RU13019U1 - UNMANNED AIRCRAFT MOVEMENT CONTROL SYSTEM - Google Patents

Abstract

A control system for the movement of an unmanned aerial vehicle, comprising an actuator, a coordinate and motion measuring device for a controlled object, a control signal generation device based on four control signal generation units according to heading, pitch, roll and altitude, two controlled switches, two comparators, software block, And element, information exchange device and timer, device for correcting height and vertical speed, radio altimeter, unit comparable a threshold setting unit and a first key, while the outputs of the control signal generation device from the first to the fourth are connected to the corresponding inputs of the actuator, the fifth and sixth outputs of the control signal generation device are the inputs for connecting the radar sight, the first and fifth inputs of the control signal generation device connected respectively with the third and seventh outputs of the coordinate meter and motion parameters of the controlled object, the sixth and ninth inputs of the device The control signals are inputs for connecting a radar sighting device, the output of the radio altimeter is connected to the signal input of the first key and to the first input of the comparison unit, the second input of which is connected to the output of the threshold setting unit, the output of the comparison unit is connected to the fourth input of the height and vertical speed correction device, and the control input of the first key, the output of which is connected to the third input of the device for correcting height and vertical speed, the first and second inputs of which are connected respectively

Description

UAV motion control system

The utility model relates to automatic control systems and can be used during demonstration launches or autonomous flight tests of unmanned aerial vehicles.

Known control systems considered, in particular, in the book. Handbook of Electronics, Volume 3. Under the General Ed. nrof. etc. t. and. A, L. Kulikovsky. Moscow, Energy, 1970.

One of these systems is shown in Fig. 97-1, p. 551 and contains a coordinator, one of the inputs of which is connected to the device for setting the program of movement of the controlled object, and the other to the controlled object, and specifically, to the measuring instrument of coordinates of its movement installed on the controlled object. The coordinator output is connected to the device for generating and transmitting control commands connected at the entrance to the actuator, controlled by the movement of the managed object (UO).

In the given system, the programmed coordinates (parameters of the motion path) of the RO are compared in the coordinator with the actual current coordinates of the RO, the difference signal is fed to the device for generating control commands, which are issued to the executive device to correct the spatial position of the controlled object.

An inertial navigation system is used as a coordinate measuring instrument for a controlled object, which, as you know, has the 1 drawback that the data generated by it contain accumulated errors over time, as a result of which the actual trajectory MPKOOZP 1/04, in 64 from 19/00

The motion path of the VO will differ significantly from the programmed one, which is the main drawback of the reduced system.

The specified disadvantage is significantly reduced in the unravel1H1ya system according to patent No. 2062503, IPC G 05 D 1/04, B 64 C 19/00, publ. 06/20/96, which is accepted as a prototype.

The prototype system contains a coordinate measuring device for a controlled object, 11IO1N1Y radar, a control signal generation device, the first group of inputs of which is connected to the corresponding outputs of the radar sighting device, and two outputs to the corresponding inputs of the radar sighting device, a height and vertical speed correction device, a radio altimeter, a comparison unit, the threshold setting unit and the key, while the radio altimeter connected by an input to one of the outputs of the control signal generation device, the output is connected with a signal input of the key n with the first input of the comparison unit, the second input of which is connected to the output of the threshold setting unit, the output of the comparison unit is connected to the corresponding input (fourth) of the height and vertical speed correction device and to the control input of the key, the output of which is connected to the third input of the device correction of height and vertical speed, the first and second inputs of which are connected respectively to the first and second outputs of the coordinate measuring instrument of the controlled object, and its first and second outputs are connected to the corresponding etstvuyuschim forming apparatus inputs the control signals. By introducing into the system a radio altimeter and associated with it and coordinates measuring device and UO motion parameters, a device for height and vertical speed correction, the height and vertical speed of the inertial coordinate meter are corrected according to the radio altimeter as a more accurate and 1 measurement tool, and only reliable data are used from the radio altimeter . The reliability of the data from the radio altimeter is checked by introducing into the system a comparison unit associated with the output of the radio altimeter, with the output of the threshold setting unit, with a key and a device for correcting altitude and vertical speed.

Together, this can significantly increase the accuracy of the controlled object in the vertical plane, which ensures the flight of the aircraft along a trajectory close to a given one.

The disadvantage of the nototype system is the excessive complexity when using it for demonstration launches or autonomous flight tests of unmanned aerial vehicles (UAVs), due to the presence of a radar sighting device necessary to bring the aircraft to a given point during regular operation. In addition, the radiation of the radio altimeter that is part of the system leads to disruption of the radio concealment of the flight.

The objective of the utility model is to simplify the control system and increase its radio concealment during demonstration launches or autonomous plate tests of unmanned aerial vehicles.

The essence of the utility model lies in the fact that in the motion control system of an unmanned aerial vehicle, which contains an actuator, a meter for coordinates and movement parameters of a controlled object, a control signal generation device based on four control signal generation blocks according to heading, pitch, roll and height, two controlled switches, two comparators, a program unit, an AND element, an information exchange device and a timer, as well as a height and vertical correction device bores, a radio altimeter, a comparison unit, a threshold setting unit, and a first key with corresponding connections, a switching element is inserted that is connected between the seventh output of the information exchange device and the radio altimeter input, a second key whose signal input is connected to the output of the first comparator, and the output to the third input information exchange device, a third controlled switch, the first input of which is connected to the input of the first comparator, the second input - with the third output of the information exchange device, and the output - with the input of the second a comparator, wherein a joint between the control inputs of the second switch and the third controllable switch connected to a twelfth input device generating a control signal which is input for feature absence shaper radar reticle.

The exception of the radar sighting device without disrupting the operation of the control system is provided by introducing into the input system for connecting a signal source that forms the sign of the absence of a radar sighting device connected to the control inputs of the second key and the third controlled switch. In the presence of this signal, the circuit is opened, by which a command is sent to turn on the radar sight, which eliminates the need for an information exchange device to contact it, therefore, with a demonstration start, the absence of a radar sight does not lead to interruptions in the exchange of information between the other cncTCMtJ control devices. At the same time, the introduction of a third controllable switch ensures that, when the signal is triggered, the absence of a radar sighting device at the specified input controls the program unit through a second comparator using a range signal generated not by the radar sighting device, but by the coordinate and motion parameters measuring device A. To ensure the radio concealment of the demonstration launch, the control input the radio altimeter is disconnected from the output of the exchange device and by way of opening the switching element connected between the output of the unit exchange of information and the input of a radio altimeter. The invention is illustrated by drawings, which depict: in FIG. 1 is a functional diagram of the proposed system, in FIG. 2 is a functional diagram of a device for correcting height and vertical speed. In FIG. I, 2 are designated: 1- control signal generation device (UFSU), 2- coordinate and motion measurement instrument of the controlled object, 3- executive device, 4- input for connecting the conditioner for the driver Lack of radar sighting device, 5- radio altimeter (RV), 6- comparison block, 7- norm setting block, 8- first key, 9- altitude and vertical speed correction device (VHF and AC), 10, 11, 12 and 13 — control signal generation blocks according to course, tangen and height (BVSU ,, BVSU G ,, BVSUu.., BVSU // ,.), 14, 15 - controlled breakers , 16, 17 - comparators, 18 - program unit, 19-element And, 20 - information sharing device (UOI), 21- timer, 22- second key, 23- third controlled switch, 24- switching element, 25- 28 - difference blocks, 29 - 31 - integrators, 32, 33 - adders, 34 - block of multipliers, 35 - block of threshold elements,

38- multiplier,

39- memory block

40-timer

41-managed key.

In the blindness control system, the sixth, seventh, eighth and ninth inputs of the UFSU 1 device are designed to connect to the outputs of the radar detector on the sight, and the fifth and sixth outputs of the UFSU 1 are used to connect the inputs of the radar sighting device, the outputs of the UFSU 1 from the first to the fourth are connected to the corresponding inputs of the actuator 3, at the same time, the first five inputs of UFSU 1 are connected respectively to the third, fourth, nyaty, sixth and seventh outputs of the meter 2 coordinates and motion parameters of the controlled object, the first and second the outputs of which are connected, respectively, to the first and second inputs of VHF and BC 9, the third input of which is connected through the first key 8 to the output of PB 5, connected to the seventh output of the FSB 1 through the switching element 24 and to the first input of the comparison unit 6, the input of which is connected to the output of the threshold setting unit 7, and its output is connected to the control input of the first key 8 and to the fourth input of VHF and BC 9, the first and second outputs of which are connected respectively to the tenth and single inputs of the FSB I.

In UFSU 1, the first input of UOI 20 is connected to the output of the timer 21, its second input is connected to the first input of UFSU 1, and its third input is connected through a comparator 16 and key 22 to the second input of UFSU 1. The inputs of UOI 20 from the fourth to the seventh the inputs from the sixth to the ninth UFSU 1. The first and second outputs of the UOI 20 are connected respectively with the fifth and sixth outputs of the UFSU 1, the seventh output of which is the seventh output of the UOI 20. The third output of the UOI 20 is connected through the third controlled switch 23 and the comparator 17 to the input of the program unit 18, the first exit to The second output of the program unit 18 is connected to the second input of the pitch control signal generation block 11, the output of which is connected to the third output of the FSU 1. The third the output of program block 18 is connected to the third input of block 12, the output of which is connected to the first output of the FSB 1. The fourth output of program block 18 is connected to the fourth input of the controlled switch 14, connected by the output to the first mu input of the control signal generation unit 10 at the rate, the second input of which is connected to the fifth output of block 18, and the output - to the second output of the FSB I. The first input of the first controllable switch 14 is connected to the fourth input of the FSB 1 and the second input of the block

12, the first input of which is connected to the fifth input of UFSU I, the second input of the switch 14 is connected to the fourth output of the UOI 20, and its third input is connected to the output of the element And 19 and to the third input of the second controlled switch 15, the output of which is connected to the first input of block 11 generating a pitch control signal, the second input of the switch 15 is connected to the fifth output of the UOI 20, connected by the sixth output to the first input of the And element 19. The first input of the switch 15 is connected to the third input of the FSB 1 and to the fourth input of the block 13 connected to the second the output to the second input of the element And 19. The first and second outputs of block 13 are connected respectively to the tenth and eleventh inputs of the FSB 1. The input 4 is connected to the control inputs of the second key 22 and the third controlled switch 23, forming the twelfth input of the FSB I. The signal input of the second key 22 connected to the output of the first comparator 16, and the output to the third input of the UOI 20, the first input of the third controlled switch 23 connected to the input of the first comparator 16, the second input to the third output of the UOI 20, and the output to the input of the second comparator 17.

VHF and BC 9, shown in FIG. 2, contains in series a difference unit 25, a controlled key 41, a second difference unit 26 and a multiplier unit 34, the first output of which is connected to the first input of the adder 32, the second output is connected to the first output of the adder 33, and the third is connected through an integrator 31 to the second input of the adder 33, the output of which is connected through the integrator 30 to the second input of the difference unit 28 and to the second input of the second adder 32, the output of which through the integrator 29 is connected to the second input of the difference unit 26 and to the second input of the block 2 7 of the difference, the output of which is the first output of the VHF and BC 9 device, and the first input, which is the first input of VHF and BC 9, is connected to the nerve input of the difference unit 25, the second input of which is the third input of VHF and BC 9. The fourth input of VHF and BC 9 is connected to the second input) of the key 41 and connected through a timer 40 to the first input of the threshold element block 35, the second input of which is connected to the first output of the memory unit 39 and to the second input of the multiplier 38. The output of the block 35 is connected to the first input of the key block 36, the second whose input is connected to the second output b OK 39 memory, the second output of the key block 36 is connected to the second input of the adder block 37, and its first output is connected to the first input of the multiplier 38, the output of which is connected to the first input of the adder block 37, the three outputs of which are connected respectively to the second, third and fourth inputs block 34 multipliers. The first input of the difference unit 28 is connected to the second input of VHF and aircraft 9, and its output is connected to the second output of VHF and aircraft 9.

Before the flight starts, the program block 18 of UFSU 1 will be filled with data on the parameters of the trajectory of the UO movement, namely: course angle 1 „, flight altitude Нпр, pitch angle У„ р and permissible roll angle у „.

At the initial moment, it is temporary until the set altitude is determined, determined by the timer 21 of UFSU 1, the radio altimeter 5 is turned off, therefore, when generating a control signal for height, the altitude value generated by meter 2 is used, because at the beginning of the flight, this data is quite accurate.

The programmed values of the angles (/ „p, V ,,, y„ and the height of the Ypres from block 18 are received respectively in blocks 10, 11, 12, 13 of generating control signals according to the y y direction, V pitch, J roll, and M height, ,, which arrive at the actuating device 3. The current values of the indicated coordinates xj / ,, Vj and j. are received from the meter 2 to the other inputs of the blocks 10, 11, 12, 13, and from the VHF and BC 9 the values of the height And and the vertical speed AND.

The production of control signals is carried out by solving known mathematical dependencies, namely:

-for controlling the longitudinal movement of the UO

rbv (k + e-p + r | pOu, -KCh.r (s)

where vj. - the current value of the pitch angle,

Y „p - program value of pitch angle,

K, B, Tj - gear ratios of the pitch chain control system,

-for roll control

IE (Kn + e „-p) Us- (K, 2 + E, 2-p) Is- K:, 2-y„ p (1.2)

-by the course

5 „(K„ + E3, p) Us - (22 + f27 PlVc - 27 Tnp (-3)

where Kc, e, |, K22, EJJ are the gear ratios of direct connections,

 12 S | 2 21 21 gear ratios of the crosshairs between the heading and kreia channels, for J - the current value of the angle of heel, 1 - the current value of the angle of the course.

To control height movement

bv 22, (p) «+ + hM + ChzDr) Yk-„ р p (1-4)

where q2i (p), 2222 (p) 22z (p) gear ratios of the control channel,

V is the current value of the pitch angle,

11, And - the current values of height and vertical speed,

And „is the programmed height value.

The technical implementation of the device for generating the indicated control signals and stabilization of the UO movement is known in the technical literature, in particular, in the book. I.G. Bodywork. Stabilization systems for aircraft (ballistic and anti-aircraft missiles), Moscow, Vysshaya Shkola, 1976, p. 78, Fig. 4.4, and also in the book. V.D. Andreev. Theory of inertial navigation. Corrected systems, M., Science, 1967, p. 38-45.

Let us assume that a given flight path of the MA consists of four sections:

- climb area,

- a section of horizontal floor & ha at marching height,

-reduction section,

-part of horizontal flight at low altitude.

To set the specified height in the first section, a signal is turned on by the signal from the timer 21 of the FSB 1. In order to exclude the use of false readings of the signal in the system, the comparison block 6, the threshold setting block 7, and the key 8 are introduced into the system.

In comparison block 6, the value of the measured height RV 5 is compared with a predetermined threshold level corresponding to the height value associated with the specified undesirable effect, and if the measured height value is equal to or less than the set threshold, then the signal from RV 5 through key 8 in VHF and BC 9 will not pass.

A similar situation will occur if, during a demonstration start, in order to ensure radio concealed operation of the system, a switching element 24 will be open, connected between the seventh input of the UOI 20, on which, on the basis of the timer 21, a signal is generated to turn on the PB 5 and the input of the PB 5. The switching element can be made either in the form of a jumper, which is removed when the PB is to be turned off, or in the form of a controlled key, to the control input of which a signal is supplied from the driver of the feature The radio altimeter is turned off. Based on this signal, the key opens the signal supply circuit to turn on the PB 5. If the PB 5 is turned on and generates reliable information, then the current height value from the PB 5 will go to VHF and BC 9, where it will be used to correct the height and vertical speed obtained by the meter 2 The operation of the device will be discussed below.

When flying the aircraft in the second (horizontal) section of the trajectory, the measured value of the range D from the meter 2 goes to the comparator 16, where it is compared with a predetermined threshold at which the comparator 16 generates a signal to turn on the radar. However, during the demonstration launch of the RLV, the composition of the control system is excluded, since there is no need to bring the aircraft to a given point. Therefore, in the proposed system, input 4 is supplied with a signal from the driver of the sign Absence of a radar sighting device.

This signal is fed to the control input of the second key 22, which opens the signal path from the output of the comparator 16 to the third input of the UOI 20. This eliminates the signal output to turn on the RLV. Therefore, the exchange between the RLV and UFSUI is excluded, which prevents the possibility of failures caused by collection UOI 20 to RLV.

At the same time, the signal from input 4 is fed to the control input of the third controlled switch 23, which switches the input of the comparator 17 from the output of the UOI 20, on which the range signal is generated in the presence of radar, but input 2 of the FSBU 1, where the range signal is generated by measuring 2 coordinates and aircraft motion parameters . The value of the measured range is sent to the comparator 17, where it is compared with a threshold level, upon reaching which the comparator 17 generates a signal output to the program unit 18, according to which the latter is transferred to the data generation mode to translate the UO to the height reduction section.

Let us now consider the operation of VHF and BC 9. After turning on the PB 5, its readings will have errors that can be represented as white noise of known intensity in a limited frequency range. To ensure the greatest accuracy in correcting the readings of meter 2 on the H and I circuits in VHF and BC 9 of correction, time-variable coefficients K, (t), K (t) and K, (t) are formed. The law of variation of these coefficients was obtained by solving the non-linear Riccati equation taking into account the variance of the initial values of the errors of meter 2 and the variances of the random error of PB5 (see Yu.P. Ivanov et al. Roomlexing of information-measuring devices of aircraft. Edited by B. A. Bodner . M., Engineering, 1984, p. 73). Errors of the meter 2 in the height of the AN and the vertical speed of the AI can be approximated by a polynomial of the second degree with random coefficients And | d, h, h,;,.

When developing the estimate y, (t) of the error of the meter 2 with respect to the coordinate b, the coefficient K | (t) at the initial moment of time has a maximum of 1 K, (О) 1.0, and then quickly decreases, providing filtering of the fluctuation components of the radio altimeter.

The coefficients and Kj (l) used in the development of estimates yj (t) and y, (t), composing the 10101 errors of meter 2 with respect to speed hj and acceleration hj, at the initial moment of time are 0: K2 (0) О and Kj (0) - Oh, and then increase with time to the maximum value, after which they decrease to zero at the end of the transition of the 1st process.

Consider the process of correcting altitude and vertical speed in VHF and BC 9. Signals of height H and vertical speed 11.

From the first and second inputs of meter 2, it is supplied to the first and second inputs of VHF and BC 9, to the third and fourth inputs of which from the key 8 and comparison unit 6, respectively, the signal Нр „and the reliability of the information are received. In the block 25 of the difference, the signal Нр is subtracted from the signal And, and with 1 difference at the second input of the controlled key 8 of the reliability signal, the difference signal through the public key 4 is fed to the first input of the second block 26 of the difference. However, with this confidence signal, a timer 40 is started, the signals from which are sent to the block of threshold elements 35. At the initial moment of correction At ,, Atj, At ,, О, the block of 35 threshold elements is connected to the first and second inputs of block 36 by the signal from timer 40 of the adjustable keys, the nerve and second outputs of the memory unit 39, from which the values of the coefficients a ,,, a ,, a ,, and b ,,, bj ,, b ,, are taken. At the initial time, the values of the coefficients from the second output of the memory unit 39 are respectively equal to: a ,, 1.0 a, a ,, 1.0.

These signals from the outputs of block 36 keys are supplied respectively to the inputs of the multiplier 38 and block 37 adders. At the output of adder block 37, the initial value of the coefficient K is formed, а ,,, and the values of the coefficients Кг and К, will be equal to 0. In this case, in the block 34 of multipliers, the difference signal A obtained in block 26 is multiplied by the coefficient K ,.

As a result, the signal proportional to the product will be taken from the first output of block 34:

At the second and third outputs of the block 34 of the multipliers in this case will be removed signals of zero level. The signal from the first output of block 34 arrives at the first input of the adder 32, from the output of which the signal is supplied to the integrator 29, the output of which forms a signal that is proportional to the value y (t) K, - Ir,), which in turn will go to the input, ( t) K, (H, -H, 4

The second and third blocks are 25, 27 difference. In the third difference block 27, this signal is subtracted from the signal H, and since at the initial moment K, {t) 1,0, then a signal is pronounced from the output of the third difference block 27, which is proportional to the difference Н 11 (И - Н) N., i.e. at the initial time, the correction is reduced to replacing the signal H with the signal 11p „as more accurate. This signal is used when block 13 of the UFSU 1 generates an adjustment signal of height Well. At the next time, the outputs of the adder block 37 will generate signals, non-proportional values of the coefficients:

which nostunyut from the inputs of the block 34 mind 1 burners. In this case, a signal proportional to the product of the output signal e from the second difference block 26 by the coefficient K will be taken from the first output of the multiplier block 34, i.e.

A signal proportional to the product Kjlt) -E is taken from the second output of block 34, and a signal proportional to the value is output from the third output

The signal proportional to Kj (t) е, after integration in the integrator 31, becomes a disproportionate estimate of y, the errors of the meter 2 by acceleration, as a result, the signal K-e + Uz is formed at the output of the second adder 33, which, after integration in the second integrator, is converted into a signal, proportional to the value of the assessment U2 U20 Uz error meter 2 but speed. The signal from the output of the second integrator 30 is fed to the second inputs of the first adder 32 and the fourth block 28 difference.

The output signal from the adder 32 after its integration in the first and integrator 29 is converted into a signal proportional to the value of the error in the coordinate

The signal Yj arriving at the second input of the fourth difference block 28 is subtracted from 11 vertical speeds, nocTynatomero at the second input of VHF and BC 9 correction. As a result, the signal proportional to the value will be taken from the output of the difference block 28

K, (t) a ,, + b ,, - At, K, (t) a ,, + b3, -At, K3 {0 az, + b3, -A1,

K, (t) .4

KDO-v.

Y1 (0 Y, o +., Y) The signal Yj (t) is then fed to the second input of the third difference block 27, where it is subtracted from the signal N. Therefore, a signal proportional to the difference H Н - у, is formed at the output of block 27.

Thus, from the outputs of VHF and BC 9, the values of the corrected signals of height I and vertical speed N.

In block 13, by resolving the above equation 1.4, a height control signal is generated.

If the signal of information reliability disappears at the fourth input of VHF and BC 9, the controlled key 8 opens, and the timer 40 stops and is reset (for example, when PB 5 is turned off). In this case, by the signal from the block of 35 threshold elements, all the keys of the block 36 will open, as a result of the values of the coefficients K ,, K, K, at the output of the block 37 of the adders will be set to zero, while the correction value Uz (1 „„ ) corresponding to the moment of taking the confidence signal. Pa the output of the second integrator 30 will remember the value Hugo); t the output of the first integrator 29 will remember the signal proportional to the operating voltage ULF off / UY yjVniJiai Uncle UzHvncl / 2

As a result of the development of the indicated estimates of UDO and UGSO based on the accumulated values of the error estimates of meter 2, the correction of the indicated errors will continue in the absence of a signal from RV 5.

Thus, as a result of using the proposed utility model, the control system is simplified and its radio concealment is increased during demonstration launches or autonomous flight tests of unmanned aerial vehicles.

The useful applicability of the utility model is determined by the fact that the proposed control system for the movement of an unmanned aerial vehicle can be made according to the drawings and description of known devices, blocks, elements based on existing technological equipment of production and used in demonstration launches or autonomous flight tests of unmanned aerial vehicles.

NK YS-U. | 2

Claims (1)

A control system for the movement of an unmanned aerial vehicle, comprising an actuator, a coordinate and motion measuring device for a controlled object, a control signal generation device based on four control signal generation units according to heading, pitch, roll and altitude, two controlled switches, two comparators, software block, And element, information exchange device and timer, device for correcting height and vertical speed, radio altimeter, unit comparable ia, a threshold setting unit and a first key, while the outputs of the control signal generation device from the first to the fourth are connected to the corresponding inputs of the actuator, the fifth and sixth outputs of the control signal generation device are the inputs for connecting the radar sight, the first and fifth inputs of the control signal generation device connected respectively with the third and seventh outputs of the coordinate meter and motion parameters of the controlled object, the sixth and ninth inputs of the device The control signals are inputs for connecting the radar sighting device, the output of the radio altimeter is connected to the signal input of the first key and to the first input of the comparison unit, the second input of which is connected to the output of the threshold setting unit, the output of the comparison unit is connected to the fourth input of the height and vertical speed correction device, and the control input of the first key, the output of which is connected to the third input of the device for correcting height and vertical speed, the first and second inputs of which are connected respectively o with the first and second outputs of the coordinate and motion meter of the controlled object, and its first and second outputs are connected respectively to the tenth and eleventh inputs of the control signal generation device, the first input of the information exchange device is connected to the timer output, its second input is connected to the first input of the device generating control signals, the input of the first comparator is connected to the second input of the control signal generating device, inputs of the fourth to seventh information exchange device the ohms are connected to the inputs from the sixth to the ninth of the control signal generation device, the first and second outputs of the information exchange device are connected respectively to the fifth and sixth outputs of the control signal generation device, the seventh output of which is the seventh output of the information exchange device, the output of the second comparator is connected to the software input unit, the first output of which is connected to the third input of the height control signal generating unit, the first output of which is connected to the fourth output the control signal generation device house, the second output of the software block is connected to the second input of the pitch control signal generation block, the output of which is connected to the third output of the control signals generation device, the third output of the software block is connected to the third input of the control signal generation block, the output of which is connected with the first output of the device for generating control signals, and the fourth output of the program unit is connected to the fourth input of the first controlled switch, by connected to the first input of the control signal generating unit by the course, the output of which is connected to the second output of the control signal generating device, the fifth output of the program unit is connected to the second input of the control signal generating unit by the course, the first input of the first controlled switch is connected to the fourth input of the signal generating device control and the second input of the roll control signal generation unit, the first input of which is connected to the fifth input of the signal conditioning device I, the second input of the first managed switch is connected to the fourth output of the information exchange device, and its third input is connected to the output of the And element and to the third input of the second managed switch, the output of which is connected to the first input of the pitch control signal generation unit, the second input of the second managed switch connected to the fifth output of the information exchange device connected by the sixth output to the first input of the And element, and the first input of the second controlled switch is connected to the third input the device for generating control signals and the fourth input of the block for generating a control signal for height, connected by the second output to the second input of the And element, while the first and second inputs of the block for generating the control signal for height are connected respectively to the tenth and eleventh inputs of the device for generating control signals, characterized in that a switching element is inserted into it, connected between the seventh output of the information exchange device and the input of the radio altimeter, a second key, the signal input of which is connected is connected with the output of the first comparator, and the output is with the third input of the information exchange device, the third controlled switch, the first input of which is connected to the input of the first comparator, the second input is with the third output of the information exchange device, and the output is with the input of the second comparator, the control inputs of the second key and the third controllable switch are connected to each other with the twelfth input of the control signal generation device, which is the input for connecting the conditioner radar sight ".