located at a given time), which is fed to the address inputs of the memory unit 14 (see Fig. 12). With the arrival of the next clock pulse of block 3, the values of the reference phase differences

for the p-th elementary zone, the bindings are fed to the input groups of the reduced subtraction blocks 13.1-13.S. The functions of S + 1 switch 8 include ensuring the passage of the measured phase difference (9) only from the 12.S. unit. The latter correspond to the signals of the s-th spacecraft located at a given time in the p-th elementary reference zone. The current information about the satellite number s is fed to the group of address inputs of block 8 from the address outputs of block 7. Similar operations using blocks 9, 7, 11, 8, 12.1-12.S and 13.1-13.S are performed for all S detected satellites. The calculation results (expression 6, Fig. 8) are fed to the corresponding groups of information inputs of the first calculator-shaper 17.

трехмерной матрицы измерений R(α, β, θ) с минимальными значениями, которому однозначно соответствуют оцениваемые угловые параметры объекта

Результаты измерений в заданной форме отображаются в блоке 19.The main task of the first calculator-shaper 17 is to form a three-dimensional measurement matrix R (α, β, θ). For this purpose, the phase differences obtained in blocks 13.1-13.S are squared and summed (expression 7). Similar operations are performed on the signals of all spacecraft used in the work. The results obtained (see Fig. 8 and 9) are stored as an element of the three-dimensional measurement matrix R (α, β, θ). The functions of the decision block 18 include finding the element

three-dimensional matrix of measurements R (α, β, θ) with minimum values, to which the estimated angular parameters of the object uniquely correspond

The measurement results in the specified form are displayed in block 19.

The device that implements the proposed method uses known elements and blocks described in the scientific and technical literature. Blocks 1.1.2.1 to 1.1.5.1, 2 to 14, 17 to 19 are implemented similarly to the corresponding blocks of the prototype.

Implementation options for antenna elements 1.1.2.1-1.M.2.N, are widely considered in the literature (see. Saidov AS et al. Design of phase automatic radio direction finders. - M: Radio and communication, 1997). Can be implemented on C576 antennas (see E-mail: support@novatel.com. Web: www.novatel.com US & Canada). Antenna elements are tuned to 1575.42 MHz. In the case of using AAR of four AEs located in the same plane in the corners of a square, the distance between adjacent elements can be 5-10 cm. In turn, the AAR is located at a distance of ~ 1 m. In the general case, the AAS plane can be arbitrarily oriented relative to the symmetry axes of the object. In this case, the declination at the angles α, β and θ is introduced into the reference values (block 16) or into the decision block 18. The prototyping of the proposed device showed that the latter remains operational at M = 3 and N = 2.

Low-noise amplifiers 1.1.3.1-1.M.3.N perform the functions of preliminary discrimination for adjacent receiving and amplification channels. Can be realized from series connected PAW filter 801-RF1575.42M-D and amplifier based on MGA53543. The filter bandwidth is about 1 MHz.

Radio paths 1.1.4.1-1.M.4.N are designed to provide basic selectivity for adjacent channels of reception, amplification and conversion of the frequency of the 1575.42 MHz signal to the frequency of 90.42 MHz. Each of the radio paths contains a first PAW filter, an amplifier, a second PAW filter, a mixer and an intermediate frequency amplifier connected in series. The first and second PAW filters, respectively, can be implemented on elements 801-RF1575.42M-G. The amplifier is implemented on the MGA53543 microcircuit. The mixer can be implemented using a transformer circuit. The intermediate frequency amplifier can be implemented from two series-connected amplifiers based on 2SC5551 elements, in the load of which there are LC filters.

The implementation of the block for the formation of reference voltages 2 is widely known and does not cause difficulties. Its purpose is to form a harmonic vibration with a frequency of, for example, 1485.42 MHz. Block 2 can be implemented on the basis of the UMS-1000 controlled voltage generator and the LMY2306 synthesizer.

The implementation of digital processing blocks 1.1.5.1-1.M.5.N is known and does not cause difficulties. Block 1.1.5.1-1.M.5.N is designed to convert the analog signal coming from the output of blocks 1.1.4.1 -1.M.4.N into digital form and decompose them into quadratures. FIG. 8 of the description of the prototype device (see US Pat. RF No. 2374659) shows an embodiment of a digital processing unit, which contains an analog-to-digital converter, a digital generator, the first and second multipliers, respectively, a phase shifter, the first and second low-pass filters.

If four receive channels are used in AAP, digital processing blocks can be implemented using two sets of standard boards: a digital receive submodule ADMDDC2WB and ADP60PCI v.3.2 on the Share ADSP-21062 processor (see the User's Guide. E-mail: insys @ arc. ru www-server www.insys.ru). The most preferable is the implementation of blocks 1.1.5.1-1.M.5.N based on ADC chips LTC2208 (analog-to-digital converter) in conjunction with the use of a programmable logic chip FPGA firm Xilinx Virtex4SX35 (see FPGA-Virtex4: http: / /www.xil-inx.com/products/silicon_solutions/fpgas/virtex/virtex4/index/htm).

The construction of a clock generator 3, which generates signals with a frequency of 120 MHz, is known and widely covered in the literature (Radio receivers: a textbook on radio engineering. Special universities / Yu.T. Davydov et al.; - M .: Higher school, 1989. - 342 p .; Functional units of adaptive interference compensators: Part 2. V.V. Nikitchenko. - L .: VAS - 1990. - 176 p .; Veniaminov D.R. et al. Microcircuits and their application. - M .: Radio and communication, 1989. - 240 p.).

The implementation of correlators 4.1-4.S is known and widely covered in scientific and technical literature (see BC Shebshaevich, P.P.Dmitriev, N.V. Ivantsevich and others. Network satellite radio navigation systems. Ed. By BC Shebshaevich - M. : Radio and communications 1993; Red E. Reference manual for high-frequency circuitry: Circuits, blocks, 50-ohm technology: Translated from German - M .: Mir, 1990. - 256 p.).

а также снятие ПСП-модуляции путем построения функции корреляции. Поступающая управляющая информация с блоков 7 и 5.1-5.S позволяет выделить позицию максимума функции корреляции K_s, а следовательно определить задержку сигнала при его распространении.It is known that the BPSK spacecraft signals are modulated by individual PRSs, called ranging codes. Therefore, to measure the signal phase difference, it is first necessary to remove the a priori known modulation of the PSP, take into account the Doppler frequency shift and the signal delay during its propagation. These tasks are solved using blocks 4.1-4.S in conjunction with blocks 5.1-5.S and 7. The functions of blocks 4.1-4.S include accounting (offset) of the frequency of the received signal by the value

as well as removal of the PSP modulation by building a correlation function. The incoming control information from blocks 7 and 5.1-5.S allows to select the position of the maximum of the correlation function K _s , and therefore to determine the signal delay during its propagation.

All correlator blocks 4.1-4.S are made identically and contain a digital generator, a PSP generator, M processing paths. Each processing path contains two mixers, two multipliers, respectively, a phase shifter, and two memory units.

The work of correlators is discussed in detail in Pat. RF No. 2374659. It is advisable to implement blocks 4.1-4.S on a programmable logic integrated circuit of the company Hilinx of the Virtex 45X35 type. Up to 16 correlators can be implemented on the basis of one FPGA (see FPGA-Virtex4: http://www.xilinx.com/products/silicon_solu-tions/fpgas/virtex/virtex4/index/htm). The operation algorithm of the correlators is shown in Fig. 14.

Blocks 5.1-5.S are designed to analyze the quality of signals received from the spacecraft and, on its basis, a decision is made to translate the quadratures of signals (corresponding to positions K _s ) to the inputs of blocks for calculating the phase difference 12.1-12.S. Analysis units 5.1-5.S are performed identically, and an embodiment of one of them is shown in FIG. 13 for a description of the prototype device (see RF Pat. No. 2374659).

Analysis blocks can be implemented using the TMS320c6416 signal processor (see TMS320c6416: http.//focus/ti/com/docs/prod/folders/print/TMS320c6416.html). The algorithm of the analysis block 8.5 is shown in Fig. 16.

The implementation of switches 6.1-6.S is widely known and does not cause any difficulties (see the Handbook on Integrated Circuits / B.V. Tarabkin, S.V. Yakubovsky, N.A. Barkanov et al.; Edited by B.V. Tarabkin - 2nd ed., Revised and supplemented - M .: Energiya, 1980. - 816 p.). They have two stable states and provide switching of output signals with the values of K _{s of} block 7 (second group of inputs) and blocks 5.1-5.S (first group of inputs) of the corresponding capacity. They are controlled by signals from the first output of blocks 5.1-5.S (TTL-level potentials).

Block 7 is designed for sequential tuning of correlators 4.1-4.S to signals from detected spacecraft. The unit for initial adjustment of correlators 7 contains two decoders, a comparison unit, a pulse counter, S identical analysis paths as part of two blocks of AND elements, a digital generator, a pseudo-random sequence generator, two mixers, a phase shifter, four multipliers, an adder, a square root extraction unit and a search unit maximum (see Fig. 15 description of the prototype device, Patent RF No. 2374659). The work of block 7 is described in detail there (pp. 33-34).

It is advisable to execute the block of initial setting of correlators 7 on the signal processor TMS320c6416 (see TMS320c6416: http: //focus/ti/com/docs/prod/folders/print/TMS320c6416.html). The block 7 operation algorithm is shown in Fig. 17.

с выходов соответствующих блоков 12.1-12.5. Реализация блоков элементов И известна и трудностей не вызывает.Block 8 (S + 1st commutator) is intended for alternate (according to the commands of block 7) connecting the outputs of blocks 12.1-12.S with the results of calculations (expression 6) to the inputs of the subtracted corresponding subtraction blocks 13.1-13.S. It can be performed using 5 blocks of elements I. The first inputs are combined block-by-block and connected to the corresponding address output of block 7. Values are fed to the second inputs of the blocks

from the outputs of the corresponding blocks 12.1-12.5. The implementation of blocks of elements I is known and does not cause difficulties.

The implementation of the radio navigator 9 is known and widely covered in the literature (see U-blox: http://www.u-blox.com/customersupport/antaris4_doc.html).

Control unit 11 has two main functions:

storing the coordinates of the centers of elementary anchoring zones (X, Y, Z) _p ;

comparison of the values (X, Y, Z) _p with the coordinates of the detected spacecraft (X, Y, Z) _s .

The implementation of the first function is carried out using a reprogrammable memory block, into which the values (X, Y, Z) _{p are} written at the preparatory stage. The location addresses (X, Y, Z) _p correspond to the numbers "p" of the elementary anchoring zones, p = 1,2, ..., P.

The implementation of block 11 is known and widely covered in the literature (see. RF Patent No. 2374659, Fig. 16). It is easily implemented on discrete elements, for example, on microcircuits with TTL signal levels 555, 1533, and other series.

Blocks for measuring the phase difference 12.1-12.S provide the calculation of the phase difference (expression 9) between the signals received in the zero and other ML AAR. All 5 blocks for measuring the phase difference 12.1-12.S are performed identically. The implementation of blocks 12.1-12.S is known and does not cause difficulties (see RF Patent No. 2283505, MPK6 G01S 13/46, publ. 09/10/2006, bull. No. 25). The operation algorithm of blocks 12.1-12.S is shown in Fig. 15.

The implementation of S subtraction blocks 13.1-13.S is known and does not cause any difficulties. Using blocks 13.1-13.S, the calculation is carried out in accordance with expression 6. Blocks 13.1-13.S can be performed on discrete elements (elementary logic) according to the known circuit (Red E. Reference manual on high-frequency circuitry: Circuits, blocks, 50 -omnaya technique: Translated from German - M .: Mir, 1990. - 256 p.).

которые записываются в него с выхода блока 16. Номера ячеек памяти, в которые записаны значения

и номера элементарных зон привязки р находятся в строгом соответствии. Емкость G блока памяти 14 определяется выражением:Block 14 is intended for storing the reference values of the phase differences

which are written to it from the output of block 16. Numbers of memory cells in which the values are written

and the numbers of the elementary anchoring zones p are in strict accordance. The capacity G of the memory block 14 is determined by the expression:

The implementation of block 14 is known and does not cause difficulties (see Lebedev O.N. Memory microcircuits and their application. - M .: Radio and communication, 1990. - 160 p .; Large integrated memory microcircuits: Handbook / A.Yu. Gordonov and others; Under the editorship of A.Yu. Gordonov and Yu.N. Dyakov. - M .: Radio and communication, 1990. - 288 p.).

матрицы измерений R(α, β, θ). С этой целью измеренные блоками 13.1-13.5 разности фаз

возводят в квадрат и суммируют в соответствии с (7) (см. фиг. 8). Найденные значения элементов

записывают в трехмерный массив матрицы измерений R(α, β, θ) по адресу

(см. фиг. 9). В качестве адреса записи выступают значения углов

которые хранят в блоке 14 совместно с эталонными разностями фаз и сопровождают их в процессе вычислений в блоках 13.1-13.S. В связи с тем, что на блок 17 приходится значительная часть временных затрат устройства, последний целесообразно реализовать на сигнальном процессоре TMS320c6416 (см. TMS320c6416: http://focus/ti/com/docs/prod/fold-ers/print/TMS320c6416.html). Алгоритм формирования матрицы измерений R(α, β, θ) приведен на фиг. 10.The first calculator-shaper 17 is designed to form a three-dimensional measurement matrix R (α, β, θ) of dimension (I + 1) ⋅ (J + 1) ⋅ (L + 1). Pre-calculate the values of the elements

measurement matrices R (α, β, θ). For this purpose, the phase differences measured by blocks 13.1-13.5

is squared and summed in accordance with (7) (see Fig. 8). Found element values

are written into a three-dimensional array of the measurement matrix R (α, β, θ) at the address

(see Fig. 9). The values of the angles act as the address of the record

which are stored in block 14 together with the reference phase differences and accompany them in the process of calculations in blocks 13.1-13.S. Due to the fact that block 17 accounts for a significant part of the device's time, it is advisable to implement the latter on the TMS320c6416 signal processor (see TMS320c6416: http: // focus / ti / com / docs / prod / fold-ers / print / TMS320c6416. html). The algorithm for forming the measurement matrix R (α, β, θ) is shown in Fig. ten.

(ячейки памяти запоминающего устройства из состава блока 17) с минимальной суммой

соответствующей искомым угловым параметрам антенной решетки (объекта)

Decision block 18 is designed to determine the element of the measurement matrix R (α, β, θ) with the address

(memory cells of a storage device from the composition of block 17) with a minimum amount

corresponding to the sought angular parameters of the antenna array (object)

The block diagram of the decision block 18 is shown in Fig. 21 for a description of the prototype device, and a description of its operation on pages 39-40 (ibid.). Block 18 is also advisable to be implemented on the TMS320c6416 signal processor (see TMS320c6416: http: //focus/ti/com/docs/prod/folders/print/TMS320c6416.html). The algorithm of the decision block is shown in Fig. 13.

The implementation of the display unit 19 is known and does not cause difficulties (see Bystroe A.Yu. and others. One hundred circuits with indicators / Bystroe A.Yu. et al. - M .: Radio and communication, 1990. - 112 p.; Password N .V., Kaidalov S.A. Sign-synthesizing indicators and their application: Handbook. - M .: Radio and communication. 1998. - 128 p.).

Для выполнения названных функций по первой входной шине 15 на вход блока 16 поступают значения координат центров элементарных зон привязки (X, Y,Z)_p. По третьей входной шине 21 на вход блока 16 поступают координаты АЭ (X,Y,Z)_mn, расстояние между АЭ d_mn, углы поворота ААС (ЛА), диапазон измерений пространственных углов (α_min,α_mах), (β_min, β_mах) и (θ_min, θ_mах). Кроме того, на входы блока 16 поступают текущие значения ВВК

m=1,2, …, М, для всех М ААР 1.1-1.М. В связи с тем, что блоком 16 выполняется большой объем вычислений, его целесообразно реализовать на плате цифровой обработки сигналов Packet 8 (TMS 320С6455 CTZ Texas Instruments), алгоритм работы которого представлен на фиг. 5а, б.The second calculator-shaper 16 is designed to calculate the reference differences Δϕ _fl.m0 (α, β, θ) _p for all elementary binding zones b _p , p = 1,2, ..., P and all possible orientation angles (α, β, θ ) LA. This function is performed by block 16 in two stages. At the preparatory stage, the calculated phase differences Δϕ _pac.mn0 (α, β, θ) _{p are found} for all pairs of AE mn0, m = 1,2, ..., M, n = 1,2, ..., N, all elementary reference zones and of all possible angles (α, β, θ) of the AAS (aircraft) orientation. In the process of operation, the found values of Δϕ _pac.mn0 (α, β, θ) _p are refined using the corresponding values of IHC

To perform the named functions, the coordinates of the centers of the elementary binding zones (X, Y, Z) _p are sent to the input of block 16 via the first input bus 15. On the third input bus 21, the AE coordinates (X, Y, Z) _mn , the distance between the AE d _mn , the angles of rotation of the AAS (aircraft), the range of measurements of spatial angles (α _min , α _max ), (β _min , β _max ) and (θ _min , θ _max ). In addition, the current values of the IHC are received at the inputs of block 16

m = 1,2, ..., М, for all М ААР 1.1-1.М. Due to the fact that block 16 performs a large amount of computations, it is advisable to implement it on the Packet 8 digital signal processing board (TMS 320C6455 CTZ Texas Instruments), the operating algorithm of which is shown in Fig. 5a, b.

The implementation of the calculation blocks VVK 1.1.1-1.1.M involves the use of multi-digit multipliers, adders, truth tables, registers. Management of the stages of work of all constituent blocks 1.1.1-1.1.M assumes the use of a state machine. For this purpose, it is also convenient to use the DSP 48E1 hardware modules that are part of the Xilinx FPGA FPGA (see DPS 48 Micro v. 3.0 Logi CORE IP Product Guide). The operation of the latter is carried out in accordance with the algorithm shown in Fig. 3. To implement the calculation of the complex IHC of one AAA out of m AE, 2 + 2m DSP blocks 48E1 are required. Two blocks are used to calculate the real and imaginary parts of the sample of the AAP output signal, and the remaining 2 m are used to find the weight coefficients. FIG. 18 shows a block diagram of a nine-channel device for determining the angular orientation of aircraft.

Claims (6)

1. A method for determining the angular orientation of aircraft, based on the fact that at the preparatory stage or during the flight of the aircraft, the sphere above the antenna system (AS) is evenly divided into

elementary anchoring zones, where D and D ₀ are, respectively, the area of the sphere at a distance of several thousand kilometers from the center of the AU and the elementary anchorage zone, each elementary anchorage zone is assigned a serial number b _p , p = 1,2, ..., P, coordinates of the location of the centers are determined elementary anchoring zones (X, Y, Z) _p , are calculated for each pair of antenna elements of the AC А _m0 , m = 1,2, ..., М - 1, М - the number of antenna elements (AE) used in the AC, reference values of the phase difference the arrival of signals relative to the coordinates of the location of the centers of each p-th elementary reference zone Δϕ _et.m0 (α ₀ , β ₀ , θ ₀ ) _p , where

- respectively, the values of the pitch, roll and azimuth angles of the AC, sequentially discretely change the orientation of the AC by the given values of the angles Δα, Δβ and Δθ in predetermined intervals (α _min , α _max ), (β _min , β _max ) and (θ _min , θ _max ), (α _max - α _min ) / Δα = I, (β _max - β _min ) / Δβ = J, (θ _max - θ _min ) / Δθ = L without changing the center AC relative to the centers of the elementary anchoring zones, for each AC provisions

and for each center of the elementary reference zones, the reference values of the phase difference are calculated

and memorize them, and in the process of operation they receive signals from the first detected spacecraft (SC) of the global navigation satellite system, measure the phase differences of the received signals in the antenna elements of the AC Δϕ _meas.m0 (α, β, θ) _p , calculate the difference between the reference differences phases corresponding to the AC angles α ₀ , β ₀ , θ ₀ for the b _p- th elements of the reference zone with the measured phase differences of the signal of the first spacecraft with a priori known location b _p (X, Y, Z):

the measured phase differences are squared and summed over all M - 1 AE pairs used in the work:

the results of calculations Δϕ ₁ (α ₀ , β ₀ , θ ₀ ) are stored, receive signals from other S-1 spacecraft and determine the values of Δϕ _s (α ₀ , β ₀ , θ ₀ ) for all S observables s = 1.2, ... , S CA, the calculation results are summed up:

and are stored in the element r (1,1,1) of the three-dimensional measurement matrix R (α, β, θ), the values

for all possible angles

orientation AC, i = 0,1,2, ..., I, j = 0,1,2, ..., J,

and the results obtained are recorded in the corresponding elements

three-dimensional measurement matrix R (α, β, θ), and the measured orientation of the AU and the aircraft is taken as the angles

corresponding element

of the measurement matrix R (α, β, θ), which has a minimum value, characterized in that the signals from the spacecraft are received on the AC containing M identical antenna arrays (AR) located in the receiving plane nonlinearly and containing N, N≥2 identical non-directional AE, for each m-th AR a vector of weight coefficients

of dimension N, received by each n-th AE of the m-th AR signal

complexly multiply by the corresponding element

weight vector

summarize the obtained values within each m-th AR, the M values of which are used to measure the phase difference of the received signals Δϕ _meas.m0 (α, β, θ) _p and the subsequent refinement of the values

m = 1,2, ..., M, and the reference phase differences Δϕ _et.m0 (α ₀ , β ₀ , θ ₀ ) _{p are} calculated in two stages, at the preparatory stage, the calculated phase differences of the signal arrival from each p-th are found and stored an elementary reference area between the reference AE and all other AEs of the AU for all possible positions of the AU

and in the process of work, the calculated phase differences obtained within each AR are refined by multiplying by the corresponding elements

weight vector

and are summed, and the reference phase differences Δϕ _et.m0 (α ₀ , β ₀ , θ ₀ ) _{p are} determined as the difference between the total signal phases between the antenna arrays. 2. A device for determining the angular orientation of aircraft, including M, M≥3, identical receiving channels from a series-connected antenna element, a low-noise amplifier, a radio path and a digital processing unit designed to convert an analog signal into digital form and decompose it into quadratures, a formation unit reference signals, the output of which is connected to the second inputs of the radio paths of the receiving channels, a clock generator, S correlators, S analysis blocks designed to assess the quality of signals received from spacecraft, S + 1 switches, a block for initial setting of correlators, S blocks for calculating the phase difference, S subtraction units, memory unit, first calculator-shaper, designed to form a three-dimensional matrix of measurements R (α, β, θ), a decision-making unit designed to find an element of a three-dimensional matrix of measurements with a minimum value, a control unit designed to store coordinates of centers element arched zones of binding and comparison of these coordinates with the coordinates of the detected spacecraft, an indication unit, the first and second input setting buses, a radio navigator, the first information output of which is connected to the control input of the initial setting unit of correlators, the groups of information inputs of which are combined with the corresponding groups of information inputs of correlators, whose clock inputs are combined and connected to the clock inputs of the digital processing units of the receiving channels, the clock generator output, the synchronization inputs of the correlators, the clock inputs of the control unit, the phase difference calculation blocks, the memory block, the subtraction blocks, the first calculator-shaper, the decision block, the initial block installation of correlators, S + 1-th switch, analysis blocks, the second groups of information outputs of which are connected to groups of information inputs of the corresponding blocks for calculating the phase difference, the first outputs of the analysis blocks are connected to control inputs the corresponding switches, the third groups of outputs of the analysis units are connected to the first groups of information inputs of the corresponding switches, the groups of information inputs of the analysis units are connected to the groups of information outputs of the corresponding correlators, the first groups of control inputs of which are connected to the corresponding first groups of information outputs of the initial setting of correlators, the second groups of inputs controllers of correlators are connected to the groups of outputs of the corresponding switches, the second groups of information inputs of which are connected to the corresponding second groups of information outputs of the block of initial setting of correlators, the groups of information outputs of blocks for calculating the phase difference are connected to the corresponding groups of inputs of the S + 1-th switch, the group of address inputs of which is connected with the group of address outputs of the block of initial setting of correlators, and S groups of information outputs are connected with the groups of inputs of the subtracted corresponding blocks subtraction covs, the groups of inputs of the reduced ones are combined and connected to the group of information outputs of the memory unit, the group of address inputs of which is connected to the group of information outputs of the control unit, the second group of information inputs of which is the first input installation bus of the device for determining the angular orientation of aircraft, the first group of information inputs the control unit is connected to the second group of information outputs of the radio navigator, the group of information outputs of the first calculator-shaper is connected to the first group of information inputs of the decision block, the second group of information inputs of which is connected to the second input installation bus of the device for determining the angular orientation of aircraft, and the group of information outputs is connected with a group of information inputs of the display unit, characterized in that (M - 1) × N identical receiving channels are additionally introduced, and all M × N receiving channels are divided into M adaptive antenna arrays (AAA), containing N parallel-connected receiving channels, each of which is supplemented with a multiplier, the first group of complex inputs of which is connected to the outputs of the corresponding digital processing unit, and each adaptive antenna array is supplemented with an adder and a block for generating weight coefficients, N groups of outputs which are connected to the second groups of inputs of the corresponding multipliers, the groups of outputs of which are connected to the corresponding groups of inputs of the adder, the group of outputs of which is the first group of outputs of the adaptive antenna array and is connected to the corresponding group of information inputs of the block of initial setting of correlators, the second group of outputs of the AAP is connected to the outputs of the block of formation vector of weight coefficients, the second calculator-shaper, designed to calculate the reference values of phase differences, M input groups of which are connected to the corresponding second groups of outputs of adaptive antenna arrays, M + The 1st group of inputs is connected to the first input installation bus of the device, the M + 2nd group of information inputs is the third input installation bus of the device, it is intended to enter the coordinates of antenna elements of adaptive antenna arrays and the mutual distances between them, the group of information outputs of the second calculator-shaper connected to the group of information inputs of the memory unit, the antenna input of the radio navigator is connected to the first output of the first AAP, and the synchronization inputs of the second calculator-shaper, multipliers and adders are connected to the output of the clock generator.

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