WO2020122852A1

WO2020122852A1 - Method for carrying out trajectory measurements (variants) and multi-positional phase system of trajectory measurements for realizing said method (variants)

Info

Publication number: WO2020122852A1
Application number: PCT/UA2019/000148
Authority: WO
Inventors: Алексей Александрович ЖАЛИЛО; Елена Михайловна ВАСИЛЬЕВА; Александр Иванович ДОХОВ; Елена Владимировна КАТЮШИНА; Ольга Алексеевна ЛУКЬЯНОВА; Валерий Васильевич СЕМЕНЕЦ; Игорь Борисович ЧЕПКОВ; Александр Иванович ЯКОВЧЕНКО
Original assignee: Харьковский Национальный Университет Радиоэлектроники (Хнурэ)
Priority date: 2018-12-12
Filing date: 2019-11-28
Publication date: 2020-06-18

Abstract

A method for carrying out trajectory measurements and a multi-positional phase system of trajectory measurements for realizing said method is based on the shared use of the principles of operation of range and multi-positional phase-measuring systems and technologies for accurate positioning on the basis of signals from Global Navigation Satellite Systems (GNSS). According to the method, a range-finding interferometric method or an interferometric method of determining coordinates is realized using on-board equipment (2) which relays signals of a GNSS nature received from a ground transmitter (1) or emits said signals autonomously in the direction of measuring beacons (4), the coordinates and time scale differences of which are determined using GNSS signals.

Description

METHOD FOR PERFORMING TRAJECTORIES OF MEASUREMENTS (OPTIONS) AND MULTI-POSITION PHASE SYSTEM OF TRAJECTOR MEASUREMENTS FOR ITS IMPLEMENTATION (OPTIONS)

Technical field

The invention relates to methods and means of trajectory measurements of highly dynamic aircraft (VLA) and can be used to carry out trajectory measurements to determine the motion parameters of highly dynamic aircraft during flight tests (testing on-board control systems), testing at prospective and modern training grounds of aircraft and missile systems, as well as for trajectory measurements and navigation of spacecraft at the stages of their launch, coordinate-time tracking and motion control, docking of spacecraft in almost all near-Earth orbits at altitudes of up to 36 thousand km.

Prior art (method)

There is a method of determining the coordinates, speed and other parameters of the movement of an object according to the signals of global navigation satellite systems (GNSS) [1-4]. This method is based on measuring distances from satellites whose position is known to the GNSS signal receiver (the coordinates of which must be obtained). Measurement of these distances is carried out by determining the propagation time of navigation signals received from each of the observed satellites (the so-called differential-ranging method of determining the location). As a result of processing the measured distances, the coordinates of the GNSS signal receiver and the discrepancy of its time scale with the GNSS time scale are determined. To solve this problem, the GNSS signal receiver must receive signals from at least four satellites. To improve the accuracy of solving the navigation problem, corrections are introduced into the measurements that correct the effect of various factors (primarily, the ionosphere and troposphere) on the signal propagation time, positioning by phase measurements is applied, and information from ground-based differential correction stations and their networks is used ( differential navigation method)

SUBSTITUTE SHEET (RULE 26) joint processing of data recorded at several frequencies, as well as joint processing of information from several GNSS.

There are also known methods for determining coordinates and speed by joint processing of GNSS and onboard inertial system data, with the possible use of data from the VOR / DME rangefinder system [5-7].

The indicated methods, if applied to measure the parameters of the VLA trajectories, have the following disadvantages.

1) The use of GNSS is limited when the controlled object is in the area of the GNSS discontinuous navigation field (above ~ 2 3 thousand km), which is of particular importance if it is necessary to determine the coordinates of spacecraft.

2) Since the main purpose of VLA trajectory measurements is to obtain information about the flight of a controlled object on the ground (for the subsequent detailed analysis), and not on board, in flight the on-board GNSS signal receiver should transmit the results of measurements and navigation determinations to the ground operator via telemetry channels. This makes it necessary to have a telemetry system even in the case when an uncontrolled flight is carried out, which, in turn, leads to a noticeable rise in the cost of the measuring complex.

3) Weak received GNSS signals limit the ability of the airborne receiver to quickly enter signal tracking - this is especially important when the monitored object flies for only a few tens of seconds. For highly dynamic objects, whose speeds reach several kilometers per second, tracking losses are possible.

A known method for determining the parameters of the trajectory of a controlled object, implemented in the SATRACK system (USA) [8-10]. According to this method, single- and dual-frequency measurements of GNSS signals recorded by the airborne receiver of GNSS signals of a controlled object are relayed from the board to a ground or surface (located on the ship) telemetry station and recorded, after which these measurements are processed in the post-session mode. During processing, the information of the network of GNSS differential correction stations deployed near the planned flight path is used

SUBSTITUTE SHEET (RULE 26) object, as well as telemetric data on the parameters of the object’s movement accumulated during the flight.

The specified method has the following disadvantages.

1) The system that implements it is quite complex due to the combination of trajectory and telemetry systems, as well as the need to use a complex antenna tracking the object.

2) The field of application of the method is quite limited - it is intended for testing only intercontinental ballistic missiles (sea basing) with a limited range of up to 1.5-2 thousand km. For VDLA type operational-tactical missile systems (especially with gentle trajectories) to use this method is disadvantageous and inefficient. For space programs, this method also has significant limitations.

A variation of the differential-ranging method for determining the location is known, implemented in the LOCATA system (Australia, USA) [1 1-13], which involves measuring distances from a controlled object equipped with on-board receiving equipment to a network of transmitting stations with known coordinates located near the planned flight path. As a result of processing the measured distances, the coordinates of the controlled object are determined, as well as the discrepancy in the time scales of the controlled object and the system that implements this method.

This method of determining the parameters of the trajectory VLA has the following disadvantages.

1) The measuring information, on the basis of which the motion parameters (coordinates, components of the velocity vector, etc.) of the controlled object are determined, are obtained on board the object, and not on the ground, therefore this information is transmitted to the operator by telemetry to the ground channels. In this regard, the telemetry system is necessary even in the case of uncontrolled flight, which increases the complexity of the system that implements this method.

2) When using this method, it is necessary to plan and place the transmitting ground points on the flight path of the controlled object, which is a very time-consuming task.

SUBSTITUTE SHEET (RULE 26) Known methods for determining the parameters of the trajectory of the controlled object, which include the use of a ground-based interferometer consisting of a transmitting station and several spatially separated receiving stations. According to these methods, the trajectory parameters are determined by jointly processing the measured differences of the distances between the controlled object and the receiving stations of the interferometer, as well as two (or more) directing cosines relative to the bases of the interferometer [14-17].

These methods for determining the parameters of the trajectory VLA have the following disadvantages. Each of them is very complicated and time-consuming to implement due to the fact that it provides for the obligatory geodetic linking of the components of the system that implements this method, the use of the complex method of synchronizing the time scales and frequencies of the system components (receiving and transmitting points), and It is also laborious in terms of creating a system for transmitting signals between spatially separated components of such measuring systems. The implementation of these methods requires the involvement of a large number of highly qualified specialists.

The closest in technical essence to the proposed method for performing trajectory measurements can be considered the method of determining the parameters of the trajectory, implemented in the multi-position phase meter system "VEGA" (USSR) [18], which is as follows. The interrogation signal emitted by the transmitting station is received on board the controlled object, converted (taking into account the delay and Doppler shift of the received signal) and transmitted at another predetermined frequency (relative to the interrogation signal frequency) to the ground receiving measuring points (stations) of the interferometer. The phase method, by measuring the phase differences between the emitted and received signals, determines the distance to the controlled object. The two guide cosines with respect to the bases of the interferometer are measured by determining the phase differences of the signals, which are received by several pairs of ground receiving points forming the bases of the interferometer. Joint processing of the measured distances and phase differences (or guide cosines) allows you to determine the coordinates of the controlled object. Measurement of Doppler shifts of the carrier frequencies of the signals on the tracks “ground transmitter - airborne transceiver - ground

SUBSTITUTE SHEET (RULE 26) receiving points ”and differences of Doppler shifts at spaced points of the interferometer allows determining the radial velocity and the rate of change of the directing cosines of the object’s motion. As a result of joint processing of coordinate (distances and direction cosines) and velocity parameters, the current coordinates and components of the velocity vector of the controlled object are calculated in a given coordinate system (for example, in a rectangular topocentric coordinate system).

The specified method, selected as a prototype, has the following disadvantages.

1) According to this method, it is mandatory to periodically conduct a set of works on precise geodetic reference of the components of the system that implements this method.

2) The method involves the use of complex and expensive directional antennas and a single-pulse direction finder [18], which significantly increases the cost of implementing this method.

3) The method uses a complex method of high-precision frequency-time synchronization of the components (spaced points) of a system that implements this method, as well as the time-consuming creation of a signal transmission subsystem between the components of this system.

4) The method requires the mandatory use of a ground-based transmitter and a transceiver of the system signals installed on board the controlled object, which increases the cost of implementing this method.

5) The method can be used exclusively for trajectory definitions and requires the involvement of a large number of highly qualified specialists for its implementation.

Disclosure of invention

An object of the invention is to expand the functionality of the method of trajectory measurements, as well as a significant reduction in the complexity of its implementation by sharing the principles of operation of polygon multiposition phase-metric systems (VEGA type) and GNSS signals and technologies.

The problem is solved as follows.

SUBSTITUTE SHEET (RULE 26) In the method of making trajectory measurements (option 1), which consists in the fact that the on-board equipment of the controlled object receives the required GNSS-like signal emitted by the ground transmitter of the interrogation signal, converts it taking into account the delay and Doppler bias of the received interrogation signal and transmits formed coherent GNSS-like signals at three frequencies of the decimeter wave range to ground-based measuring points of the system phase interferometer, and the measuring points of the phase interferometer, receiving these signals, measure the total distances and the total Doppler frequency shifts along the “interrogator-on-board signal paths equipment - measuring points ”, as well as the distance differences“ on-board equipment - measuring points ”and the rate of change and transmit these data to the information collection and processing center, where, based on the received measuring information, the trajectory parameters of the controlled object (its coordinate dines and components of the velocity vector, referred to equally discrete time samples of a given time scale), according to the invention, the coordinates of the measuring points necessary for measuring the parameters of the trajectory of the controlled object and high-precision time-frequency synchronization of the time scales of the measuring points are carried out by phase measurements of signals GNSS registered by the GNSS signal receivers with which the measuring points are equipped, and the data registered by the measuring point after the end of the measurement session are transmitted via dedicated radio channels to the data collection and processing center, or transferred to a mobile information carrier.

The problem is also solved in such a way that in the method of trajectory measurements (option 2), which consists in the fact that the on-board equipment of the controlled object transmits coherent GNSS-like signals at three frequencies of the decimeter wavelength range, and the measuring points are receiving interferometer, taking them, measure the distance differences “on-board equipment - measuring points” and the rate of change and transfer this data to the data collection and processing center, where, based on the received measurement information, the trajectory parameters of the controlled object (its coordinates and components of the velocity vector, referred to

SUBSTITUTE SHEET (RULE 26) repeated time samples of a given time scale), according to the invention, the determination of the coordinates of the measuring points necessary for measuring the trajectory of the controlled object, and high-precision time-frequency synchronization of the time scales of the measuring points are carried out by phase measurements of GNSS signals recorded by GNSS signal receivers, with which the measuring points are equipped, and the data recorded by the measuring point after the end of the measurement session are transmitted via dedicated radio channels to the data collection and processing center, or transferred to a mobile information carrier.

Prior art (device)

The multi-position phase-measuring systems Mistram [14] and AZUSA [15] are known — radio interferometers with rangefinders, consisting of a transmitting station and five receiving stations (Mistram) or five spaced receiving antennas (AZUSA) located on two lines intersecting at right angles scrap. Other systems are also known built on the same principle [16, 17]. All these systems determine the parameters of the trajectory of the controlled object by jointly processing the differences between the controlled object and receiving stations (or receiving antennas) measured by the phase method, as well as two direction cosines relative to the bases of the interferometer.

The disadvantages of these systems are the complexity and the associated great complexity of creating and maintaining the system; stationary, the system consumes a large amount of electricity, the presence of a complex system of high-precision time-frequency synchronization.

The closest in technical essence to the proposed multi-position phase system of trajectory measurements can be considered the multi-position phase-metric system VEGA [18]. The VEGA system includes on-board equipment transmitting the station, 5 observation measuring points (15 receiving antennas correspond to them), forming two mutually perpendicular bases of the interferometer, a single-pulse direction finder, a data collection and processing center, 11 alignment antennas and an information transmission system and synchronized

SUBSTITUTE SHEET (RULE 26) nation in the form of a network of cable communication lines connecting the ground elements of the system.

The system operates as follows. The signal emitted by the transmitting station is received on board the controlled object, shifted in frequency and transmitted back to earth. The distance to the controlled object is determined by measuring the phase difference between the emitted and received signals. Two cosine guides are measured by determining the phase difference of the signal that arrives at the two pairs of receiving antennas that form the base of the interferometer. The joint processing of the measured distances and the guiding cosines makes it possible to determine the coordinates of the controlled object. By measuring the Doppler shift of the carrier frequency of the signal emitted by the ground transmitter and transmitted by the airborne transceiver, the radial velocity of the object being monitored is measured, and the difference of the Doppler shift of the carrier frequency of the signal, which comes to two pairs of receiving antennas, forming the base of the interferometer, allows you to determine the rate of change of the direction cosines. As a result of joint processing of these parameters, the speed of the controlled object is calculated.

This system has the following disadvantages.

1. The system is stationary, it is deployed once at a given training ground, the system cannot be relocated.

2. The configuration of the system (the number and location of its components) is rigidly fixed, and therefore it is impossible to optimize the configuration of the system in order to obtain the most accurate result of trajectory measurements for each individual trajectory.

3. During the deployment of the system and periodically during its operation, a set of work is required to accurately geodeticly link its components.

4. Each measuring point of the system is a complex and expensive radio engineering complex, the components of which are located in buildings on an area of several hectares.

5. The system consumes a large amount of electricity: for its operation, tens of kW power sources are needed.

SUBSTITUTE SHEET (RULE 26) 6. The system uses directional antennas and a monopulse direction finder, which significantly increases the cost of the system.

7. An expensive and time-consuming system to create a signal transmission between the components of the system is a cable communication line, the total length of which is about several hundred kilometers.

8. The system uses a complex method of high-precision time-frequency synchronization.

9. The system necessarily includes a ground-based transmitter, and an onboard transceiver of the system signals is installed on board the controlled object, which increases the cost of the system.

10. The system can be used exclusively for trajectory definitions and requires the involvement of a large number of highly qualified specialists for its maintenance and operation.

Disclosure of invention

An object of the invention is to expand the functionality of a multi-position phase trajectory measurement system, as well as significantly reduce the complexity of creating and maintaining the system by supplementing each measuring point of the system with a GNSS signal receiver of a geodetic accuracy class, an information storage unit and a transmitting unit, using non-directional receiving antennas and sharing the principles of construction and operation of polygon multi-position phase metric systems and GNSS signals and technologies.

The problem is solved as follows.

In the multi-position phase trajectory measurement system (MFSTI), which implements option 1 of the trajectory measurement method, which includes a request signal transmitter, on-board equipment, an information collection and processing center, and a phase interferometer consisting of N (N = 3 ... 12 ) measuring points, each of which includes a receiving antenna and a multi-channel receiver of system signals, according to the invention, each measuring station of the system is a portable device, which additionally includes a GNSS signal receiver, an information storage unit and a transmitter unit, and the receiving antennas are omnidirectional,

SUBSTITUTE SHEET (RULE 26) than the GNSS-like signal emitted by the transmitter of the request signal received by the onboard equipment is converted, taking into account the delay and Doppler shift of the received signal, into three coherent GNSS-like signals at three frequencies of the decimeter wavelength range, which are transmitted to the ground-based measuring points of the phase interferometer , in each of which these signals from the controlled object simultaneously with the GNSS signals are received by the receiving antenna of the measuring point, the first output of which is connected to the input of the multi-channel receiver of the system signals, and the second output is connected to the input of the receiver of the GNSS signals, and the outputs of the multi-channel the system signal receiver and the GNSS signal receiver are connected to the inputs of the information storage unit, the output of which is connected to the input of the transmitting unit, which during transmission of the accumulated data is connected via dedicated radio channels to the information collection and processing center, or connected to a mobile information carrier.

The problem is also solved by the fact that in the multi-position phase trajectory measurement system, which implements option 2 of the trajectory measurement method, which includes on-board equipment, a data collection and processing center and a phase interferometer consisting of N (N = 4 ... 12 ) measuring points, each of which includes a receiving antenna and a multi-channel receiver of system signals, according to the invention, each measuring station of the system is a portable device, which additionally includes a GNSS signal receiver, an information storage unit and a transmitter unit, and the receiving antennas are omnidirectional, and the transmitter of the interrogation signal is combined with one of the measuring points - they are connected to a common reference generator and have a common time scale, and a GNSS-like signal emitted by the on-board equipment is received by the measuring points phase interferometer, in each of which it simultaneously with GNSS signals are received by the receiving antenna, the first output of which is connected to the input of the multichannel signal receiver of the system, and the second output is connected to the input of the GNSS signal receiver, and the outputs of the multichannel signal receiver of the system and the GNSS signal are connected to the inputs of the information storage unit, the output of which connected to the input of the transmitting unit, which during transmission of the accumulated data is connected to the selected ra-

SUBSTITUTE SHEET (RULE 26) diochannels with a data collection and processing center, or connected to a mobile data carrier.

Brief Description of the Drawings

Figure 1 shows a General diagram of the proposed system.

In FIG. 2 shows the architecture of the proposed system (option 1).

In FIG. 3 shows the architecture of the proposed system (option 2).

In FIG. 4 shows a diagram of a measuring station, which is an integral part of the proposed system.

Embodiments of the invention

The multi-position phase trajectory measurement system (option 1, see Fig. 1 and Fig. 2) contains a request signal transmitter 1, on-board equipment 2, an information collection and processing center 5, and a phase interferometer 3 consisting of N ( N = 3 ... 12) of measuring points 4 (see Fig. 4), each of which includes a receiving antenna 6, a multi-channel signal receiver of system 7, a GNSS signal receiver 8, an information storage unit 9 and transmitting unit 10, and the receiving antennas 6 are omnidirectional, and the request signal transmitter 1 is combined with one of the measuring points 4 — they are connected to a common reference generator and have a common time scale, are also connected to a common reference generator and have a common multi-time scale the channel signal receiver of the system 7 and the GNSS signal receiver 8, which are part of each measuring point 4, and the GNSS-like signal emitted by the transmitter of the request signal 1, is received by the on-board equipment 2, is converted taking into account the delay and Doppler shift of the received signal into three coherent GNSS-like signals at three frequencies of the decimeter wavelength range, which are transmitted to the ground measuring points 4 of the phase interferometer 3, in each of which these signals from the controlled object are simultaneously with the GNSS signals receives the receiving antenna 6 of the measuring point 4, the first output of which is connected to the input of the multi-channel signal receiver of the system 7, and the second output is connected to the input of the GNSS signal receiver 8, and the outputs of the multi-channel signal receiver of system 7 and the GNSS signal receiver 8 are connected with the inputs of the information storage unit 9, the output of which is connected to the input of the transmitting unit 10, which during the transmission of accumulated data

SUBSTITUTE SHEET (RULE 26) connected via dedicated radio channels to the center for collecting and processing information 5 or connected to a mobile storage medium.

The multi-position phase trajectory measurement system (option 2, see Fig. 2) contains on-board equipment 2, a data collection and processing center 5 and a phase interferometer 3, consisting of N (N = 4 .. Л2) measuring points 4 ( see Fig. 4), each of which includes a receiving antenna 6, a signal receiver of the system 7, a GNSS signal receiver 8, an information storage unit 9 and a transmitting unit 10, and the receiving antennas 6 are omnidirectional, and the multi-channel receiver signals of the system 7 and the GNSS signal receiver 8, which are part of each measuring point 4, are connected to a common reference generator and have a common time scale, and GNSS-like signals emitted by the on-board equipment 2 are received by the measuring points 4 of the phase interferometer 3, in each of of which simultaneously with the GNSS signals the receiving antenna 6 receives, the first output of which is connected to the input of the multi-channel signal receiver of the system 7, and the second output to the input of the signal receiver GNSS 8, and the outputs of the multi-channel signal receiver of the system 7 and the GNSS signal receiver 8 are connected to the inputs of the information storage unit 9, the output of which is connected to the input of the transmitting unit 10, which during transmission of the accumulated data is connected via dedicated radio channels to the information collection and processing center 5 or connects to a mobile storage medium.

The multi-position phase trajectory measurement system operates as follows, realizing the method of trajectory measurements.

The session of trajectory measurements, according to the claimed methods, covers the period from the start to the end of the flight of a controlled object equipped with on-board equipment 2.

As part of planning a trajectory measurement session, the following actions are performed:

1. Based on the information about the shape of the specific planned flight path (range and maximum flight height) of the controlled object, the optimal system configuration for this path is determined - the minimum number of measurement points 4 required to determine the parameters

SUBSTITUTE SHEET (RULE 26) trajectories with the required accuracy, and the location of these measuring points 4. Measuring points 4 should form a phase interferometer 3 with approximately perpendicular bases and, if necessary, additional, smaller measuring bases for more reliable disclosure of phase ambiguity. The maximum bases of the phase interferometer 3 between the separated measuring points 4 depend on the shape of the planned flight path of the monitored object and can range from –1–50 km (when determining the parameters of the surface VLA trajectories) to ~ 100-1000 km (when determining parameters of the trajectories of spacecraft in the near and far space).

At the same time, a decision is made on whether there is a need to use a request signal transmitter 1, that is, a choice is made between option 1 and option 2 of building the system. The system can be built according to option 2 (without the use of a request signal transmitter 1), if the dimensions of the base lines of the phase interferometer 3 of the system are comparable with the distances to the controlled object.

To determine the optimal system configuration, specialized software for a priori estimation of the accuracy of trajectory measurements is used.

2. The controlled object, for which it is planned to conduct a measurement session, is equipped with on-board equipment 2, which has a different composition depending on the chosen version of the system construction. If the system is constructed according to option 1, then the on-board equipment 2 includes a receiver, a system request signal processing unit, a modulator and a transmitter of GNSS-like coherent signals at three frequencies (in selected decimeter L-band bands) emitted in the direction of ground receiving points (taking into account the delay and Doppler shift on the “ground-based transmitter-avionics” track). If system construction option 2 is chosen, then the on-board equipment 2 contains a driver and a transmitter of GNSS-like coherent signals at three frequencies (in selected L-band bands). The cost of on-board equipment in option 2 of building the system is significantly less than the cost of on-board equipment in option 1.

SUBSTITUTE SHEET (RULE 26) Before conducting a trajectory measurement session, measuring points 4 and the interrogation signal transmitter 1 (if available) are installed in the planned places on the earth's surface or on the surface of the water on small swimming vehicles (boats) or on buoys. Elements of the system should be located in the planned places on the ground with an accuracy of several tens of meters. In order to accumulate GNSS measurements in an amount sufficient to determine the coordinates of measuring points 4 with the accuracy necessary for the effective operation of the system, as well as to refine the model of tropospheric delays, the elements of the system must be placed on the ground and their functioning started no later than less than 1 hour before the start of the flight of the controlled object, and turn them off and remove them no earlier than 1 hour after its end. Thus, the total interval of GNSS observations should begin at least one hour before the start of the trajectory measurement session and end one hour after its end. This will ensure the achievement of centimeter accuracy in determining the coordinates (current coordinates) of the receiving points of the trajectory measurement system.

A session of trajectory measurements, according to the claimed method, is as follows.

In the case of constructing the system according to option 1 (see Fig. 1 and Fig. 2), the signals at three spaced carrier frequencies in the decimeter wavelength range emitted by the interrogation signal transmitter 1 are received by the on-board equipment 2 and relayed to the ground measuring points 4 of the phase interferometer 3, which measure the total distances and Doppler frequency offsets on the tracks “request signal transmitter 1 - on-board equipment 2 - measuring point 4”, as well as the differences of distances and their rate of change.

In the case of constructing the system according to option 2 (see Fig. 3), the signals at three spaced carrier frequencies in the decimeter wavelength range emitted by the onboard equipment 2 without request from the ground transmitter are received by measuring points 4 of the phase interferometer 3, which measure the differences distances “on-board equipment 2 - measuring point 4” and the speed of their change.

The rate of the measurement cycles and the output of the results of trajectory determinations is determined by the dynamics of the controlled object and is in the range of 1 ^ -10 Hz.

SUBSTITUTE SHEET (RULE 26) The system hardware setup provides for the possibility of changing the measurement rate.

Simultaneously with the signals emitted by the on-board equipment 2 of the system, measuring points 4 perform and record measurements of GNSS signal parameters (both code and phase observations) at two frequencies. These measurements are used to implement accurate coordinate-time support of the system and refine tropospheric delay models.

Registered measurements of the system signals, as well as measurements of GNSS signals, are accumulated in the information storage units 9, which are part of the measuring points 4. At the end of the trajectory measurement session and the GNSS signal receivers cease to function (not earlier than 1 hour after the flight is completed of the controlled object), the data accumulated in the information storage units 9 are transmitted through the transmitting unit 10 of each measuring point 4 to the information collection and processing center 5. Data can be transmitted using dedicated radio channels, or the data can be transferred on a mobile medium information by the personnel servicing the system.

In the information collection and processing center 5, based on 4 measurements of GNSS signals accumulated by measuring points, with the use of additional information (accurate ephemeris of GNSS satellites, if available, data on the signal propagation medium, measurement information of the nearest permanent GNSS reference stations, etc. ), the high-precision coordinate alignment of the phase centers of the receiving antennas 6 and the precise synchronization of the time scales of the measuring points 4 are performed. In the case when the measuring points 4 are located on the earth's surface, the coordinates of the phase centers of the receiving antennas 6 are determined with geodetic accuracy. In the case when the measuring points 4 are mobile — located on swimming vehicles or on buoys on the surface of the water, the coordinates of the phase centers of the receiving antennas 6 are estimated together with the motion parameters of the controlled object with an accuracy that allows to obtain the GNK positioning mode RTK (Real Time Kinematic).

SUBSTITUTE SHEET (RULE 26) If measuring points 4 are installed stationary and their coordinates are precisely determined in advance, then the determination of their coordinates for each session of trajectory measurements can not be performed, but known coordinates can be used.

Based on the accumulated measurements of the system signals and the obtained information on the coordinates of the phase centers of the receiving antennas 6 and the discrepancies in the time scales of the measuring points 4, the trajectory parameters of the monitored object (its coordinates and components of the velocity vector related to equally discrete time samples of a given time scale) are determined.

The system is designed to perform trajectory definitions of motion parameters of several objects simultaneously. The system uses code separation of signals received from various monitored objects, which makes it possible to distinguish (identify) and separately evaluate signal parameters and save frequency resources.

Periodically (at least 2-4 times a year), calibration and metrological certification are carried out (a posteriori assessment of the accuracy of observations and trajectory definitions of the system). A posteriori estimation of the accuracy of the system is performed by comparing the current parameters of the trajectory of the controlled object (in this case, an unmanned aerial vehicle, for example, a quadrocopter) obtained by the system and the reference parameters of the trajectory of the controlled object, the accuracy of which is several times higher than the accuracy of the system. The differential mode of kinematic coordinate definitions based on GNSS phase observations of a serially produced GNSS signal receiver of a geodetic class, which provides positioning with centimeter accuracy, is adopted as a reference for trajectory definitions.

When creating and commissioning the system, as well as periodically during its operation (at least 2-4 times a year), the system hardware is calibrated. During the calibration, instrumental delays in the measuring paths of the system equipment are determined or refined, that is, systematic observation errors (interchangeable constants — code and phase delays of GNSS signals and signals of controlled objects, displacement of the antenna phase centers, etc.) used in the parameter definition session

SUBSTITUTE SHEET (RULE 26) movement. When calibrating the system equipment, the same standard trajectory definitions are used as in the posterior evaluation of the accuracy of the system.

Due to the fact that the measuring points of the system include GNSS signal receivers 8 of geodetic accuracy class, measuring points 4 (if they are located on the earth's surface and their coordinates are determined with geodetic accuracy), they can be used as a network of GNSS base stations and provide a wide range of consumers with differential corrections for measuring GNSS signals.

Thus, the method of performing trajectory measurements and the multi-position phase system of trajectory measurements are based on a combination of the principles of construction and operation of multi-position phase metric systems and modern GNSS technologies for accurate positioning, due to which, as studies have shown, they can achieve higher compared to analog logs of accuracy in determining the parameters of the trajectories of aircraft and spacecraft at any altitude in the range of up to 36 thousand km with a minimum of the complexity of developing the system, its implementation and operation.

The results of an a priori accuracy assessment (AOT) for determining the motion parameters of spacecraft and other highly dynamic objects using a multi-position phase trajectory measurement system are presented below.

Using the developed observational error model of the MFSTI, estimates of the expected accuracy of determining the motion parameters (coordinates and components of the velocity vector) of spacecraft (SC) and other highly dynamic aircraft (VLA) for various options for the construction and operation of the system were obtained.

The model of observation errors took into account the contributions of the following sources of measurement errors (loop ranges, code and phase differences of ranges, as well as their rate of change):

- noise and errors due to multipath propagation of signals;

- residual (after corrections) errors of tropospheric and ionospheric signal delays;

SUBSTITUTE SHEET (RULE 26) - residual errors in estimating discrepancies of time scales distributed in the space of the receiving points of the system;

- errors in the calibration of instrumental signal delays in the ground and on-board equipment of the system;

- errors in the coordinate reference of the middle phase centers of ground receiving antennas; errors of phase variations of ground receiving antennas and airborne antennas;

- errors due to geodynamic effects, Earth rotation, relativistic and geogravitational effects, wind-up effects, etc. ·;

- methodological errors.

An a priori assessment of the accuracy of determining the parameters of spacecraft motion was carried out for low, medium, and high orbits. In this case, various MFSTI configurations were used with maximum base distances of up to ~ 800 km.

Below are the summarized generalized results of AOT trajectory definitions of the spacecraft and surface highly dynamic aircraft.

Estimated values of the mean square errors (SEC) of determining the parameters of the motion of the spacecraft are within:

- from a few centimeters to -20 ^ 30 cm in coordinates and from a few millimeters per second to ~ 2 3 cm / s in components of the velocity vector - for low-orbit spacecraft at altitudes up to ~ 1000 km;

- from -0.25 ^ 0.6 m (in plan) to ~ 0, 4 + 1, 2 m (in height) in coordinates and from -2 + 4 cm / s (in plan) to ~ 3.6 -And 8 cm / s (in height) in terms of velocity vector components - for mid-orbit and geostationary / geosynchronous spacecraft (at altitudes of -9 + 36 thousand km).

Estimated values of the SQP for determining the motion parameters of surface (up to altitudes -150,200 km) highly dynamic aircraft are within -0.05 + 0.40 m in coordinates and ~ 0.5-I, 6 cm / s in terms of the velocity vector components.

The MFSTI was also simulated using real daily observations for January 10, 2013 of the measuring points of the system, combined with permanent GPS stations in Ukraine (GPS - Global Position System). GPS stations were selected as measuring points

SUBSTITUTE SHEET (RULE 26) GLSV, KHAR, KTVL, DNRS, IZUM, MEKL, NIZH, POLV, SHAB, UMAN and ZPRS. The maximum baseline in this case was — 800 km. One of the satellites of the working constellation GPS was chosen as a controlled object (KO) with unknown parameters of motion, its coordinates and components of the velocity vector were estimated from the MFSTI observations.

A posteriori accuracy assessment showed the possibility of achieving the following accuracy of trajectory definitions of spacecraft (GPS satellites as controlled objects):

- for the first (rangefinder-interferometric, interrogative) version of the MFSTI implementation, the values of the SQP for determining the coordinates of the CO (point estimates with a rate of 1 Hz) were in the range from ~ 0.16 m (planned coordinates) to -0.45 m (height); the values of the SEC of the components of the velocity vector of the KO (the accuracy of these parameters was evaluated only for the first version of MFSTI) were in the range of ~ 0.7—1.0 cm / s;

- for the second (interferometric, non-requesting) embodiment of the MFSTI, the values of the SQP for determining the coordinates of the QoS were in the range from ~ 21 m (planned coordinates) to ~ 25-50 m (height).

Moreover, in the course of the experiments, the discrepancies in the time scales of the separated MFSTI measuring points with an accuracy (SKP) of ~ 0.01 ns were determined, and the SKP of determining the distance differences at all measuring bases of the MFSTI interferometer was ~ 0.7-1.0 cm This made it possible to successfully resolve phase ambiguities at all measuring bases and to evaluate the current coordinates of the spacecraft with the accuracy indicated above.

A comparative analysis of the results of an a priori and a posteriori estimation of the accuracy of MFSTI in the framework of this experiment showed that these results are fairly close, which also confirmed the correctness of the concept of construction and functioning of MFSTI, its operability.

The proposed method and options for the implementation of MFSTI, as shown by the studies, will make it possible to achieve higher accuracy in determining the parameters of the trajectories of aircraft and spacecraft at any altitudes in the range of up to 36 thousand km with a minimum cost of developing the system, its implementation and operation.

SUBSTITUTE SHEET (RULE 26) LIST OF USED SOURCES:

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3. Modern foreign (USA, EU) GNSS receivers (Monarch-M (General Dynamics), Sentinel M-Code Receiver (General Dynamics), LION Navigator 1000 Series (Airbus Defense & Space)) for path definitions (current coordinates and components of the velocity vector of spacecraft) at low (LEO), medium (MEO) and high (GEO) orbits (selection of the best models 2014-2017) [Electronic resource] // Access mode: https://gdmissionsvstems.com/ space / space-electronics / gps-receivers,

https://gdmissionsvstems.com/space/space-electronics/gps-receivers/m-code-receiver. https://gdmissionsvstems.com/space/space-electronics/gps-receivers/sentinel.

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SUBSTITUTE SHEET (RULE 26) 7. A comprehensive way to navigate aircraft. - Patent of the Russian Federation for the invention N »RU 2 558 699 C1, published on 08/10/2015, bull. t 22.

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SUBSTITUTE SHEET (RULE 26) 17. A method for simultaneously determining six motion parameters during trajectory measurements by one tracking station and a system for its implementation. - Patent of the Russian Federation for the invention Ns RU 2 555 247 Cl, published on July 10, 2015, bull. JV ° 19.

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SUBSTITUTE SHEET (RULE 26)

Claims

Formula

1. The method of trajectory measurements (option 1), which consists in the fact that the on-board equipment of the monitored object receives an interrogated GNSS-like signal emitted by a ground transmitter of an interrogated signal, converts it taking into account the delay and Doppler shift of the received interrogated signal, and transmits the generated coherent GNSS - similar signals at three frequencies of the decimeter wave range to the ground measuring stations of the phase interferometer of the system, and the measuring stations of the phase interferometer, receiving these signals, measure the total distances and the total Doppler frequency shifts along the paths "request signal transmitter - on-board equipment - measuring points", and also the distance differences “on-board equipment - measuring points” and the speed of their change and transmit this data to the information collection and processing center, where on the basis of the received measurement information the trajectory parameters of the controlled object (its coordinates and representing velocity vectors assigned to equally discrete time samples of a given time scale), characterized in that the coordinates of the measuring points necessary for measuring the parameters of the trajectory of the monitored object and high-precision time-frequency synchronization of the time scales of measuring points are carried out by phase measurements of signals from global navigation satellite systems ( GNSS), registered GNSS signal receivers with which the measuring points are equipped, and the data registered by the measuring point after the measurement session is transmitted via dedicated radio channels to the data collection and processing center, or transferred to a mobile information carrier.

2. A method for performing trajectory measurements (option 2), which consists in the fact that the on-board equipment of the controlled object transmits coherent GNSS-like signals at three frequencies of the decimeter wavelength range, and the measuring points of the phase interferometer, taking them, measure the distance differences “on-board equipment - measuring points ”and their change rates and transmit this data to the information collection and processing center, where, on the basis of the received measurement information, the parameters are determined

SUBSTITUTE SHEET (RULE 26) the trajectory of the controlled object (its coordinates and components of the velocity vector, referred to equally discrete time samples of a given time scale), characterized in that the coordinates of the measuring points necessary for measuring the parameters of the trajectory of the controlled object and high-precision time-frequency synchronization of time scales of measuring points are carried out according to phase measurements of GNSS signals recorded by GNSS signal receivers with which the measuring points are equipped, and the data registered by the measuring point after the measurement session is transmitted via dedicated radio channels to the data collection and processing center, or transferred to a mobile information carrier.

3. A multi-position phase trajectory measurement system (option 1), which includes a request signal transmitter, on-board equipment, an information collection and processing center, and a phase interferometer consisting of N (N = 3 ... 12) measuring points, each of which includes a receiving antenna and a multi-channel receiver of system signals, characterized in that each measuring point of the system is a portable device, which additionally includes a GNSS signal receiver, an information storage unit and a transmitting unit, and the receiving antennas are omnidirectional, and the request signal transmitter combined with one of the measuring points - they are connected to a common reference generator and have a common time scale, they are also connected to a common reference generator and have a common time scale a multi-channel receiver of system signals and a GNSS signal receiver that are part of each measuring point, and GNSS-like signal emitted by the transmitter request signal, received by the onboard equipment, is converted, taking into account the delay and Doppler shift of the received signal, into three coherent GNSS-like signals at three frequencies of the decimeter wave range, which are transmitted to the ground-based measuring points of the phase interferometer, in each of which these signals from the controlled object simultaneously with GNSS signals are received by the receiving antenna of the measuring point, the first output of which is connected to the input of the multi-channel receiver of the system signals, and the second output is connected to the input

SUBSTITUTE SHEET (RULE 26) GNSS signal receiver, and the outputs of a multi-channel GNSS signal receiver and GNSS signal receiver are connected to the inputs of the information storage unit, the output of which is connected to the input of the transmitting unit, which during transmission of the accumulated data is connected via dedicated radio channels to the center for collecting and processing information or connected to a mobile carrier information.

4. A multi-position phase trajectory measurement system (option 2), which includes on-board equipment, a data collection and processing center and a phase interferometer, consisting of N (N = 4 ... 12) measuring points, each of which includes a reception an antenna and a multi-channel system signal receiver, characterized in that each measuring point of the system is a portable device, which additionally includes a GNSS signal receiver, an information storage unit and a transmitting unit, and the receiving antennas are omnidirectional, and the multi-channel system signal receiver and signal receiver The GNSSs that are part of each measuring point are connected to a common reference generator and have a common time scale, and GNSS-like signals emitted by the on-board equipment are received by the measuring points of the phase interferometer, in each of which the receiving antenna receives them simultaneously with the GNSS signals, the first the output of which is connected to the input ohm of a multi-channel receiver of system signals, and the second output is with the input of a GNSS signal receiver, and the outputs of a multi-channel receiver of system signals and a GNSS signal receiver are connected to the inputs of the information storage unit, the output of which is connected to the input of the transmitting unit, which is connected via dedicated radio channels with a data collection and processing center or connected to a mobile storage medium.

SUBSTITUTE SHEET (RULE 26)