RU2013785C1 - Method of establishment of location and of identification of mobile objects and system to realize it - Google Patents

Abstract

FIELD: radio engineering. SUBSTANCE: method lies in radiation of coded signals of transmitters of objects, in their reception in N points spatially separated, where N is greater than 3, with their subsequent radio relaying to central point and in measurement of mutual delays on basis of mutual spectrum of signals. Radio relaying of signals from three points is performed simultaneously. For this purpose radio relaying conditions are controlled and signals are emitted by transmitters periodically. Measurement and calibration of reception during established time intervals is conducted of only one signal at three nearest points. Objects are identified on basis of demodulation of signals. Coordinates are computed by mutual delays corrected by calibration factors. EFFECT: improved reliability of determination of coordinates of mobile objects. 6 cl, 11 dwg, 1 tbl

Description

 The invention relates to radio engineering, in particular to systems for determining the coordinates of radio emission sources, and can be used to estimate the location of mobile police groups, emergency vehicles, vehicles for transporting valuable documents or goods, individuals, as well as in security alarm systems for determining the location of cars with their theft and persons who are completely attacked.

 A known method for determining the location and identification of moving objects, based on the emission of signals by transmitters equipped with individual codes and installed on objects, receiving these signals due to strictly limited energy availability only to the receivers closest to the objects installed at known stationary points, transmitting from receivers to the data processing point about the fact of receiving and the code of the received signals, where the coordinates of the receivers receiving the signals of the transmitters of objects determine the location voltage of moving objects and produce their identification (French Patent N 2630565, cl G 08 B 7/06, 1988). The system that implements this method contains transmitters installed at the facilities, N receivers installed at known stationary points within the required range, a processing point and a system for transmitting information from receivers to a processing point.

 The disadvantages of the known method and system are, firstly, the low accuracy of positioning of objects, comparable with the distance between the closest receivers, secondly, low throughput, and thirdly, a limited radius of action, the increase of which leads to a sharp increase in implementation costs.

 The closest in technical essence to the proposed method is a method for determining the location and identification of moving objects, which consists in emitting signals from transmitters of moving objects (PPO), equipped with individual codes, receiving and demodulating signals at N spatially spaced receiving points (PP) with known coordinates, and N ≥ 3, measurements of the time of arrival of signals to each PP by determining the instant of transition of the instantaneous value of the received signal through a single pore the level and its positions with respect to the common timestamp signal, which is received in each broadcasting station by receiving a local broadcasting station signal and extracting a vertical scan clock signal, identifying moving objects at each broadcasting station based on demodulation of the received signals, transmitting the detected individual object codes and received measurements the time of arrival of signals from each PC to a central point (CPU) with known coordinates, calculation on the CPU of the mutual delays of the signals received in the PC, corrected mutual delays for the corresponding corrections obtained during calibration, calculating the coordinates of moving objects from the adjusted mutual delays and determining the instances of objects from the transmitted individual codes of objects, and to obtain calibration corrections from a point with known coordinates, a signal with an identification calibration code is transmitted, it is received in reception points, they measure the time of arrival of the signal for each PP, which is transmitted to the CPU, where the mutual delays between the signals are calculated, etc. are infused with PP, compare them with known calculated values and the results of the comparison are stored in the form of amendments (US Patent No. 4916455, cl. G 01 S 3/02, 1990).

 The known system for determining the location and identification of moving objects, selected as a prototype, contains transmitters of moving objects, N spatially separated receiving points with known coordinates, with N ≥ 3, a central point with known coordinates and a reference transmitter with known coordinates, and each transmitter of moving objects includes a series-connected object code generator, a radio transmitting unit, and a transmitting antenna, each PC includes a series-connected reception an antenna, a radio receiver unit and a threshold unit, a series-connected time interval meter and a first transmitting module, a series-connected additional receiver antenna, an additional radio-receiver unit and a frame scan backlight extraction unit, the output of which is connected to one input of the time interval meter, to the other input of which the output of the threshold unit is connected, as well as the demodulator, the input of which is connected to the output of the radio receiver unit, and the output is connected to the input of the second transmitting module, center The main point includes N first and N second receiving modules, the inputs of which are connected via telephone lines to the outputs of the first and second transmitting modules of the corresponding software, coordinates calculation unit, object code recognition unit, display device, control unit and N delay correction blocks, inputs which are connected to the outputs of the corresponding first receiving modules, and the outputs to the corresponding inputs of the coordinate calculation unit, the output of which is connected to the first input of the control unit, the second input of which is It is accessible to the output of the object code recognition unit, and the first and second outputs are connected respectively to the input of the display unit and to the combined first control input N of delay correction units, the second control inputs of which are connected to the corresponding inputs of the control unit, and the inputs of the object code recognition device are connected to the outputs corresponding second receiving modules, and the reference transmitter includes serially connected calibration identification code generator, a radio transmitting unit, and a transmitting antenna Well. In addition, the functioning of the local broadcasting station is a prerequisite for the operability of the described system.

 The disadvantages of the known method and system are low accuracy of location and throughput, as well as the complexity of the technical implementation. These shortcomings are due to the following circumstances.

 First, the fundamental limitations in the accuracy of positioning are associated with three main factors: the impossibility of setting a single threshold level for all N receiving points, the presence of its temporal drifts and the presence of errors in measuring the moments of the position of time stamps on the PCB. All these factors lead to errors in the measurement of time intervals and, consequently, to errors in location.

 Secondly, the throughput of the method and system when using the same frequency for the application software is limited to one object.

 The use of several frequencies to track the corresponding number of objects leads to an almost proportional increase in costs. In addition, the calibration requires shutting down all the software, which also reduces the throughput of the method and system.

 Thirdly, the range of a system that includes only three PPs in real conditions with urban development is limited by the electromagnetic availability of the PPO signal, while a simple increase in the number of PPs leads to a proportional increase in sales costs.

 In addition, the complexity of the system implementation is due, along with the noted circumstances of setting a single threshold level and high requirements for the accuracy of estimating the moments of the position of time stamps, the need to equip the receiving points with equipment for receiving and highlighting time stamps, the need to use telephone channels, and in the absence of round-the-clock local broadcasting station - the need to deploy a special transmitter of signals of a single time.

 The aim of the invention is to improve the accuracy of positioning and throughput with a relative reduction in implementation costs.

 This is achieved by the fact that with the method for determining the location and identification of moving objects, which consists in emitting signals by transmitters of moving objects equipped with individual codes, receiving and demodulating signals at N spatially separated receiving points with known coordinates, N> 3, identifying moving objects based on signal demodulation and calculation of coordinates of moving objects at a central point with known coordinates for the mutual delays of the PPO signals received in the PP, adjusted to the corresponding corrections obtained during calibration periodically performed by emitting at the frequency of the software from the point with known coordinates of the signal with the calibration identification code, receiving it in these software and remembering as corrections the results of comparing the mutual delays between the signals received in the software, with known calculated values, the signals received in the PP are relayed with the transfer of the spectrum to the central point, where these signals are received with conversion to a single intermediate frequency and measured there are significant delays between them, and the signals are relayed simultaneously by only three PCs for a set period of time, for which a control signal equipped with individual software codes is periodically emitted from the CPU at the frequency of the software, receive it in the software, demodulate, and if the transmitted code matches the individual code PPs carry out relaying of signals by these PPs, while in the control signal individual codes of three nearby PPs are generated with sequential enumeration from cycle to cycle of codes of all PPs, in addition, in The set time intervals in the control signal form an identification calibration code, with the software emitting signals periodically with a set duty cycle, the identification of moving objects and the identification of the calibration code are performed on the CPU based on the results of demodulation of comparison and the formation of an averaged code of signals received simultaneously from three PPs and, in addition, calculation of coordinates, identification of moving objects and calibration are carried out if the sum of three measured values of mutual delays between pairs of signals is equal to zero the signals received from the first and second, second and third, third and first PPs of the selected PP group and the coincidence of signal codes relayed by these PPs.

(f_n) и

(f_n) соответственно и вычисляют взаимную задержку τ₁₂ по правилу
τ₁₂=

arg

(f_n)

(f_n)

f

f

, (1)
где N_f - количество спектральных компонент сигналов;
n= 1, 2, 3, . . . , N_f - номер спектральной компоненты сигналов;
Δf = f_n+1-f_n - частотное расстояние между соседними спектральными компонентами сигналов;
k= 1, 2, 3, . . . , N_f-1 - масштабный множитель частотного расстояния между спектральными компонентами сигналов;
arg{

} - аргумент комплексной величины

.In addition, to measure the mutual delay between the signals U ₁ (t) and U ₂ (t), they are simultaneously sampled in time and quantized by level, and the resulting discrete time samples of these signals are converted into a set of discrete complex spectral components

(f _n ) and

(f _n ), respectively, and calculate the mutual delay τ ₁₂ according to the rule
τ ₁₂ =

arg

(f _n )

(f _n )

f

f

, (1)
where N _f is the number of spectral components of the signals;
n = 1, 2, 3,. . . , N _f is the number of the spectral component of the signals;
Δf = f _{n + 1} -f _n is the frequency distance between adjacent spectral components of the signals;
k = 1, 2, 3,. . . , N _f -1 is a scale factor of the frequency distance between the spectral components of the signals;
arg {

} is an argument of a complex quantity

.

 In addition, in a system for determining the location and identification of moving objects, which contains transmitters of moving objects, N spatially separated receiving points with known coordinates, with N> 3, and a central point with known coordinates, and each software includes a series-connected object code generator, a radio transmitting unit, and a transmitting antenna, each PC includes a receiving antenna, a radio receiving unit and a demodulator connected in series, and the CPU includes a coordinate calculation unit, a co-identification unit and the object, the display unit, the control unit and three delay correction blocks, the outputs of which are connected to the corresponding inputs of the coordinate calculation unit, the output of which is connected to the first input of the control unit, the second input of which is connected to the output of the object code recognition unit, and the first and second outputs are connected respectively, to the input of the display unit and to the combined first control inputs of the first, second and third delay correction blocks, the second control inputs of which are connected respectively to the third, fourth to the fifth outputs of the control unit, a pulse generator is inputted into each PPO, the output of which is connected to the control input of the radio transmitting unit; serial connected radio transmitting unit and a radio transmitting antenna and series-connected PP code recognition unit and a single pulse generator, the output of which is connected to the radio transmitting water control, are introduced into each PP unit, the input of which is connected to the output of the radio receiver unit, and the input of the PP code identification block is connected to the output of the demodulator, in addition, to the CPU cc a receiving antenna, three radio receiving units, the combined inputs of which are connected to the output of the receiving antenna, three delay measuring units, a delay comparison unit, three inputs of which are combined with the inputs of the corresponding three delay correction units and connected to the outputs of the corresponding delay measuring units, are connected, and the output is connected to the third input of the control unit, three demodulators, the inputs of which are connected to the outputs of the corresponding radio receiver blocks, three recognition blocks of the PP code, the inputs of which are connected to the outputs respectively of existing demodulators, a code comparison and averaging unit, the three inputs of which are connected to the outputs of the corresponding demodulators, and the first and second outputs, respectively, to the input of the object code recognition unit and the fourth input of the control unit, the sixth output of which is connected to the combined control inputs of the coordinate calculation unit and the unit recognition of the object code, and a control transmitter comprising a software code generator, a calibration signal code generator, and a series-connected switch, a radio transmitting unit, and a a receiving antenna, and two inputs of the switch are connected respectively to the outputs of the generator of the PP code and the generator of the calibration signal code, and the input of the generator of the PP code and the control inputs of the switch and the radio transmitting unit are connected to the seventh, eighth, and ninth outputs of the control unit, respectively, the fifth, sixth, and seventh inputs which are connected to the outputs of the respective sides of the recognition code of the receiving point, in addition, the combined first input of the first and second delay measurement units, the combined second input of the first and a first input of the third delay measurement unit, and the combined first and second input to a second input of the third delay measurement units are connected to the outputs of the respective radio receiving units.

In addition, each delay measurement unit contains two analog-to-digital converters, two fast Fourier transform processors (FFTs), two complex number multipliers, a complex number delay element that accumulates a complex number adder, a functional converter of the form arctg _y ^x , two dividers that accumulate an adder , a discrete frequency distance sensor and read-only memory, and the outputs of the analog-to-digital converters are connected to the inputs of the corresponding FFT processors, the output pairs of which are are connected to the corresponding pairs of inputs of the first complex number multiplier, the pair of outputs of which is connected respectively to one pair of inputs of the second complex number multiplier and to the pair of inputs of the delay element of complex numbers, the pair of outputs of which is connected to another pair of inputs of the second complex number, the pair of outputs of which is connected to a pair of inputs of an accumulating complex number adder, a pair of outputs of which is connected to a pair of inputs of a functional converter of the form arctg _y ^x , the output of which is connected to the first input of the first divider, the output of which is connected to the input of the accumulating adder, the output of which is connected to the first input of the second divider, to the second input of which the output of the permanent storage device is connected, in addition, the output of the discrete frequency distance sensor is connected to the combined control input of the delay element of complex numbers and the second input of the first divider, and the inputs of two analog-to-digital converters and the output of the second divider are respectively the inputs and outputs of the measurement unit delays. In addition, the delay comparison unit contains two adders and a threshold unit, the output of the first adder connected to the first input of the second adder, the output of which is connected to the input of the threshold unit and, in addition, a pair of inputs of the first adder, the second input of the second adder and the output of the threshold unit are respectively, three inputs and output block comparison delay.

 In FIG. 1 is a structural diagram of a system implementing a method for determining the location and identification of moving objects; in FIG. 2 is a structural electrical diagram of a central point; in FIG. 3 - structural electrical diagram of the receiving point; in FIG. 4 is a structural electrical diagram of a transmitter of a moving object; in FIG. 5 is a structural electrical diagram of a delay measurement device; in FIG. 6 is a block diagram of a delay comparing device; in FIG. 7 - time diagrams of signals explaining the operation of the system in the mode of measuring coordinates and identification of moving objects; in FIG. 8 is a timing diagram of signals explaining the operation of the system in calibration mode; in FIG. 9 is a structural circuit diagram of a delay correction device; in FIG. 10 is a structural electrical diagram of a device for comparing and averaging codes; in FIG. 11 is a diagram of a location variant of receiving points at N = 7.

The proposed method and system for determining the location and identification of moving objects uses a set of ideas united by a single inventive concept. These include the following:
transfer of basic operations for processing signals to the CPU by relaying these signals to the CPU. This provides a significant simplification of the receiving points, but at the same time, to ensure the necessary accuracy of measuring the times of arrival of signals by the method used in the prototype, unique stability and accuracy in setting the frequencies of the reception and relay paths are required (about ^10-14 );
measuring not the moments of arrival of signals, but their mutual delay based on spectral processing of signals. In this case, a general discrepancy in the frequencies of the receiver-relay paths at the level of the resolution of the spectral analysis can be allowed, and such requirements are technically simple to implement. At the same time, the transition to a measurement method that does not require a single synchronization of the system and the installation of a single threshold level in spatially dispersed receiving points provides along with simplification and an increase in the measurement accuracy;
the application of the periodic inclusion of transmitters of moving objects. This provides quasi-simultaneous servicing of not one, but a set of objects in the coverage area of three receiving points. However, the lack of synchronization of the switching processes of transmitters of moving objects can lead to overlapping periods from radiation;
application of methods for detecting the facts of the presence at the time of receiving signals of several transmitters or the absence of signals based on a comparison of mutual delays and signal codes received simultaneously by three receiving points. The essence of the idea lies in the fact that only when a signal from one transmitter of a moving object is emitted at a certain time interval, the signals received simultaneously by three transmitters will be coherent, their codes will match, and the condition
τ ₁₂ + τ ₂₃ + τ ₃₁ = 0 (2) where τ _j ⁱ is the mutual delay between the signals received by the i- and j-th PP. Condition (2) is not satisfied when two or more independent software signals are emitted from each other with comparable power or in the absence of radiation from the software signals (in the presence of noise);
application of the principle of sequential space review by switching to the relay mode the corresponding groups of three PPs, for which the necessary PP control is introduced. The implementation of the principle provides a sharp reduction in the number of communication channels;
the use of a control transmitter for calibrating the receiver-relay paths, which provides a practically insignificant increase in sales costs with a sharp improvement in the accuracy characteristics of the system.

 Introduction to the structural elements of the system (central point, receiving points, transmitters of moving objects) of new blocks interconnected with other blocks of the system in this way provides a rule for measuring mutual signal delays, which determine the coordinates of objects with higher accuracy and throughput at a relative reduction in sales costs.

 A comparative analysis of the proposed solution with the prototype shows that the proposed method differs from the known one by the presence of new actions on the signals: relaying with the transfer of the spectrum of signals received in the PP to the CPU, receiving signals on the CPU with conversion to a single intermediate frequency, measuring the mutual delays between the received signals, implementation relaying signals at the same time only by three software (for which the operating modes of the software are controlled), the calculation of coordinates, identification of objects and calibration only if If the sum of the mutual delays and the coincidence of the codes of the signals relayed by three transmitters are used, the use of the control signal of the transmitter for calibration, the periodic emission of the signals from the receiver. Comparative analysis with the prototype also shows that the proposed system is distinguished by the presence of new units (in each software - pulse generator; in each software - radio transmitting units and antenna, recognition code recognition module and pulse generator; in the CPU - receiving antenna, three radio receiving units, three delay measurement units, delay comparison unit, three demodulators, three PP code code recognition blocks, code comparison and averaging unit and control transmitter), new connections between the entered blocks and the rest of the system blocks, about providing the implementation of a new method for determining the location and identification of moving objects. In this regard, the proposed method and system meet the criteria of the invention of "novelty."

 In the study of other well-known technical solutions in this technical field, the specified set of features that distinguishes the invention from the prototype has not been identified, which ensures compliance with the criterion of "significant differences".

Mobile object transmitters periodically with a set duty cycle R emit radio signals with a central frequency f _c and a spectrum width Δ F containing their individual codes for fixed time intervals Δ t _s . Due to the natural differences in the pulse repetition period of the pulse generators of the PPO T _{with the} relative position of the pulses in each period of their repetition will change randomly: from complete mismatch to partial or complete overlap. Moreover, if these objects are in the zone of electromagnetic accessibility of the three nearby receiving points, then, respectively, with the relative position of the pulses from these PPO, the conditions for their reception and observation will change. PPO signals are received in at least three PPs, into the coverage area of which they fall. The signals received by three nearby transmitters simultaneously undergo frequency conversion with preservation of the spectrum and are relayed over the time interval Δ t _p to the CPU on one of the three relay frequencies f _p1 , f _p2 and f _p3 assigned to each of the transmitters. Signals simultaneously relayed from three PCs are received by the CPU, where they are simultaneously converted into signals with a single intermediate frequency f _pr After that, the CPU measures the mutual delays between the pairs of signals received from the first and second (τ ₁₂ ), second and third (τ ₂₃ ), third and first (τ ₃₁ ) receiving points of the indicated triples, and at the same time they demodulate the signals received from these triples .

The measured values of the three mutual delays τ ₁₂ , τ ₂₃ , τ ₃₁ are summarized and the resulting sum is compared with the threshold value P _τ = 3Δτ, where Δτ is the error in measuring the mutual delay between the pair of signals, i.e., the condition l τ ₁₂ + τ is checked ₂₃ + τ ₃₁ l ≅P _τ , (3) equivalent to condition (2) with ideal meters of mutual delays (Δτ = 0). At the same time, bitwise comparison of the codes received from three PP signals and the formation of an averaged code of the object signal are performed. When condition (3) is fulfilled and the results of the comparison of the signal codes coincide, which indicates the reception of a signal from only one PPO in a given time interval, firstly, the measured values of the mutual delays τ ₁₂ , τ ₂₃ , τ _{31 are} corrected for the corresponding corrections, compensating for non-identities receiving and relaying data paths of three PPs, which are obtained during calibration, then using the adjusted mutual delays τ ₁₂ ^I , τ ₂₃ ^I , τ ₃₁ ^I calculate the coordinates of this object by using well-known formulas, and secondly, by using the unified code of signals from three PCs identifies the individual code of the object.

The results of the calculation of coordinates and recognition of the individual object code are recorded in the CPU display unit. At other time intervals during the relay time Δ t _{r, the} coordinates are calculated similarly and other objects are identified, the signals of which are also received by a selected group of three PPs. If the condition (3) is not met or the results of the comparison of the signal codes do not match, which indicates the reception of signals from two or more software in a given time interval or the absence of signal reception in at least one of the three software, coordinates are not calculated and the object is not identified. The selection of the relay interval Δ t _p from the condition
T _c <Δt _p <2T _c (4) allows you to get the contact of the selected three PP with all the PPO located in the zone of their energy availability, and the number of simultaneously emitting PPO, determining the coordinates that can be identified using the selected triple of PP, is approximately equal to the duty cycle k radiation of radio signals of software.

Then, in sequence, in time, signals received by other groups from three nearby receiving points (the number of groups is equal to the number of combinations of three nearby receiving points, possible for N receiving points) are similarly relayed to the CPU with subsequent determination of coordinates and identification of objects located in the coverage area of the corresponding groups PP To carry out simultaneous relaying of signals by a group of three nearby SPs with subsequent enumeration of all groups of nearby SPs, the PP relaying modes control that a control signal is emitted from the CPU at the PPO frequency f _s for three consecutive time intervals Δ t _B1 , Δt _B2 , Δ t _B3 individual codes of the first, second and third PP of the selected triple of PP. The control signal is received in each software unit, demodulated, and when the transmitted code of the first software matches the individual software code, the signals are relayed by this software for the time interval Δ t _p , the relay control signal is received by the CPU, demodulated, the individual code of the first software is recognized and then emitted, repeating similar actions, the control signal with the codes of the second and third SPP of the selected three PP. It should be noted that when controlling the PP signal at the PPO frequency, situations may arise in which the PP simultaneously receives both the control signal and the PPO signals. In this case, the control signal contains the individual code of this software until the individual code of the software in this software is recognized and the relay mode of the software is turned on. Therefore, the length of time intervals Δ t _c1, Δt _c2, Δ t _c3 may generally be varied. After the last PP has been switched on, a pause follows during the time interval Δt _p from the selected triple of PPs, during which the control signal is not radiated. Then, a control signal containing individual codes of other groups from three neighboring SPs is sequentially emitted with sequential enumeration from the cycle to the code cycle of all receiving points.

To determine corrections that take into account the non-identity of the relay paths and serve to eliminate systematic errors in measuring the coordinates of objects, a calibration is periodically performed over time, the end result of which is to memorize the corrections for later use when correcting the measured mutual delays. In calibration mode, a control signal emitted from a CPU with known coordinates is used as a signal with known coordinates. In this case, after the last PP has been turned on, a control signal with a calibration identification code that is similar in structure to the PPO signal (one of the possible objects) is emitted from a selected triple of nearby PPs over a time interval Δ t _pc . This calibration signal with a central frequency f _c and a spectrum width ΔF is received by the selected three transmitters and is relayed at the corresponding frequencies f _р1 , f _р2 , f _р3 to the CPU, where further actions on the signals received with the transmitter coincide with the actions when measuring coordinates and identifying objects. When condition (3) is fulfilled and the results of the comparison of the signal codes coincide, which indicates that only three control signals received the selected control signal with the calibration identification code at the given time interval, the measured values of the mutual delays τ ₁₂ , τ ₂₃ , τ _{31 are} compared with the known calculated values τ _12p , τ _23p , τ _31p, respectively. The comparison results are stored in the form of corrections corresponding to a group of the selected three PP. Similarly, corrections are determined that correspond to other groups of PCs that are transferred to the relay mode by the control signal from the CPU.

(6) При этом, согласно предложенному способу, для измерения взаимной задержки τ₁₂ между сигналами U₁(t) и U₂(t), имеющими ширину спектра Δ F, синхронно производят их дискретизацию во времени и квантование по уровню, преобразуют полученные дискретные временные отсчеты этих сигналов в совокупность дискретных комплексных спектральных компонент

(f_n) и

(f_n) соответственно, причем n= 1, 2, 3, . . . , N_f - номер спектральных компонент, а N_f - их количество в сигнале с шириной спектра Δ F. При этом преобразованные сигналы можно представить в виде

(t₁) =

A_1ne

; (7)

(t₂) =

A_2ne

, (8) где t₁ и t₂ - времена распространения сигналов, взаимную задержку которых требуется измерить;
A_1n и A_2n - модули спектральных компонент сигналов;
f_n и φ_n - частота и начальная фаза спектральных компонент сигналов.To measure the mutual delay between the signals with the proposed method, the well-known relationship between the magnitude of the change in the phase difference Δφ between a pair of signals having a frequency difference by the frequency distance Δ f from the signal delay time τ described by the expressions
Δφ = 2πΔfτ (5)
or
τ =

(6) Moreover, according to the proposed method, to measure the mutual delay τ ₁₂ between the signals U ₁ (t) and U ₂ (t) having a spectrum width Δ F, they are simultaneously sampled in time and quantized by level, and the resulting discrete time samples of these signals in the aggregate of discrete complex spectral components

(f _n ) and

(f _n ), respectively, with n = 1, 2, 3,. . . , N _f is the number of spectral components, and N _f is their number in the signal with a spectrum width Δ F. In this case, the converted signals can be represented as

(t ₁ ) =

A _1n e

; (7)

(t ₂ ) =

A _2n e

, (8) where t ₁ and t ₂ are the propagation times of signals whose mutual delay is required to be measured;
A _1n and A _2n are the modules of the spectral components of the signals;
f _n and φ _n are the frequency and initial phase of the spectral components of the signals.

(f_n)

(f_n)

(f_n+k)

(f_n+k) = A_1nA_2nA_1(n+k)A_2(n+k)e

, (9) где τ₁₂ = t₁-t₂ - взаимная задержка сигналов;
K Δ f= f_n+k-f_n= k(f_n+1-f_n) - частотное расстояние между (n+k)-й и n-й спектральными компонентами сигналов (частотные расстояния между любыми соседними спектральными компонентами равны между собой). Поэтому, учитывая равенство (9), предложена совокупность дальнейших действий над спектральными компонентами сигналов

(f_n) и

(f_n), сводящаяся к вычислению взаимной задержки τ₁₂ по правилу (1).Using expressions (7) and (8), we can write the following equality:

(f _n )

(f _n )

(f _{n + k} )

(f _{n + k} ) = A _1n A _2n A _{1 (n + k)} A _{2 (n + k)} e

, (9) where τ ₁₂ = t ₁ -t ₂ is the mutual delay of the signals;
K Δ f = f _{n + k} -f _n = k (f _{n + 1} -f _n ) is the frequency distance between the (n + k) and n-th spectral components of the signals (frequency distances between any adjacent spectral components are equal between by yourself). Therefore, taking into account equality (9), a set of further actions on the spectral components of the signals is proposed

(f _n ) and

(f _n ), which reduces to calculating the mutual delay τ ₁₂ according to rule (1).

 The system for determining the location and identification of moving objects contains a central point 1, N receiving points 2. i (i = 1, 2,..., N), with N> 3, and the required number M of transmitters of moving objects 3. m (m = 1, 2, 3,..., M). The central point 1 contains a receiving antenna (PrA) 4, the first, second and third radio receiving blocks (Rpr6) 5, 6 and 7, the first, second and third delay measurement units (BIS) 8, 9 and 10, the first, second and third blocks correction of delays (BKZ) 11, 12 and 13, block calculation of coordinates (DBK) 14, block comparison of delays (BSZ) 15, first, second and third demodulators (DM) 16, 17 and 18, first, second and third blocks of code recognition reception point (BOKPP) 19, 20 and 21, a code comparison and averaging unit (BSUK) 22, an object code recognition unit (BOKO) 23, a control unit 24, an indication unit (BI) 25 and a control transmitter (PU) 26, including a code generator for receiving points (GKPP) 27, a code generator for a calibration signal (GKKS) 28, a switch 29, a radio transmitting unit (RPB) 30, and a transmitting antenna (PA) 31.

 Each receiving point 2. i contains a receiving antenna 32, a radio receiving unit 33, a radio transmitting unit 34, a transmitting antenna 35, a demodulator 36, a code recognition unit of the receiving point 37, and a single pulse generator (GOI) 33.

 Each transmitter of a moving object 3. m contains an object code generator (T-code) 39, a radio transmitting unit 40, a transmitting antenna 41, and a pulse generator (GI) 42.

In addition, each delay measurement unit 8, 9 and 10 contains the first and second analog-to-digital converters (ADCs) 43 and 44, the first and second fast Fourier transform processors (FFT) 45 and 46, the first and second complex number multipliers (UHFs) 47 and 48, the delay element of complex numbers (EKZCH) 49, accumulating the adder of complex numbers (NSCH) 50, a functional converter of the form arctg _y ^x (FP) 51, the first and second dividers 52 and 53, accumulating the adder (NS) 54, a discrete sensor frequency distances (FDCH) 55 and read-only memory (ROM) 56.

 In addition, the device comparing delays 15 contains the first and second adders 57 and 58 and the threshold unit 59.

 A system that implements a method for determining the location and identification of moving objects, operates as follows.

Transmitters of moving objects 3. m periodically with a period of T _s with a set duty cycle k emit radio signals with a central frequency f _s and a spectrum width Δ F containing their individual codes for fixed time intervals Δ t _c (see Fig. 7 a, b , c and 8 a, b, c), for which, in each PPO 3. m the signal from GKO 39, containing an individual object code, is fed to RPM 40, the inclusion of which is controlled by GI 42, which generates pulses of Δ t _c duration with a period T _with , and then a signal with a central frequency f _c at set time intervals Δ t _c post falls on PA 41 and is emitted. The radio signals emitted by each PPO 3. m receive at least three spatially separated PP, closest to the corresponding PPO 3. m.

In the mode of measuring coordinates and identifying moving objects by commands from CPU 1, the signals are simultaneously relayed to groups of three nearby SPs in a sequential time search of all combinations of possible from N spatially spaced receiving points forming groups of three nearby SPs. To relay the signals by a group of three nearby PCs from the seventh, eighth, and ninth outputs of the control unit 24 to the input of the GKPP 27, the control inputs of the switch 29 and RPB 30 respectively receive a signal containing the number of the first PC of the selected group, a logic unit signal, and a transmitter enable signal. Based on these signals, GKPP 27 generates the code of the first PP of the selected group, which is fed to the first input of the switch 29 and then to the input of the RPM 30, which generates a control signal at a frequency f _s containing the code of the first PP. This control signal from the output of the RPB 30 is fed to the input of the PA 31 and is emitted. The control signal is received at a frequency f _c in each PP of the system, and the signal received by PrA 32 is fed to the RPrB 33 input, where it is amplified and converted into a signal with an intermediate frequency f _pr , preserving the original spectrum. Next, the signal from the output of the RP _r B 33 is supplied simultaneously to the inputs of the RPM 34 and the demodulator 36. In the demodulator 36, the signal is demodulated, after which the demodulated signal from the output of the DM 36 is fed to the input of the BOKPP 37, in which the transmitted code of the first PP of the selected PP group is compared with individual software code. When the codes coincide with the output of the BOKPP 37 of the first PP of the selected PP group, a coincidence signal is received at the input of the GOI 38, upon receipt of which the GOI 38 generates a single pulse of duration Δ t _p , which arrives at the control input of the BPM 34 and turns it on for a time interval Δ t _p (cm Fig. 7, d). During this time interval, the signal supplied to the input of the RPM 34 at an intermediate frequency f _pr , is converted into a signal with a central relay frequency f _p1 assigned to this PP, and preserving the original signal spectrum. This signal from the output of the RPM 34 is fed to the input of the PA 35 and is emitted during the time interval Δ t _p . The control signal containing the individual code of this PP relayed by the first PP from the selected PP group is received and received by P _r A 4 CPU 1, the output of which is fed to the input of the first RP _p B 5 tuned to the center frequency f _p1 , where it is amplified and converted the initial spectrum of the signal at an intermediate frequency f _PR From the output of RP _p B 5, the signal goes to the input of the first demodulator 16, where it is demodulated, and then from the output of DM 16 it goes to the input of the first BOKPP 19, where the received code is compared with individual codes of the PP having fixed relay frequencies _fр1 . When the received code coincides with the code of the corresponding software, a coincidence signal appears at the output of the control unit 19, which is fed to the fifth input of the control unit 24. When the coincidence signal arrives at the fifth input of the control unit 24 from its seventh output, the signal contains the number of the second software PP triple selected (it should be noted that the control signal generated by the CPU 1, comprising an individual code group of the first selected PP within the time interval Δ t _c1 (see. FIG. 7, g). Next, similar actions are produced with ignalom control containing individual code of the second PCB, except for the following. When the coincidence of the codes output from BOKPP 37 second PP selected group PP its RPB 34 generates a signal at f _p2 frequency assigned to the data of PP (see. FIG. 7, e). the repeated inclusion of the second PCB control signal containing a unique code that PP is adopted _EXAMPLE a 4, the output of which is input to the second RP _p B 6 tuned to the center f _p2 frequency where amplified, converted to the conservation of the original spectrum signal to pr interstitial frequency f _ave. From the output of RP _p B 6, the signal goes to the input of the second demodulator 17, where it is demodulated, and then from the output of DM 17 it goes to the input of the second BOKPP 20, where the received code is compared with individual codes of the PP having fixed relay frequencies f _p2 . If the received code coincides with the code of the corresponding software, a coincidence signal appears at the output of the control unit 20, which is fed to the sixth input of the control unit 24. When a coincidence signal arrives at the sixth input of the control unit 24 from its seventh output, the signal contains the number of the third software of the selected triples (it should be noted that the control signal generated by the CPU 1 contains an individual code of the second pass of the selected group of pass-time devices during the time interval tv2, which is reflected in Fig. 7, d).

Next, similar actions are performed with a control signal containing an individual code of the third software, with the exception of the following actions. If the codes coincide with the output of BOKPP 37 of the third PP of the selected PP group, its BPM 34 generates a signal at a frequency _fр3 assigned to the PP data (see Fig. 7, g). Retransmitted included third PP control signal containing a unique code that PP is adopted _EXAMPLE A 4, the output of which is input to the third RP _p B 7, tuned to the center frequency f _p3 where amplified is converted to the conservation of the original spectrum signal to an intermediate frequency f _ave From the output of RP _p B 7, the signal goes to the input of the third demodulator 18, where it is demodulated and then from the output of DM 18 it goes to the input of the third BOKPP 21, where the received code is compared with individual codes of the PP having fixed relay frequencies f _p3 . When the received code coincides with the code of the corresponding software, a coincidence signal appears at the output of the control unit 21, which is fed to the seventh input of the control unit 24. When the seventh input of the control unit 24 arrives, the coincidence signal from its ninth output to the control output of the BPM 30 receives the transmitter off signal, as a result, the control signal from the control unit 26 is not emitted (it should be noted that the control signal generated on the CPU 1 contains an individual code of the third software of the selected software group for the time interval Δt _v3 , which as shown in Fig. 7, d).

After switching on the relay mode of the last PP from the selected triple PP, these PP during the time interval Δ t _pc defined by the expression
Δt _pc = Δt _p -2 (Δt _B2 + Δt _B3 ), (10) simultaneously relay the signals of the PSS located in the zones of action of this group of BPS (see Fig. 7). Wherein CSPs signals at frequency f simultaneously _with receiving the group of PP, PP and in each received _EXAMPLE 32 A PES signals applied to the input P _p B 33 where amplified and converted into signals of an intermediate frequency f _etc. with the received spectrum conservation. Next, the signals in each of the three SPs from the output of the RP _r B 33 are fed to the input of the RPB 34, where they are converted to signals with the corresponding PP the relay frequency f _p1 , f _p2 , f _p3 , which are transmitted to the PA 34 and emitted. In the mode of measuring coordinates and identifying moving objects after switching on the relay mode of the first, second and third PP of the selected group of PP from the second output of the control unit 24, a read signal is received at the first control inputs of the BKZ 11, 12 and 13, and from the third, fourth and fifth outputs of the control block 24 to the second control inputs BKZ 11, 12 and 13 receive signals containing pairs of numbers of the PP, which are respectively the first and second, third and first, second and third PP in the selected group of PP that carry out the relay. The PPO signals synchronously relayed by the three selected SPs receive P _r A 4 CPU 1, the output of which simultaneously goes to the inputs of RP _r B 5, RP _r B 6 and RP _r B 7 tuned to the corresponding frequencies f _p1 , f _p2 , f _p3 , while the signals relayed by the first, second and third PP of the selected PP group are simultaneously amplified and converted into signals with a single intermediate frequency f _p p in RP _p B 5, RP _p B 6 and RP _p B 7, respectively. The signals from the outputs of RP _r B5, RP _r B 6 and RP _r B7 are supplied to the inputs DM16, DM17 and DM18, respectively, where they are demodulated and, in addition, pairs of signals from the outputs RP _r B 5 and RP _r B 6, RP _r B 7 and RP _r B 5, RP _r B 6 and RP _r B 7 are supplied respectively to the pairs of inputs of the first BI38, second BIZ 9, and the third BIZ 10, where they measure the mutual delays τ ₁₂ , τ ₃₁ and τ ₂₃ between pairs of signals, relayed respectively by the first and second, third and first, second and third PP of the selected group of PP. The measured values of the mutual delays τ ₁₂ , τ ₃₁ , τ ₂₃ from the outputs of the BIZ 8, BIS 9 and BIZ 10 are supplied to the corresponding inputs of the BSZ 15, where they summarize these mutual delays and compare the received amount with the threshold value P _τ , and the inputs, respectively, of the BKZ 11 , BKZ 12 and BKZ 13, where they are corrected for the corresponding amendments Δτ ₁₂ , Δτ ₃₁ , Δτ ₂₃ , compensating instrumental errors in the measurement of mutual delays due to the non-identity of the relay paths between the first and second, third and first, second and third PP of the selected PP group. The adjusted mutual delays τ ₁₂ ^I , τ ₃₁ ^I , τ ₂₃ ^I from the outputs of the BKZ 11, BKZ 12 and BKZ 13 are supplied to the corresponding inputs of the DBK 14. In addition, the codes of the demodulated signals from the outputs of the DM 16, DM 17 and DM 18 are supplied to the corresponding the inputs of the BSUK 22, where the codes are compared and averaged, and the averaged code of the signals from the first output of the BSUK 22 goes to the BOKO 23 water. If the sum of the mutual delays τ ₁₂ , τ ₃₁ , and τ ₂₃ received at BSZ 15 does not exceed the threshold value P _τ , which indicates about receiving in a given time interval a signal from only one PPO, then and the output signal BSZ 15 appears a logic one, otherwise the - signal is logic-zero (see Figure 7 h..). In addition, if the codes of the signals arriving at the BSUK 22 coincide, which also further confirms the fact that only one PPO is received at a given time interval, then the logical unit signal appears at the second output of the BSUK 22, otherwise a logical zero signal (see Fig. 7, and). The signals from the output of the BSZ 15 and the second output of the BSUK 22 are respectively supplied to the third and fourth inputs of the control unit 24. Upon receipt of the signals of logical units at the third and fourth inputs of the control unit 24, a signal of a logical unit is generated at its sixth output, and at least one from these inputs of logical zero signals at its sixth output, a logical zero signal is generated. The signal from the sixth output of the control unit 24 is fed to the control inputs of the DBK 14 and BOKO 23. When a logical unit signal is received at the control input of the DBK 14, the coordinates of the object are calculated using the well-known formulas / 3 / based on the adjusted mutual delays τ ₁₂ ^I , τ ₃₁ ^I , and τ ₂₃ ^{I of} signals received in a given time interval Δ t _and (see Fig. 7), otherwise the coordinates are not calculated. The calculated values of the coordinates of the object from the output of the DBK 14 are fed to the first input of the control unit 24. When a logical unit signal is received at the BOCO 23 control input, it recognizes the object code based on the bitwise comparison of Δ t received at its input _{and the} code with codes all software systems. If the incoming code coincides with the code of one of the software, the output of BOKO 23 displays a signal containing the number of this software in the system, which is fed to the second input of the control unit 24, where the detailed information about the object, which is stored in data bank (for example, the name of the owner of the software, the brand, color, registration number of the vehicle on which the software is installed, etc.). When signals are received at the first and second inputs of the control unit 24, a signal is generated at its first output containing information on the coordinates and identification results of this object, which is fed to the input of BI 25, where the received information is displayed. Thus, during the time interval Δ t _pc (see Fig. 7 and formula (10)), the location and identification of objects whose transmitters emit radio signals and which are in the coverage area of three PPs of a selected group of nearest PPs are performed. In FIG. 7, as an example, the time intervals Δ t _{and 1} , Δ t _{and 2} , Δ t and ₃ are indicated, during which the location and identification of the first, second and third objects located in the coverage area of the selected three PPs are performed.

Similarly, the relay mode of other groups from three neighboring BCPs is turned on with a sequential search of all combinations possible from N spatially separated receiving points, and location and identification of objects located in the coverage area of the corresponding BCPs are performed. Thus, over the time interval of all combinations of the three PP nearby (cycles) Δt _Σ made positioning and identification of all the fire suppression system, which emit radio signals in a given interval of time Δt _Σ. Moreover, the time interval Δt _Σ is associated with the time parameters of one cycle according to the formula
Δt _Σ = S (Δt _p + Δt _B1 + Δt _B2 + Δt _B3 ), (11) where S is the number of combinations of three nearby SPs possible from N spatially separated receiving points of the system.

 The system is calibrated periodically over time, the end result of which is to receive and remember corrections that take into account the non-identity of the receiver-relay paths of the software and are used later in the mode of determining the coordinates of objects.

In the calibration mode, similar to the coordinate measurement and identification of moving objects by commands from the CPU, the signals are simultaneously relayed by a group of three nearby SPs with a sequential search of all combinations possible from N spatially separated receiving points. The difference between the calibration mode and the measurement mode is as follows. After the relay mode of the third (last) PC is turned on, the selected group of three PCs, i.e., after the seventh input of the control unit 24 matches the signal from its eighth output, the logic zero signal is connected to the control input of the switch 29, connecting its second input to the output, and from its ninth output to the control input, the BPM 30 continues to receive an enable signal for a time interval Δ t _pc from the moment a logical zero signal arrives at the control input of the switch 29. The calibration signal code from the output of the GCC 28 arrives at the second input of the switch 29 and then from its output - to the output of the RPB 30, which generates a signal with an identification calibration code at a frequency f _s with a spectrum width Δ F, similar in structure to the signal of the software, but with a duty cycle k equal to one (i.e. continuous signal). The calibration signal from the output of the RPM 30 is fed to the input of the PA 31 during the time interval Δt _pc and is emitted (see Fig. 8). In addition, in the calibration mode, as well as in the measurement mode, after switching on the relay mode of three PPs of the selected group from the third, fourth and fifth outputs of the control unit 24, signals containing pairs of numbers are received to the second control inputs BK3 11, BKZ 12 and BKZ 13 PPs, which are respectively the first and second, third and first, second and third PPs in the selected PP group. The calibration signal is received by all N receiving points of the system as one of the signals of the software. Further actions on the calibration signal completely coincides with similar actions on the signals in the system during the measurement mode until the signals from the outputs of BS3 15 and BSUK 22, respectively, reach the third and fourth inputs of the control unit 24. Upon receipt of the logical and fourth inputs of the control unit 24 units, which corresponds to the reception in a given interval of time Δ t _to only one calibration signal (see. FIG. 8), at its second output signal is generated "Recording", which is supplied to the combined y BKZ ravlyaetsya inputs 11, 12 and BKZ BKZ 13. Therefore, a signal BKZ 11, BKZ BKZ 12 and 13, first, a determination is made amendments Δτ _12, Δτ iΔτ _{31, 23} respectively based on the comparison of the measured mutual delays τ _12, τ _31, τ ₂₃ with calculated τ _12p , τ _31p , τ _23p , and secondly, these corrections are stored that correspond to the selected group of three PP. During the time interval of relaying signals by one group of PP Δ t _pc time intervals Δ t _ki during which calibration is performed, there may be several (see Fig. 8). Their number and duration depend on the number of simultaneously operating in the time interval Δ t _pc PPO located in the range of the selected three PP. Similarly, calibration is performed for all other groups of the system. The total system calibration time Δt _{Σ is} also determined by formula (11).

 Each delay measurement unit 8, 9, and 10 operates as follows.

(f_n) и

(f_n) соответственно, причем n= 1, 2, 3, . . . , N_f. Последовательно во времени действительные (мнимые) части каждой спектральной компоненты сигналов

(f_n) и

(f_n) с первых (вторых) выходов процессоров БПФ 45 и 46 синхронно поступают на первые (вторые) входы соответственно первой и второй пары входов УКЧ 47, где последовательно во времени производят вычисление составляющих взаимного спектра

(f_n) по правилу

(f_n)=

(f_n)

(f_n). (12)
Далее последовательно во времени действительные (мнимые) части каждой составляющей взаимного спектра

(f_n) с первого (второго) выходов УКЧ 47 поступают на первый (второй) вход первой пары входов УКЧ 48 и первый (второй) вход ЭЗКЧ 49. Одновременно сигнал с выхода ДДЧР 55, соответствующий первому частотному расстоянию между спектральными компонентами k Δ f (т. е. для k= 1), поступает на объединенные управляющий вход ЭЗКЧ 49 и второй вход первого делителя 52. ЭЗКЧ 49 производит задержку действительных и мнимых частей каждых поступающих на его входы спектральных компонент взаимного спектра на время Т_з, определяемое по формуле
Т_з= kT_o, (13) где Т_о - интервал следования спектральных компонент взаимного спектра

(f_n).A pair of signals U ₁ (t) and U ₂ (t) having a spectrum width Δ F simultaneously arrive at the first and second inputs (input 1 and input 2) of the BIZ (see Fig. 5), which are ADC inputs, respectively 43 and ADC 44, where they are simultaneously sampled in time and quantized by level. Discrete time samples of signals from the outputs of the ADC 43 and ADC 44 are fed to the inputs of the FFT processors 45 and 46, respectively, where these samples are converted into a set of discrete complex spectral components of the same signals

(f _n ) and

(f _n ), respectively, with n = 1, 2, 3,. . . , N _f . Consistently in time, the real (imaginary) parts of each spectral component of the signals

(f _n ) and

(f _n ) from the first (second) outputs of the FFT processors 45 and 46 simultaneously arrive at the first (second) inputs of the first and second pairs of inputs UHF 47, respectively, where the components of the mutual spectrum are calculated in time in time

(f _n ) by the rule

(f _n ) =

(f _n )

(f _n ). (12)
Then, sequentially in time, the real (imaginary) parts of each component of the mutual spectrum

(f _n ) from the first (second) outputs of the UHF 47 are fed to the first (second) input of the first pair of inputs of the UHF 48 and the first (second) input of the EHF 49. At the same time, the signal from the output of the HDRC 55 corresponding to the first frequency distance between the spectral components k Δ f (that is, for k = 1), it enters the combined control input of the EZKCH 49 and the second input of the first divider 52. The EZKCH 49 delays the real and imaginary parts of each spectral components of the mutual spectrum arriving at its inputs for a time T _s , determined by the formula
T _s = kT _o , (13) where T _o is the interval between the spectral components of the mutual spectrum

(f _n ).

(f_n) с первого и второго выходов ЭЗКЧ 49 поступают соответственно на первый и второй входы второй пары входов второго УКЧ 48, где последовательно во времени производят вычисление комплексных параметров

, _n по правилу

=

(f_n+k)

(f_n) (14) для n= 1, 2, . . . , N_f-k. Действительные (мнимые) части этих значений с выхода первого (второго) УКЧ 48 поступают на первый (второй) вход НСКЧ 50, где суммируются в течение периода следования Т_сл всех компонент

начиная с первого не нулевого значения, поступившего на один из входов НСКЧ 50, причем Т_сл= N_fT_o. Полученная сумма действительных частей параметров

с первого выхода НСКЧ 50 поступает на первый вход (вход "знаменателя") ФП 51, а сумма мнимых частей параметров

с второго выхода - на второй вход (вход "числителя") ФП 51. В ФП 51 производится вычисление аргумента комплексного числа, результат вычисления которого с выхода ФП 51 поступает на первый вход первого делителя 52, где производится деление его на частотное расстояние k Δ f. Результат деления с выхода первого делителя 52 поступает на вход НС 54. Кроме того, периодически с периодом Тсл с выхода ДДЧР 55 на управляющий вход ЭЗКЧ 49 и второй вход первого делителя 52 поступают сигналы, соответствующие следующим частотным расстояниям между спектральными компонентами для k от 2 до (N_f-1). Для каждого частотного расстояния k Δ f аналогично производятся действия над сигналами в блоках 49, 48, 50, 51 и 52. Результаты деления с выхода первого делителя 52 последовательно во времени поступают на вход НС 54, где они суммируются в течение интервала времени измерения взаимной задержки Δt_τ , определяемого формулой
Δt_τ = (N_f-1)T_сл= (N_f-1)N_fT_o, (15) начиная с момента поступления на вход НС 54 первого сигнала. Полученная сумма с выхода НС 54 поступает на первый вход второго делителя 53, на второй вход которого с выхода ПЗУ 56 поступает сигнал, соответствующий значению 2 π (N_f-1). В результате деления на выходе второго делителя 53, являющемся выходом (Вых. ) устройства измерения задержки (см. фиг. 5), появляется значение взаимной задержки τ₁₂ между парой сигналов U₁(t) и U₂(t), поступивших на входы УИЗ.Real and imaginary parts of spectral components

(f _n ) from the first and second outputs of the EHF 49 enter respectively the first and second inputs of the second pair of inputs of the second UHF 48, where the complex parameters are calculated in time

, _n by the rule

=

(f _{n + k} )

(f _n ) (14) for n = 1, 2,. . . , N _f -k. Actual (imaginary) part of these values with the output of the first (second) UKCH 48 arrive at the first (second) input 50 NSKCH where summed for the repetition period T of _slab component

starting with the first non-zero value, will go to one input NSKCH 50, wherein T _cl = N _f T _o. The resulting sum of the valid parts of the parameters

from the first output of the NSCH 50 goes to the first input (the input of the "denominator") FP 51, and the sum of the imaginary parts of the parameters

from the second output, to the second input (the “numerator” input) of the FP 51. The FP 51 calculates the argument of a complex number, the calculation of which from the output of the FP 51 goes to the first input of the first divider 52, where it is divided by the frequency distance k Δ f . The result of dividing from the output of the first divider 52 is fed to the input of the HC 54. In addition, from time to time, with the period TcL from the output of the DFDM 55, the signals corresponding to the following frequency distances between spectral components for k from 2 to (N _f -1). For each frequency distance k Δ f, the actions on the signals in blocks 49, 48, 50, 51, and 52 are likewise performed. The results of the division from the output of the first divider 52 are sequentially in time fed to the input of the HC 54, where they are summed over the time interval for measuring the mutual delay Δt _τ defined by the formula
Δt _τ = (N _f -1) T _SL = (N _f -1) N _f T _o , (15) starting from the moment the first signal arrives at the input of the HC 54. The resulting amount from the output of the NS 54 goes to the first input of the second divider 53, the second input of which from the output of the ROM 56 receives a signal corresponding to the value 2 π (N _f -1). As a result of the division at the output of the second divider 53, which is the output (Output) of the delay measurement device (see Fig. 5), the value of the mutual delay τ ₁₂ appears between the pair of signals U ₁ (t) and U ₂ (t) received at the inputs UIZ.

According to FIG. 2, the inputs of the BIZ 8, the BIZ 9 and the BIZ 10 are combined in pairs and connected to the three outputs of the corresponding RP _p B 5, RP _p B 6 and RP _p B 7. Therefore, three BIZ with the structure shown in FIG. 5 can be implemented using only three physical channels of a series-connected ADC and an FFT processor, the first ADC and FFT processor BIZ 8 and the second ADC and FFT processor BIZ 9, the second ADC and FFT processor BIZ 8 and the first ADC and processor can be combined BPF Biz 10, the first ADC and processor BPF Biz 9 and the second ADC and processor BPF Biz 10.

 The delay comparison unit 15 operates as follows.

The signals received at the inputs. 1, In 2 and Bx. 3 BSZ 15 (see Fig. 6) simultaneously enters the pair of inputs of the first adder 57 and the second input of the second adder 58. The sum of the signals from the output of the first adder 57 goes to the first input of the second adder 58, where the summation is made with the signal received at its second input. The signal from the output of the second adder 58 is fed to the input of the threshold block 59. If the signal at the input of the power bank 59 does not exceed the threshold value P _τ (see formula 3), then the output of the power bank 59, which is the output (Output) of the BSZ 15, generates a logical signal units, otherwise a logical zero signal.

 The delay correction block 11, 12 and 13 may be performed, for example, as shown in FIG. 9, and contains two subtractors 60 and 61, a memory block of estimated mutual delays 62, a memory block of amendments 63, and has buses for the input (input), output (output), the first and second control inputs (Exercise 1 and Exercise 2) .

 The unit for comparing and averaging codes BSUK 22 can be performed, for example, as shown in FIG. 10, and contains the element of formation of the averaged code 64, three elements of comparison 65, 66, 67 and has buses of three inputs (Input 1, Input 2 and Input 3), the first and second outputs (Output 1 and Output 2) .

To confirm the possibility of improving the accuracy of location and throughput of the proposed method and system with a relative reduction in sales costs, a prototype (OO) of the system for determining the location and identification of moving objects was developed, manufactured and studied on a modern base of mass-produced products and elements. The radio receiving units 5, 6 and 7 together with the receiving antenna 4, the control transmitter 26 of the central point 1, the radio receiving and radio transmitting units 33 and 34, together with the receiving and transmitting antennas 32 and 35 of each receiving point, are implemented on the basis of the Mayak-S radio complex. Converters F 4223 were used as analog-to-digital converters for delay measurement devices 8, 9, and 10. The FFT processors of the delay measurement unit 8, 9, and 10 are implemented as specialized processors based on the use of algorithms. The remaining elements of the delay measurement blocks 8, 9 and 10, the delay correction block 11, 12 and 13, the coordinate calculation block 14, the delay comparison block 15, the demodulators 16, 17 and 18 and the code comparison and averaging block 22 are based on the MS-1212 computer . The recognition blocks of the codes of the receiving points 19, 20 and 21, the code recognition block of the object 23, the control unit 24 and the display unit 25 are implemented on the basis of the IBM PC / AT-286 computer. The system was placed in an urban environment. A diagram of the location of receiving points at N = 7 is shown in FIG. 11. The table shows one of the options for relaying the signal groups of these receiving points. To operate the system, four frequencies were used in the VHF band. The distance between the nearest reception points of the public organization was 3-4 km. The power of the used transmitters of moving objects is 1-2 W, the width of the spectrum of the PPO signals is 30 kHz. As an indication unit, an IBM PC / AT-286 computer monitor was used, on which an electronic map of the city where the system was located was displayed. As a result of experimental studies of OO, the following main characteristics of the system were obtained:
instrumental mean square error of measurement of coordinates of moving objects - 50 m;
bandwidth of location and identification of objects - 1 location and identification for 20-30 ms;
the standard error of the measurement of mutual signal delays is 0.1-0.2 μs.

 Thus, the use of the following distinctive features in the proposed method and system for determining the location and identification of moving objects: transfer of the main signal processing operations to a central point by relaying these signals to the CPU; measurement of mutual signal delay based on spectral signal processing; the application of the periodic switching on of the transmitters of moving objects while simultaneously identifying time intervals during which only one transmitter of the object operates in the coverage area of the three receiving points; the application of the principle of sequential space viewing by transferring to the relay mode the corresponding groups of three receiving points, for which the necessary control of the receiving points is introduced, and the control transmitter is used simultaneously to calibrate the system, which makes it possible to increase accuracy in comparison with the prototype and also well-known technical solutions in this field positioning of moving objects and the capacity of determining the location and identification of moving objects, and that also significantly reduce the costs of technical implementation.

 Since the proposed method and system does not require a single synchronization of the processes of measuring signal parameters and setting a single threshold level in spatially separated receiving points, the number of communication channels of receiving points with a central point (only three communication channels) is significantly reduced and all moving object transmitters operate on the same frequency.

 The fundamental difference between the proposed system is its multifunctionality: one system is able to provide information to all or almost all of the city’s services in a matter of seconds. This, for example, allows for quick disclosure of crimes in hot pursuit with the involvement of much less forces and means.

 The proposed system is quite flexible, that is, it can be used to serve both small and large territories. This system is commercial, since the sale of its elements (object transmitters) to the public, individual city services, the installation of transmitters on a guarded object, the collection of a subscription tax allows you to quickly recoup the cost of the system, and in the future bring substantial income to the owner of the system. In addition, the implementation of the proposed system will dramatically improve the information support of city services indicating the exact coordinates of the accident sites and the identification of protected specific objects, which should lead to a very significant increase in the percentage of crime detection and a sharp decrease in the costs of solving each individual crime.

 1. A method for determining the location and identification of moving objects, which consists in emitting signals from transmitters of moving objects equipped with individual codes, receiving and demodulating signals at N spatially separated receiving points with known coordinates, where N> 3, identifying moving objects based on signal demodulation and computing coordinates of moving objects at a central point with known coordinates for the mutual delays of the signals of transmitters of moving objects received at the receiving points c, adjusted for corrections obtained during calibration periodically performed by emitting moving objects at a frequency of transmitters from a point with known coordinates of the signal with a calibration identification code, receiving it at these receiving points and remembering as corrections the results of comparing the received mutual delays between the signals received at receiving points, with known calculated values, characterized in that the signals received at receiving points are relayed with the transfer of the spectrum to the central pun kt, where these signals are received with conversion to a single intermediate frequency and measure mutual delays between them, and the signals are relayed simultaneously by only three receiving points for a specified period of time, for which a control signal periodically emitting from a central point on the frequency of the moving object transmitters contains individual codes of the receiving points, receive it at the receiving points, demodulate and if the transmitted code matches the individual code of the receiving point the signals are relayed by this receiving point, while individual codes of three nearby receiving points are generated in the control signal with sequential enumeration from the cycle to the cycle of codes of all N receiving points, an identification calibration code is generated in the control signal at the specified time intervals, and the transmitters of moving objects emit signals periodically with the established duty cycle, the identification of moving objects and the identification of the calibration code is carried out at a central point according to the results demodulation, comparison and generation of an averaged code of signals received simultaneously from three receiving points, the calculation of coordinates, identification of moving objects and calibration are performed if the sum of three measured values of mutual delays between pairs of signals received from the first and second, second and third, third are equal to zero and the first receiving points of the selected group of receiving points and the match of the signal codes relayed by these receiving points.

arg

(f_n)

(f_n)

f

f

,
где N_f - количество спектральных компонент сигналов;
n = 1,2,3, . . . , N_f - номер спектральной компоненты сигналов.2. The method according to p. 1, characterized in that for measuring the mutual delay of the signals in each of the pair of signals received from the first and second, second and third, third and first receiving points of the selected group, receiving points U _i (t) and U _j (t), where i = 1,2,3, j = 1,2,3, i ≠ j synchronously discretize them in time and quantize by level, transform the obtained discrete time samples of these signals into a set of discrete complex spectral components U _i (f _n ) and U _j (f _n, respectively, and calculate the mutual delay τ _ij according to the rule
τ ₁₂ =

arg

(f _n )

(f _n )

f

f

,
where N _f is the number of spectral components of the signals;
n = 1,2,3,. . . , N _f is the number of the spectral component of the signals.

} - аргумент комплексной величины

.Δ f = f _{n + 1} -f _n is the frequency distance between adjacent spectral components of the signals;
k = 1,2,3,. . . , N _f-1 - a scale factor of the frequency distance between the spectral components of the signals;
arg {

} is an argument of a complex quantity

.

 3. A system for determining the location and identification of moving objects, containing transmitters of moving objects, N spatially separated receiving points with known coordinates, where N> 3, and a central point with known coordinates, each moving object transmitter includes a series-connected object code generator, a radio transmitting unit and a transmitting antenna, each receiving point includes a receiving antenna, a radio receiving unit and a demodulator connected in series, and the central point includes coordinate calculation lock, object code recognition unit, display unit, control unit and three delay correction blocks, the outputs of which are connected to the corresponding inputs of the coordinate calculation unit, the output of which is connected to the first input of the control unit, the second input of which is connected to the output of the object code recognition unit, and the first and second outputs are connected respectively to the input of the display unit and to the combined first control inputs of the first, second and third delay correction units, the second control inputs of which are connected assigned to the third, fourth and fifth outputs of the control unit, characterized in that a pulse generator is inserted into each transmitter of moving objects, the output of which is connected to the control input of the radio transmitting unit, serially connected radio transmitting unit and radio transmitting antenna and series connected unit are introduced into each receiving point recognition code of the receiving point and a single pulse generator, the output of which is connected to the control input of the radio transmitting unit, the input of which is it is connected to the output of the radio receiver unit, and the input of the recognition unit code recognition unit is connected to the output of the demodulator, in addition, a receiving antenna, three radio receiving units, the combined inputs of which are connected to the output of the receiving antenna, three delay measurement units, a delay comparison unit, are entered at the central point three inputs of which are combined with the inputs of the corresponding three delay correction blocks and are connected to the outputs of the corresponding delay measurement blocks, and the output is connected to the third input of the control block, three demo a radiator, the inputs of which are connected to the outputs of the corresponding radio receiver blocks, three recognition blocks of the code of the receiving point, the inputs of which are connected to the outputs of the corresponding demodulators, a comparison and averaging block of codes, three inputs of which are connected to the outputs of the corresponding demodulators, and the first and second outputs, respectively, to the input the object code recognition unit and the fourth input of the control unit, the sixth output of which is connected to the combined control inputs of the coordinate calculation unit and the object code recognition unit one and a control transmitter comprising a code generator for the receiving points, a code generator for the calibration signal and a series-connected switch, a radio transmitting unit and a transmitting antenna, the two inputs of the switch being connected respectively to the outputs of the code generator for the receiving points and the calibration code generator, and the input of the receiving code generator points and control inputs of the switch and the radio transmitting unit are connected to the seventh, eighth and ninth outputs of the control unit, respectively, the fifth, sixth and se the seventh inputs of which are connected to the outputs of the corresponding recognition blocks of the receiver code, the combined first input of the first and second input of the second delay measurement blocks, the combined second input of the first and first input of the third delay measurement blocks and the combined first input of the second and second input of the third delay measurement blocks the outputs of the respective radio blocks.

 4. The system according to claim 3, characterized in that the delay measurement unit contains two analog-to-digital converters, two fast Fourier transform processors (FFT), two complex number multipliers, a complex number delay element, a functional converter of the form arctg x / y, two a divider that accumulates an adder of complex numbers, a discrete frequency distance sensor and read-only memory, and the outputs of the analog-to-digital converters are connected to the inputs of the corresponding FFT processors, the output pairs of which are connected are connected to the corresponding pairs of inputs of the first complex number multiplier, the pair of outputs of which is connected respectively to one pair of inputs of the second complex number multiplier and to the pair of inputs of the delay element of complex numbers, the pair of outputs of which is connected to another pair of inputs of the second complex number, the pair of outputs of which a pair of inputs of the accumulating complex number adder, a pair of outputs of which is connected to a pair of inputs of a functional converter of the form arctg x / y, the output of which is connected to the mu input of the first divider, the output of which is connected to the input of the accumulating adder, complex numbers, the output of which is connected to the first input of the second divider, the output of the permanent storage device is connected to the second input, the output of the discrete frequency distance sensor is connected to the combined control input of the delay element of complex numbers and the second input of the first divider, and the inputs of two analog-to-digital converters and the output of the second divider are respectively the inputs and outputs of the unit Ia delay.

 5. The system according to p. 3, characterized in that the delay comparison unit contains two adders and a threshold unit, the output of the first adder connected to the first input of the second adder, the output of which is connected to the input of the threshold unit, a pair of inputs of the first adder, the second input of the second adder and the output of the threshold block are respectively the three inputs and the output of the delay comparison unit.

Claims (5)

 1. A method for determining the location and identification of moving objects, which consists in emitting signals from transmitters of moving objects equipped with individual codes, receiving and demodulating signals at N spatially separated receiving points with known coordinates, where N> 3, identifying moving objects based on signal demodulation and computing coordinates of moving objects at a central point with known coordinates for the mutual delays of the signals of transmitters of moving objects received at the receiving points c, adjusted for corrections obtained during calibration periodically performed by emitting moving objects at a frequency of transmitters from a point with known coordinates of the signal with a calibration identification code, receiving it at these receiving points and remembering as corrections the results of comparing the received mutual delays between the signals received at receiving points, with known calculated values, characterized in that the signals received at receiving points are relayed with the transfer of the spectrum to the central pun kt, where these signals are received with conversion to a single intermediate frequency and measure mutual delays between them, and the signals are relayed simultaneously by only three receiving points for a specified period of time, for which a control signal periodically emitting from a central point on the frequency of the moving object transmitters contains individual codes of the receiving points, receive it at the receiving points, demodulate and if the transmitted code matches the individual code of the receiving point the signals are relayed by this receiving point, while individual codes of three nearby receiving points are generated in the control signal with sequential enumeration from the cycle to the cycle of codes of all N receiving points, an identification calibration code is generated in the control signal at the specified time intervals, and the transmitters of moving objects emit signals periodically with the established duty cycle, the identification of moving objects and the identification of the calibration code is carried out at a central point according to the results demodulation, comparison and generation of an averaged code of signals received simultaneously from three receiving points, the calculation of coordinates, identification of moving objects and calibration are performed if the sum of three measured values of mutual delays between pairs of signals received from the first and second, second and third, third are equal to zero and the first receiving points of the selected group of receiving points and the match of the signal codes relayed by these receiving points. 2. The method according to p. 1, characterized in that for measuring the mutual delay of the signals in each of the pair of signals received from the first and second, second and third, third and first receiving points of the selected group, receiving points U _i (t) and U _j (t), where i = 1,2,3, j = 1,2,3, i ≠ j synchronously discretize them in time and quantize by level, transform the obtained discrete time samples of these signals into a set of discrete complex spectral components U _i (f _n ) and U _j (f _n, respectively, and calculate the mutual delay τ _ij according to the rule
τ ₁₂ =

arg

(f _n )

(f _n )

f

f

,
where N _f is the number of spectral components of the signals;
n = 1,2,3,. . . , N _f is the number of the spectral component of the signals. Δ f = f _{n + 1} -f _n is the frequency distance between adjacent spectral components of the signals;
k = 1,2,3,. . . , N _f-1 - a scale factor of the frequency distance between the spectral components of the signals;
arg {

} is an argument of a complex quantity

.  3. A system for determining the location and identification of moving objects, containing transmitters of moving objects, N spatially separated receiving points with known coordinates, where N> 3, and a central point with known coordinates, each moving object transmitter includes a series-connected object code generator, a radio transmitting unit and a transmitting antenna, each receiving point includes a receiving antenna, a radio receiving unit and a demodulator connected in series, and the central point includes coordinate calculation lock, object code recognition unit, display unit, control unit and three delay correction blocks, the outputs of which are connected to the corresponding inputs of the coordinate calculation unit, the output of which is connected to the first input of the control unit, the second input of which is connected to the output of the object code recognition unit, and the first and second outputs are connected respectively to the input of the display unit and to the combined first control inputs of the first, second and third delay correction units, the second control inputs of which are connected assigned to the third, fourth and fifth outputs of the control unit, characterized in that a pulse generator is inserted into each transmitter of moving objects, the output of which is connected to the control input of the radio transmitting unit, serially connected radio transmitting unit and radio transmitting antenna and series connected unit are introduced into each receiving point recognition code of the receiving point and a single pulse generator, the output of which is connected to the control input of the radio transmitting unit, the input of which is it is connected to the output of the radio receiver unit, and the input of the recognition unit code recognition unit is connected to the output of the demodulator, in addition, a receiving antenna, three radio receiving units, the combined inputs of which are connected to the output of the receiving antenna, three delay measurement units, a delay comparison unit, are entered at the central point three inputs of which are combined with the inputs of the corresponding three delay correction blocks and are connected to the outputs of the corresponding delay measurement blocks, and the output is connected to the third input of the control block, three demo a radiator, the inputs of which are connected to the outputs of the corresponding radio receiver blocks, three recognition blocks of the code of the receiving point, the inputs of which are connected to the outputs of the corresponding demodulators, a comparison and averaging block of codes, three inputs of which are connected to the outputs of the corresponding demodulators, and the first and second outputs, respectively, to the input the object code recognition unit and the fourth input of the control unit, the sixth output of which is connected to the combined control inputs of the coordinate calculation unit and the object code recognition unit one and a control transmitter comprising a code generator for the receiving points, a code generator for the calibration signal and a series-connected switch, a radio transmitting unit and a transmitting antenna, the two inputs of the switch being connected respectively to the outputs of the code generator for the receiving points and the calibration code generator, and the input of the receiving code generator points and control inputs of the switch and the radio transmitting unit are connected to the seventh, eighth and ninth outputs of the control unit, respectively, the fifth, sixth and se the seventh inputs of which are connected to the outputs of the corresponding recognition blocks of the receiver code, the combined first input of the first and second input of the second delay measurement blocks, the combined second input of the first and first input of the third delay measurement blocks and the combined first input of the second and second input of the third delay measurement blocks the outputs of the respective radio blocks.  4. The system according to claim 3, characterized in that the delay measurement unit contains two analog-to-digital converters, two fast Fourier transform processors (FFT), two complex number multipliers, a complex number delay element, a functional converter of the form arctg x / y, two a divider that accumulates an adder of complex numbers, a discrete frequency distance sensor and read-only memory, and the outputs of the analog-to-digital converters are connected to the inputs of the corresponding FFT processors, the output pairs of which are connected are connected to the corresponding pairs of inputs of the first complex number multiplier, the pair of outputs of which is connected respectively to one pair of inputs of the second complex number multiplier and to the pair of inputs of the delay element of complex numbers, the pair of outputs of which is connected to another pair of inputs of the second complex number, the pair of outputs of which a pair of inputs of the accumulating complex number adder, a pair of outputs of which is connected to a pair of inputs of a functional converter of the form arctg x / y, the output of which is connected to the mu input of the first divider, the output of which is connected to the input of the accumulating adder, complex numbers, the output of which is connected to the first input of the second divider, the output of the permanent storage device is connected to the second input, the output of the discrete frequency distance sensor is connected to the combined control input of the delay element of complex numbers and the second input of the first divider, and the inputs of two analog-to-digital converters and the output of the second divider are respectively the inputs and outputs of the unit Ia delay.  5. The system according to p. 3, characterized in that the delay comparison unit contains two adders and a threshold unit, the output of the first adder connected to the first input of the second adder, the output of which is connected to the input of the threshold unit, a pair of inputs of the first adder, the second input of the second adder and the output of the threshold block are respectively the three inputs and the output of the delay comparison unit.

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