RU1568744C - Airborne device for distance measurement - Google Patents

Abstract

The invention relates to radio navigation. The circuit of the invention is an extension of functionality. The on-board range measuring device contains a trigger 1, element AND 2. counter 3, trigger 4, element And 5, element OR 6, clock generator 7, receiver 8, transmitter 9, computing unit 10, radio tag sign register 11, trigger 12. And element 13, counter 14. counter 15. data register 16, register 17 gates, block 18 of the code code trigger 19. element AND 20. element OR 21. address selector 22. register 23 of signal signs, trigger 24. register 25. The extension of functionality is concluded in that the proposed device allows you to measure how alnost to the beacon, and the azimuth. 2 ill .:

Description

1H

The invention relates to radio engineering and can be used in short range radio navigation systems (RSBN).

The aim of the invention is to expand the functionality of the device by measuring azimuth.

In Fig. 1 is a structural diagram of the proposed on-board range measuring device; Fig. 2 is an embodiment of an address selector,

The device of Fig. 1) contains the first trigger 1, the first element And 2, the first counter 3, the second t | zigg p4, the second element And 5, the first element OR 6, the generator 7 clock pulses, receiver 8, transmitter 9, computing unit 10, radio tag flag register 11, third trigger 12. third AND element 13, second counter 14, third counter 15, data register 16, gate register 17, code comparison unit 18, fourth trigger 19, fourth element 1/1 20, second OR element 21, address selector 22, signal attribute register 23, fifth trigger 24, output register 25.

The address selector 22 includes trunking terminals 26, an AND element 27, an AND element 28, a delay unit 29, a NOT element 30 an NOT element 31.

The device operates as follows.

In the register 11 of the sign of the radio beacon from the on-board navigation computer or control panel (not shown in Fig. 1), information is received about the type of the radio beacon and the mode in which the on-board azimuth and range measuring device should operate (Navigation - non-directional mode, Navigation - directional mode , Landing, sign of a radio beacon in a multi-range system, inter-aircraft navigation, etc.). In the first two modes, the device measures both the azimuth and the distance to the radio beacon, in the rest, only the distance to the RSBN radio beacons or to another aircraft equipped with a rangefinder repeater.

The time scale for processing the RSBN signals is set by the third counter 15, which counts the pulses from the output of the clock generator 7. The overflow period of the third counter 15 is 1.66 (6) ms, which corresponds to an angular azimuth of 1 °. The pulse from the overflow output of the third counter 15 is fed to the first input of the interrupt request of the computing unit 10 and causes the following operations

reading information from the register 11 of the sign of the radio beacon. Depending on the composition of this information, the device operates in one mode or another.

Consider even the most difficult case of measuring the azimuth and range when working with the RSBN radio comic in the directional mode of emission and reception of signals. In this mode, the device should process the azimuth channel signals: 35, 36, 1 °, azimuthal pulse, and rangefinder response signals coming from the outputs of receiver 8. In other modes, the number of processed signals is reduced. For example, when operating with the RSBN radio beacon in the non-directional mode of emission and reception of signals, 1 ° signals are absent. when operating in Landing mode, in a multi-range system and in inter-aircraft navigation, only the processing of the response range-finding signals is carried out.

2) The computing unit 10 calculates the number of interruptions on the first input up to 360. Thus, the third counter 15 performs the functions of the EXACTLY counter, and the software counter up to 360 functions the COUNTLY counter in the azimuth measurement devices.

3) The computing unit 10 supplies the inputs of the selector 22 with the address code of the register 17 gates 1 °. The selector 22 decodes this code and generates a signal that allows recording in the register 17 of 1 ° gates, after which a code of a number characterizing the position of the beginning of the gate 1 ° is written to the register 17 from the computing unit 10. At the moment when at the outputs of the third counter 15 the code of the number becomes equal to the code recorded in the register 17, an output is generated at the output of the code comparison unit 18, which is input to the setting 1 of the fourth trigger 19, which forms a 1 ° gate.

The pulse of the signal 1 °, coming from the output of the receiver 8, passes through the fourth element And 20, sets its fourth trigger 19 with its trailing edge (closes the gate passes through the second element OR 21 to the write enable input of the data register 16 and writes the code from the third counter 15; sets in 1 the corresponding bit of register 23. into which the signs of the azimuth channel signals from the outputs of the receiver 8 are recorded; arrives at the third input of the interrupt request of computing unit 10. Computing unit 10, receiving a request for Pulling at the third input, performs the procedure of detecting the pulse train of signal 1 and correcting the discrepancy in the frequency of the reference signals.

of this, the computing unit 10 supplies the inputs of the selector 22 with the address code of the data register 16. The selector 22 decodes this code and generates a signal that allows reading FROM register 16, after which a code characterizing the position of the pulse 1 ° in fractions of a degree comes from register 16 to the computing unit 10. At the time of interruption upon request from the third input in the computing unit 10 . the value of the program counter (COUNT COUNTER) is recorded with an accuracy of one degree.

Thus, a pulse position code of 1 ° in the interval 360 ° will be recorded in the computing unit 10.

If the computing unit 10 performs interrupt processing on requests arriving at the first or second inputs, then the interrupt request arriving at the third input will be satisfied with a delay that does not exceed 1.7 ms. those. less than one degree. This can lead to an error fixing the value of the program counter by plus one degree. To eliminate this error, the fifth trigger 24 is used. Through the address selector 22, it is set to O with an even code value of the program counter. Next, the state of the fifth trigger 24 changes as each overflow pulse of the third counter 15 arrives at its counter input. The output of the fifth trigger 24 is connected to the high-order input of the data register 16. When the information in the register 16 is recorded in the state of the fifth trigger 24. The computing unit 10 analyzes the status of the high-order bit of the code received from the register 16, compares it with the parity of the program counter and, if the parity and the state of the fifth trigger 24 do not match, it compensates for the error fixing the temporary position of pulse 1 by minus one degree. After that, the computing unit 10, controlling the selector 22. reads the code from the register 23 of the signs of the signal, analyzes it and determines that a pulse of signal 1 has arrived.

Physical gating of 1 ° signals is necessary to reduce the number of interruptions of the computing unit 10 in the presence of interference from the output of the 1 ° signal of the receiver 8. After entering the position code of the signal 1 in the computing unit 10, the start position of the next gate is calculated. To do this, a code of a number equal to half the strobe duration is subtracted from the entered code, and the result code is written to the register 17 of gates 1 using the address selector 22.

Next, the operations described above are repeated.

The procedure for entering information on the time position 5 of the research institute of the remaining signals of the RSBN azimuth channel (36, azimuthal pulse) into the computing unit 10 completely repeats the above procedure for entering information on the temporal position of the signal 1 °.

0 To detect a burst of sig pulses

1 °, as well as pulse signals 35 and 36, any known procedure for detecting a burst of pulses can be used, for example, sequential

5 Wald procedure. The procedure is used both for detection for the transition from search to tracking (with upper and lower thresholds), and for control detection during tracking (only with lower thresholds). A signal of 1 ° is detected in the presence of k pulses of a second in the strobe 1 °, the transition to the search is carried out at m throughputs. If, during one revolution of the antenna, the radio.

5 ° signal is detected, the search resumes at the next revolution of the antenna.

Upon receipt of interrupt requests from the third input of requests, the computing unit 10, after reading the sign of signal 1, increases the contents of the software counter of detection statistics by one. If the statistics threshold is not reached, then the position of signal 1 is stored and

5 search continues. Otherwise, the characteristic Tracking 1 ° is set in the computing unit 10. If there are no interruptions in the 1 ° gate, the contents of the software counter of detection statistics decreases by one and when it reaches zero, the flag 1 ° is removed.

The sign Tracking 1 ° is used when processing reference signals 35 and 36

5 and ranging signals. If it is available, information about the position of signals 35 and 36. entered into the computing unit 10 from the data register 16 is considered useful and processed, otherwise

0 counts. In the presence of the sign Tracking 1 °, a rangefinder request signal is generated, otherwise this signal is not generated. The azimuth measurement is carried out

5 as follows. Codes corresponding to the temporal positions of the signals 35, 36 and the azimuthal pulse, as described above, are recorded in the computing unit 10. After deciding on several signals 35 and 36 to find

When these signals are loaded, the code is subtracted from the code corresponding to signal 36. corresponding to signal 35. The resulting difference is multiplied by the number 35 and subtracted from the code corresponding to signal 36. The result is equal to the code defining the temporal position of the Northern coincidence. The difference between the codes corresponding to the temporal position of the azimuthal impulse and Northern coincidence is analyzed for a sign. If it is positive, then the azimuth is equal to this difference; if it is negative, then the azimuth is equal to the sum of this difference and 360 °.

In order to remove the operation of the computing unit 10 for calculating the azimuth, we note that in RSBN the Northern coincidence signal corresponds to the moment of coincidence of one decoded pulse of signal 35 and one decoded pulse of signal 36. Therefore, the pulses of signal 35 are delayed relative to the corresponding pulses of signal 36 by a time interval proportional to 20

national (k - 1). where k is the pulse number 36 (the number k 1 belongs to the pulse forming the Northern coincidence). Thus, the pulses of the signal 35 can only be located at certain fixed positions relative to the signal 36. This allows the difference between them to calculate the temporary position of the Northern coincidence.

Multiplying Code Difference

2 ° D (k - 1) - by 35. we get a code equal to

D -35 10 ° {k - 1). This number determines the interval between the position of the Northern coincidence signal and the position of the received pulse 36. Subtracting it from the temporary position code of the pulse 36, we obtain the code of the temporal position of the Northern coincidence signal.

The resulting azimuth code is overwritten by the address selector 22 from the computing unit 10 to the output register 25 and is input to the device.

The azimuth in the non-directional navigation mode is measured in a similar manner.

Range measurement is performed as follows. After the impulse of the overflow of the third counter 15 arrives at the first input of the interrupt request of the computing unit 10, a mode analysis is carried out, and with the required frequency of requests from the outputs of this block, the address code of the second counter 14 is supplied to the inputs of the selector 14. The selector 22 decodes this

the code and generates a signal enabling recording in the second counter 14, after which the delay code of the start pulse of the transmitter 9 is entered into the second counter 14 from the computing unit 10. In particular, pseudo random numbers can be entered as a delay code from the computing unit 10, which allows for period modulation

rangefinder interrogation signals.

Then, from the computing unit 10, using the selector 22, the value r3 of the time delay of the strobe generated by the second trigger 4 is entered into the first counter 3 in an additional code. This value in the nth request period is determined by the computing units 10 in the form

zp To + 20egUS - Geth

where That is the initial delay (signal delay Range response in the radio repeater radio), corresponding to the range D 0; OEP - extrapolated value of range: s - speed of light; Gstr strobe duration.

The strobe duration Getr is selected based on the requirements of the noise immunity of the rangefinder and providing tracking of signals. Range response at the maximum speed of the aircraft.

The pulse generated by the address selector 22 to enable the recording of the time delay value in the first counter 3 is supplied to the inputs of the third trigger 12 and the first OR element 6. Third trigger 12

is set in G and allows the passage of clock pulses through the third element And 13 to the counting input of the second counter

14. The second counter 14 starts counting and, as the recorded delay is processed, it overflows and generates a start pulse for the transmitter 9.

The pulse frequency of the recording delay values in the first counter 3 and, accordingly, the frequency of the interrogation signals

is regulated in the computing unit 10 depending on the operating mode of the on-board azimuth and range measuring device and the status indicator of the range finder Search or Tracking) and is equal to a fraction of the frequency

third counter overflow pulses

15 equal to 600 Hz. For example, if the frequency of the interrogation signals should be five times less than the frequency of the overflow pulses of the third counter 15, then the record of values

delays to the first counter 3 are made only for every fifth interrupt request for the first input of the request of the computing unit 10. In the directional measurement mode, the azimuth of the computing unit

AND). In ng1ran / 1nm pi-ixi-iMe azimuth measurements, the formation of request signals is carried out only if there is a sign Tracking.

Simultaneously with the generation of the start pulse of the transmitter 9, the first trigger 1 is set to 1. allowing the passage through the first element And 2 clock pulses from the output of the clock generator 7 to the input of the first counter 3. The first counter 3 starts counting and overflows as the delay works out. The pulse from the overflow output of the first counter 3 sets the second trigger 4 in 1, opening the gate and allowing the response pulses from the output of the receiver 8 to pass through the second element And 5 and the first element OR 6 to the input of the second trigger 4. At the time of the overflow, the first counter 3 is reset and continues counting clock pulses until a response signal arrives, which sets the first trigger 1 and the second trigger 4 to 0, thereby stopping the arrival of clock pulses to the counting input of the first counter 3 and the passage of received pulses from to the output of receiver 8 through the second element And 5. If there was no response pulse, then the first trigger 1 and the second trigger 4 will be set to O either by the first time after the response signal from the output of receiver 8, or by the next pulse from the first output of address selector 22.

If there is a response signal, then go through the second element And 5, it causes an interruption of the computing unit 10 at the second input of the request. The computing unit 10, using the address selector 22, reads the code of the measured range value from the first counter 3. The AP code, read from the first counter 3 in the 5th period of the reserve | ers is equal (in units of range):

AP Oizmp Oep - D page,

where Oizmp is the code of the value of the range to the radio beacon in the fifth period of the request:

Ostr with leggings / 2

This code is further processed according to a predetermined algorithm. The results of processing in the fifth period of the request are the codes for a smoothed range estimate of the extrapolated range estimate Dn + 1.3 for the period n + 1. The algorithms for computing these estimates may be different. For example, a well-known algorithm for sliding smoothing of parameters of a linear trajectory with a second-order filter with constant parameters can be used, according to which the evaluation codes Dn and Dn + 1, e are determined by the following expressions:

Vj, T ,, - 1T ,,. 1 +

Dn - bpe adop

  An + DCT

Dn 1. 3 Dn Vn.Tn,

where Tn is the time interval between the n - 1st and nM query pulses: Vn is the code for estimating the rate of change of range in the fifth period: "./ are the smoothing coefficient codes specifying the characteristics of the estimates Dn and Dn + i, e.

The obtained range estimation code bn is rewritten using the address selector 22 from the computing unit 10 to the output register 25 and is output to the device

The estimate Dn + 1, e is used in computing unit 10 to calculate the value of 73 n -f gate delays in the n + 1-th period,

The time of the next communication session with this radio com is determined by the specified operating mode of the rangefinder, this communication session is initiated by a pulse arriving at the first input of the interrupt request of computing unit 10. In this case, the value of Гз extrapolated at the next communication moment is rewritten from the computing unit 10 into the first counter 3 until the transmitter 9 emits a request signal.

The blocks and elements included in the proposed device, with the exception of receiver 8, transmitter 9, computing unit Ш, and address selector 22, are typical digital equipment nodes. Standard blocks of operating RSNB onboard equipment can be used as receiver 8 and transmitter 9 working in the listed modes,

As the computing unit 10, any microcomputer with a common-type information exchange channel can be used.

Address selector 22 is an address decryption circuit driven by common bus signals MSYN (active device synchronization signal), DIN or DOUT (input or output) and generating an SSYN signal (passive device response signal). When the transfer command is executed, the address code issued by the processor to the trunk M passes through the trunk receivers 26 and then, together with the synchronizing signal MSYN, arrives at the And 27 element, causing the formation of a unit level at its output. When the DOUT signal is applied, the AND element 28 is triggered and a sync signal / i of information recording is issued.

11 156874412

Similarly, the issuance of an egg guarantees its issuance no earlier than

formations to the highway when the signal is sent, information from the addressed

OfN.blocks to the DAOO line (or information is entered when referring to the addressed block of a position in the addressed block),

writing or reading to the highway M issue-5 (56) Copyright certificate of the USSR

there is a response signal SSYN .. Block 29 delayed-N 1378598. CL. G 01 S 13/16. 1986.

Claims (1)

Claims  enable recording of the first counter, FLIP DEVICE MEASURED - Q swarm, third, fourth, fifth, sixth, RANGE containing the seventh, eighth and ninth outputs selectively connected to the first trigger, torus addresses respectively connected to the first element AND, the first counter , the second input enable reading the first trigger, the second element And the first ele-counter, with a write enable input at the OR moment, the output of which is connected to the first-15 counter, with a enable input with a read input of the first trigger and the second register a range of signal signs, with the input of the second trigger, as well as the register-enable register-input general input, a clock rotor, the output of which, with the read enable input, is reconnected to the second input of the first radio tag indicator elec- tron, with input I, receiver, response distance output -20 enable reading the data register, the number signal of which is connected to the input enable recording output by the second input of the second AND element, re-register and to the installation input of the fifth sensor, the computing unit and the trigger register, exit which is connected to an input sign of a radio beacon, the input of which is the high-order bit of the data register, is the information input of the device, 25 the second input of the first trigger is connected to which, in order to expand the output of the second counter, with the input of the transmitter functionality and the second input of the third azimuth triggering, after-pa is introduced into it, the second input of the third element And the third trigger are well connected, the third element And is connected to the output of the clock generator, and the second counter, after-pulse and with the input of the third counter, a third counter is connected, the overflow output of which is connected to the data register, strobe register, block count input of the fifth trigger and code comparison, the fourth trigger, the fourth input of the interrupt request, the computed AND element and the second OR element block, the second input of the request as well as the address selector, the open-interrupt register of which is connected to the output of the signals, the fifth trigger and the output of the second element AND, and the third input of the request is register, while the second inputs of the interrupt block are the numeric unit of the code comparison is bitwise connected to the input of register enable by the outputs of the third counter, information of Q data and the output of the second element; the inputs and outputs of the first counter, the third and fourth ka, the installation inputs of the second information inputs of the register of the counter, the outputs of the data register, reg-45 signs of signals and inputs Ignals the country of the signs of signals and register at 35, 36 and the azimuthal pulse of the sign of the radio beacon, as well as the output receiver, the output of the signal G of which is registers, the output of which is output with the second input of the fourth element of the device, and with the inputs of the selector and the first input of the register of signs of res, the first output of which is connected with 50 signals is connected to the first input in the first input of the third trigger, the second OR element, and with the second input, the four-input of the first OR element and the input of the fourth trigger.