RU20500U1 - SATELLITE ORBIT AIRPLANE AIR LANDING SYSTEM - Google Patents

Abstract

Satellite system of air landing (SSVP) of an orbital aircraft (OS), including a carrier aircraft (SN), an OS with a detachable external fuel tank (VTB) mounted on electromechanical locks on the fuselage of the SN, automatic control systems (ACS) with an engine traction control computer (VUTD) and navigation systems installed on SN and OS and consisting of satellite navigation system (SNA), inertial navigation system (INS), airborne signal system (AHS), radio altimeters (RV) associated with self-propelled guns, central computer system we, landing computers, connected to interface and switching devices (USK), including adapters for input and output of information, control panels with information display systems (SDI), characterized in that it includes satellite navigation systems installed on the OS and MV, made on based on radio interferometers, laser rangefinders, closed-circuit television systems for monitoring and control of electromechanical locks for airborne landing of OS and connected to the SDI on control panels, inter-aircraft information exchange equipment tion, associated with the UCSC block prediction parameters planting, planting prohibition logic unit included landing to the calculator, and calculators OS real coordinates and CH are respectively connected to the central computer.

Description

2000110606

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SATELLITE SYSTEM FIRST LAND ORBITAL

The utility model relates to the field of aerospace engineering, in particular, to reusable aerospace systems (MAKS) with a horizontal carrier, a quick start of an orbital aircraft (OS) and an aircraft fixed landing on a carrier aircraft (CH).

The well-known program I J of the company ШВ for the creation of a two-stage reusable air-space apparatus (ШКА) Zenger, proposed by the European Space Administration B SA along with the English ШКА

SKA Zenger is a two-stage device consisting of a hypersonic carrier for an aircraft circuit and an orbital plane (OS) Horus. The device is designed for horizontal take-off and landing and can be used when taking off from conventional airfields. The soldering of such a layout scheme, unlike the multistage devices, allows the OS to go into any orbit, including the equatorial one, during takeoff and landing in Europe,

MVKA Senger with a take-off mass of 500 tons can deliver 12 astronauts or 2 | cosmonauts and payload (PN) weighing 4 tons, and into a polar orbit of the same height, 2-4 cosmonauts and 1 Ш weighing 1-Зт

B64 I / IO

PLANE

providing; achievement of hypersonic speed () and ascent to a height of H 30 -1- 35 km, where the Horus OS should be separated. The Chorus OS with a mass of 55 t is equipped with a liquid-propellant .engine (LRE) operating on cryogenic fuel and developing a thrust of 54 t, the mass of fuel is 40 t, the operating time of the engine is 280 s. Odaako, the ratio of the mass structure to the total output mass of the OS in the reference orbit is 82.5, and the ratio of the mass of the payload to the total output mass of the OS in the reference orbit is 14.3. In addition, the range of places of the Earth’s land landing in case of emergency situations is insufficient.

Known reusable aerospace system (1ShCO) 13. As a carrier aircraft (SN) is used subsonic aircraft; An-225, On the MAKS pre-11 orbital aircraft, installation of two three-component rocket engines RD-701 was considered. The MAKS system has two stages: the An-225 carrier aircraft and the space stage. SN An-225 is a mobile launch platform that delivers a step to a given launch point. It also performs the functions of the booster stage, providing optimal initial conditions for the autonomous portion of the launch of the space stage.

In the main version of MAKS, the 2nd stage consists of a reusable orbital aircraft (OS) and a disposable fuel tank, MAKS is designed to put into orbit and return to the Earth small and medium useful grooves, as well as to perform a wide range of targets at orbit altitudes from 200 to 1500 km.

A typical flight task of a system is performed as follows:

CH with a 2nd stage installed on it takes off from the airfield

the launch dates and atmut are determined by the parameters of the orbit into which the orbital plane must be launched. This task for a range of up to 1000 km, the carrier aircraft performs at the expense of on-board fuel reserves, and long-range, including the launch of the second stage into equatorial orbit, is provided by refueling the carrier aircraft in the air.

In the vicinity of the launch point, at an altitude of about 9 km, the SN performs a pre-launch maneuver, the purpose of which is to ensure an optimal combination of the initial kinematic parameters of the 2nd stage trajectory: flight altitude, speed and angle trajectory. In the process of performing the pre-launch maneuver, the SI first gains speed in a low-level decrease, then performs an intensive cabling maneuver with an increase in the trajectory angle and flight altitude. On this site, the marching propulsion system of the 2nd stage is launched.

After reaching the specified trajectory angle, the process of separation of the CH and the 2nd stage begins, containing two phases:

-fast reduction of normal overload to a value

Well - 0.6, at which there is a break in the mechanical bonds of the CH and the 2-t stage;

-shockless loss of heart failure and 2nd stage.

In the separation section, the control of the movement of the SN and the 2nd stage ensures the passage of the LRE jet at a safe distance from the surface of the SN.

After separation, the 2nd stage performs a flight along the orbital trajectory, and the SN transfers to a horizontal flight and returns to the base airfield.

When the 2nd stage reaches a speed close to the orbital one, the mid-flight propulsion system is turned off, the external fuel tank is separated from the orbital plane, removed, enters the dense layers of the atmosphere and mainly burns out. In this case, the removal trajectory is chosen so that the unburned remains of the tank fall into the ocean.

After separating from the external fuel tank, the OS starts up the orbital maneuvering engines, enters a working orbit and performs the main task of orbital flight.

After its completion, the operating system performs braking maneuvers with the help of orbital maneuvering engines, enters the atmosphere, makes a controlled descent in the atmosphere, and lands at the airfield,

The ISS operating system has an integrated propulsion system used in orbital flight and at the beginning of the descent stage in the upper atmosphere. It consists of a rocket engine of orbital maneuvering and three blocks of diversion engines (nasal, right and left, tail) of the reactive control system. Two rocket engines with a thrust of 3000 icrc. They are used for performing completion maneuvers, transition from one orbit to another and braking before launching.

For T1ra., When flying in the atmosphere, the OS has aerodanical elevator elevators, aft balancing shield, a combined rudder and an air brake. The OS has a cabin for two crew members.

The take-off mass of the MAKS system is 630 tons, the mass of the second stage is 275 tons, the mass of the OS in orbit N is 200 km, {51 26 tons, the mass of the returned payload is 4.6 tons.

However, the ratio of the mass of the structure to the total sub-water mass of the OS in the reference orbit is 64.8, and the ratio of the mass of the payload to the total output mass of the OS in the reference orbit 32. In addition, the safety of landing and landing gears during shutdown is not sufficiently ensured.

special emergency situations (non-launch of the chassis, etc.)

Promising systems for launching into near-Earth orbits are known, which provide for various types of launch from land, air, and sea complexes of the ZP (prototype). An excellent option is to use as a first stage a reusable space transport system (MTKG) of a subsonic carrier aircraft (SDS) or a sea-based ekranoplan. As the second stage, the use of an orbital aircraft (OS) with LRE or IRE tj-SHVRD is provided.

One of the main concepts is a system with LH and OS as the second stage. Depending on the type of engine installation (DU), the OS can be equipped with an external fuel tank or be stepwise. JVffiTG with the first stage, made in the form of an ekranoplan based on the use of shipbuilding techniques and amphibious transport systems using a screen eG |) effect when flying land or water. When starting from the water area, such MTCS is considered in the ShRFOKOM range of take-off masses, up to several thousand tons, which is much more than that of land aircraft. Thanks to this, the restriction on the starting mass of the OS is practically removed and its load can be increased. The technical appearance of the IvIKTC elements is determined, the requirements for its elements are analyzed, the control algorithm for the approach of the OS and the media is forged, the accuracy of landing, carriage in the spirit, is estimated. The possibility of working out approximation errors has been shown and the OS will be put on a carrier in flight. However, the flight path OS-: at the hitch stage should be built on the basis of the requirements defined by the task of ensuring the required time for the meeting and the given accuracy of bringing to the vicinity of SN - ::.

The purpose of the development of a useful model of a satellite system for airborne vehicles, land landing gear, orbit of an orbital aircraft is to ensure all-azimuth landing and distribution of the range of ground landing sites 1ШСС.

-provision of high operational flexibility (for example; operating distillation flight of the OS) and survival in emergency situations (backup warrant for special situations in orbit).

- increase in payload orbit.

For resolving the specified za.tsachi in-i satellite oFGTeiviy air ambulance, tski (SOVP) orbital

a saddlelet (OG), B1 any gag-carrier (ОН), an operating system with a separate external fuel tank (VTB), fixing it on electromechanical locks on the fuselage Ш, automatic control system (ACS) with engine traction control computers (VUTD), - ; ootegut navigation, installed on OH and OS, and consisting of a satellite navigation system (SNA), inertial navigation system (IKS), airbag, airborne signals (SHS), radio altimeter (RV), associated with self-propelled guns, central computer of the system, computing computers , the docks connected to the interface and switching devices (USK), including the adapters for input and output of the jurmment of jurmation control panels with the information display systems of the SDI, installed on the OS and the MV are entered into it.

Satellite navigation systems based on radio interferometers, laser rangefinders, closed-circuit television monitoring and control systems for electromechanical locks for the airborne station, central control room, and connected to the SDI on control panels, inter-aircraft information exchange equipment associated with the USK, noca, ipOT parameter prediction unit, the logic block prohibiting landing, the docks included in the landing computer, and the calculators of the actual coordinates of the OS and CH are connected respectively to the central controllers.

On Fig A shows a structural diagram of a satellite system of air landing OS,

In FIG. 2, 3, kinematic relations are presented for the approaching OS and SN in the longitudinal and lateral planes.

Figure 4 depicts the directivity diagram of the laser beacons SN and OS when mooring and docking: A - range megK, tsu objects 120 pieces, the directivity of the laser beacon SN - 10 °, OS-0.5, B - OS captures the radiation of SN and covers CH; B - the tracking OS system works by reflected radiation.

-

On Fig, 5 shows a block diagram of a laser rangefinder. Figure 6 shows the coordinate system for the orientation of OC-I and CH-2.

Figures 7 and 8 show diagrams illustrating the interferometric method of orienting the ATP base according to the signals of navigational and satellite satellites.

Figure 9 shows the installation diagram of the SNA antennas on the SI fuselage.

The structural diagram of the onboard equipment SSH is shown in figure 1, which shows -,

OG-I, GH-2

3 - space part of the satellite navigation system

4,5 - antenna-s | 1 leader system - satellite antennas of the onboard part of the SNA

6- onboard part of the consumer's SNA equipment, including a radio interface (5erometric receiver

7- inertial navigation system (Ш1С)

8- system of air signals (SHS)

9- radar altimeter (B)

10 - automatic control system

11.23 - engine traction control computers (VUTD)

12.16 - pairing and clouting devices

13.17- information input adapters

14.18- information output adapters

15 - inter-aircraft exchange equipment

19- navigation complex OS

20- SNS orbital aircraft

21- AL orbital aircraft

22- OS SPG

24, X - central calculate. Pcs. With m 27.31- information display system (SDI) 28.32- control panels 29.33- laser rangefinders 34.38- landing computers 36- logical block of landing prohibition 37- forecast block 39.45- television calters (TVK) 40.46 - electric drives TVK 41.47 - calculators of docking mechanical isms 42,43,44,48,49,50 - electromechanical machanism of the butt joints Fig. 5 shows a 51-sent beam 52- reflected beam from corner reflectors 53- laser 54- telescope 55- photoelectronic ugozhozhitel (FE7) 56- system of measurement of short ranges (D) 57- PMT 58- telescope 59- systems and I8 long-range firing (D) 60- a detectable and tracking system 61- a beacon beam 62- a block of corner reflectors 63 PMTs 64- laser 65 proximity system Satellite system of airborne, final landing (SSVP) orbital ta (OS) -1 including aircraft- carrier - 2, OC-I with a separate fuel tank (VTB), mounted on an electromechanical

locks on the fuselage. Automatic control systems 10 and 22, traction control computers for engines II and 23, navigation systems, UST-based on OH 6 -9-12 and OG-I9 and consisting of SNS-6., ШС 7, GBC 8, РВ 9, coupled with self-propelled guns 10, landing computers 38 and 34, central computers 24 and 30 connected to USK 12 and 16, including adapters for inputting 13 and 17 and output 14 and 18 information, control panels 28 and 32 with SDI systems 27 and 31. On the OS I and CH 2 installed SNA - 6.20 performed on the basis of radio interferometers, closed-circuit television systems for monitoring and control of 39-40 and 45-46 electromechanical plants and 48 {-50. For air landing OC-I, and connected to the SDI 27 and 31 installed on the control panels 28,32, Equipment inter-salient exchange of information 15 is connected to the USK 12 and 16, Laser rangefinders 29 and 33 are connected to the system of central computers 24 and 30. The forecast block of the landing parameters 37 is connected to the logical blockade of the ban pos.tski 36 is connected to the calculator 38 posa, 1.kg. The real coordinate calculators 25 and 35 are connected respectively to the central calculators 24 and 30.

The system works as follows,

From the point of view of the possibility of descent along an unplanted trajectory (in case of accidents), the control based on the calculated trajectory requires a significant amount of computation and is inconvenient in the event of non-calculated situations, which is reflected in the realization in the central computer 30 OC-I,

The control over the predicted trajectory uses an approximate solution; the equalized solution of the motion of spacecraft (MA). Using the control algorithm, trajectory prediction is used. The algorithm determines analytical expressions for the range to the point of flight start along the salute trajectory and lateral drift depending on the attack angle o / and the angle of heel. as well as expressions for their sensitivity to control parameters.

The aerodynamic heating control, which is the main indicator determined by the trajectory, is ensured by the appropriate choice of the ratio of the height and speed of the ship,

OG-I, capable of maneuvering in the atmosphere due to aeronautical forces, enters the atmosphere along an orbital path at the end of an orbital flight. The phase of entry into the atmosphere begins at an altitude of 122 km and ends at an altitude of 94 RM, where the flight begins along the salmolet trajectory. Such a flight begins at a point located at a distance of 12,600 km from the point of entry into the atmosphere, having a lateral drift relative to it from 0 to 2040 km and about 48 km distant from the landing site. .m / s and is directed towards the landing site, the flight begins along an airplane trajectory,

. The position of the point at which the OS begins to enter the atmosphere is determined by the maneuver during braking and is carried out in such a way that the distance from the point of entry into the atmosphere to the starting point, flight along an airplane path is equal to .- 12600 KTvi. varied from O to 2040 km. The paths of entry into the atmosphere are fairly gentle. To ensure low loads and restrictions of convective heating of the OS, due to this, the descent time increases significantly. The control algorithm, generating commands for changing the angles o / and V, provides a transition to flight along an airplane trajectory in a given area with restrictions on aerodynamic heating and overload.

The control of the motion m, e, allows us to obtain the approximate explicit solution of the equations of motion for OC-I during the descent. These equations are nonlinear; therefore, even in the flat case, it is not possible to find their exact analytical solution. Taking into account the side even of the OS during descent leads to an assurance of dimensionality and the appearance of an additional nonlinear dependence in the system of -jj aBHeHiiE movement. However

an exact solution to these equations is not necessary, as the control algorithm will adjust the estimated range to the touchdown point and lateral drift throughout the descent. The equations of motion of the OS during the descent process are based on the assumption that the OS is a point, the descent bend control is instantaneous (0). The rotation of 5em1g, its solidity is neglected, it is believed that the altered properties of the atmosphere are associated only with altitude.

The equations of the OCI-I with allowance for rotation in the geocentric spherical-velocity coordinate system have the form

/ (/ / Hyj. ((} And

 / f- () 2

 L // - / y / 7j; 7 cclf J Y (2)

hivco 0 - / -,) Cy (f ad S.I j - hi 2II J / V7f df.) ,,, (3)

(4)

,;

(5) .

V - yr /.

The coordinates V,,, 7, C-- / | define the relative vector

the speed of OC-I and its position relative to the rotating Earth. The uniform rotation of the reference frame) causes the appearance of dauh forces inerting KOLE eE forces j V and C) centrifugal forces - P - In j c / Jf2-} J. where (8)

P is the vector of external forces t Y g A is the projection of the resultant external forces in the directions tangent to the coordinate coordinates lТ1-шшд, In the spherical-velocity coordinate system, position M and the vectors of acceleration and the resultant of external forces F are projected on the directions tangent to the trajectory T, the normal path i y1, in the plane containing vectors 2: and / and the normals to the indicated plane 1. The notation is generally accepted. The 11 approximate lattice of the system of balanced motion 00-1 in the inertial coordinate system has the form:). (9) d- J ss 9 (10) (П) Q / (12) (К, where is the current position of OC-I in the inertial coordinate system from the beginning: l in the center of SeMJffl (radius vector HFD: AND OS). The descent path OG-I should provide small accelerated braking and heating speeds that incline, 1 will allow for changes in the angle of inclination of the descent path R. Poet y to simplify the equilibrium movement is adopted with / t /, | 1) - S. , When entering the atmosphere at an altitude of H 122 1 Ш at a small angle as it enters the dense layers of the atmosphere, the lifting force and centrifugal forces acting continuously in the vertical direction are pieHboiaioT angle

trajectories. At a certain point in time, the force, the tansity balances these forces, and the equilibrium planning reethm begins at H 82 km, where active control based on the solution of the prediction equations begins. The OS descent hangs along a ballistic trajectory in the upper atmosphere from H 122 km to 82 S and continues in the active control phase, based on the solution of the equilibrium planning task. And from K 82 to H 34 Kivi. The trajectory in the equilibrium flatting mode has an oscillatory character on the equilibrium trajectory, long-period oscillations due to a change in the density of the atmosphere with height are outlined. For small and x -O, equations (9) and (10) will plump:

(fifteen)

 ce)

The distance covered by the OS, starting from the moment / and z is determined by

j Uss &y;; (17)

By changing variables and using equations (iSO and OS) we get: / / i i /

 3W

I /: mg-,

/ / g

and - /

and f-JC (18) Y / is the speed of movement in a circular orbit (7900 m / s) y, - for, this relative speed at the beginning of the flight OS flight path (90 m / s) Assuming UV /, where V from (18 ) get um: By asking K and steered range to l,

It follows from Cheers (14) that if the angle of heel O is in the process of descent, then the magnitude of lateral drift can be neglected. From (14) and (15) and assuming we obtain an approximate expression for the lateral drift value r

j G pS -V / (21)

The coefficient (1) of the lifting force and aerodynamic drag coefficient 1 depends on the angle of attack and the number M. The distances predicted using equations (20) and (21) depend on the control parameters x and Y. The density P in Eq. (21) varies linearly with a change in the height H. This makes it possible to quite accurately compensate for periodically periodic oscillations.

With a further decrease in the equilibrium trajectory of H 34 km, guidance begins on the carrier aircraft -2. For this, in OC-I, the central calculator 30 implements the equations, - convergence controls, 8 J. Managing the convergence of OG-I and GK-2 pre, 1 sees the use of on-board systems, monitoring their purpose and providing information about even OG-I regarding CH-2. Based on the napai Tpaivw relative motion are the co-bearers of the relative distance vectors - - #

1b and relative to the velocity Z) Velich 7) and TJ are measured with sufficient accuracy using laser range finders .29,33. The angular velocities of the line of sight are determined using angular velocity sensors.

Dhch guidance according to the method poshsht undisturbed movement OC-I will move, when the velocity vector of the OS all the time directed to GH-2. vocation points: (yao) L / - 1 (20), the equation for the prediction The speed vector OG-I is directed to GH-2 in accordance with the condition of undisturbed motion along the metro, chase, fzhg.Z.

 -V ,,, s6 -V

 - I-H "--Oh VQC

   Us and (23)

df g

Dividing by term the equation (22) into equation (2),

- rS -) citf. where a - (24)

Integrating Eq. (24) with Post at VcH t СГ, where (25) Si is constant EH determined by the main conditions. C is found if substitute Cj Г - У УУ in equation (25): - / s. - about MA / .g. 4 fc / y / 2.

Equation (27) gives the dependence of the distance t between the OS and OH. angle (f men {, with the direction of the OH velocity vector and the radius vector 2.

You need to know the trajectory of the OS, which MOENO build,. if 2 and (| as a function of time are known. smart for that. EFM equation (22) nq cos, and equation (23) 2 Si-it and subtract them term by term from each other. Then we get Since Transfer and O to

Given a value by the formula (26), it is determined;, by the formula (31) we determine the moment of time T. It will be separated from its original position by distance and vci4- t in the direction of flight.

Vertical but (E. is, that is, the OS has been elevated to the flight altitude of the SN, is aligned in time with horizontal guidance. Thus, it is advisable that the horizontal guidance conduct most of || coSf-S (- / jV (/ (28) / . -f-VU I / cf of equation (28) (C | .son-yyyy, i AND-V / j; С i fli: / c / -h to the right, we get; and f CoS (oJ fe, r / V, j, - Voc (30) SD giw Integrating equation (30), depending on о t, we obtain: (cifCOS., -; (l / ,. OV / oc) booO / ff + CU5 C / 1 ,; - / O (31) .№, .zh .-- T- -1-1 -: n ,,., -. ..- I.-I.II II., „.... 1.I. |, | ,, t Cf Vjc-V H

 at heights at which the available lateral OS overloads are maximum. However, the end of the vertical guidance should coincide in time with the end of the horizontal guidance and ensure that the OS reaches the SN in advance. The vertical guidance can be carried out by giving the vertical speed vy OC-I (the angle of inclination of the trajectory Q to the horizon) or a certain programmed law of change of height and flight speed as a function of time.

The long-range guidance process ends with the capture of the SN-2 onboard aircraft by means of guidance OC-I and the transition to homing OC-I based on the signals of the airborne guidance systems. Pointing in the lateral plane along the chase curve, the OC-I speed vector is directed to the target point — CH-2, i.e. coincides in direction: with a relative distance vector. From the slip equation

    (32) where JE, Zo / chase curve A j

2: o, GK VcH (34)

For plane movement - Up. f where CO is the angle formed by the bottom of the sight with some fixed direction. For a flat motion along the pursuit curve V {j. If the course

goals J; .. and the angle of the target is visible (f counts away from one and

of that se direction, for example, a meridan, then J /

Vorh VJTH

I

 / 1

I is the angular velocity of the line of sight of the day - / 1: n 1 / V. . V Uf /

This is the higher equation of the curve equation in polar co-diets when the target point is flat, when the pursuit curve is a flat curve. When pointing along the chase curve in the horizontal plane, equations (35) can be considered as equations of a given course of pursuing OS

.

The curvature of the chase curves in the vicinity of the target increases uncontrollably, with the exception of the direction coinciding with the path of the target11. The chase curve always displays the pursuing OS in the tail sector of the target- (CH). Miss A decreases monotonously, however, it vanishes only at the point of the target, where 2 O, p O

ShchchchalEavanie consists in carrying out a maneuver that provides the sub-OC-I to CH-2 with zero or minimum relative speed and with the required relative orientation of the OS and SN. The mooring process ends with the contact of the butt-joint units of both devices (parallel connection of the aircraft).

The initial mooring conditions depend on the accuracy of the navigation and guidance systems of the OS and SN at the stage of the most recent guidance. The mooring stage begins at ranges up to SC ZO-UOOm. Initial, the speed is 1.5-10 m / s. The final conditions of the mooring are determined by the characteristics of the measuring means, by the inclusion of aerodynamic types of docking mechanisms, by the dynamics of the collision process.

Moorings can be carried out in manual, semi-automatic and automatic modes. Manual control mode occurs without automatic feedback. For automatic landing, an guidance is necessary in which, in accordance with the measured values of the motion parameters, control signals are generated that are implemented by the orientation control system. „For the OS with the side mooring

iV f- + / U e., (38)

where Φ is the angle of deviation of the excess sight from the knock-down direction, constant coefficients. To implement such a guidance method, it is necessary to measure the range to the integer, the approach speed, the angular velocity of the LINES of sight, and the angular deviations from the actual superfluous cross-section.

The docking stage starts from the moment of the first contact of the docking mechanisms and ends with the final connection of the docking apparatus No. 1x. At the beginning of the docking, the motion parameters OC-I and GH-2 have the following values:

-speed of attachment 0.03 - 0.075 m / s

- lateral displacement qi 0.5 m

- complete error (for all) ± 5 °. Docking devices are longer:

- reduce the speed difference between the apparatus and yes to zero and dissipate the relative kinematic energy;

-after the first contact, to provide between the 11th apparatus a mechastic connection to avoid their bouncing from each other;

-exactly align the axis of the apparatus;

-after triggering the main lanes provide sufficient rigidity of the joint;

Docking mechanisms - are intended mainly for docking cooperating objects and consist of two main nodes. One of the nodes is rigidly connected to the OS case, and the other, which contains moving parts, is connected to the SK-2 case through a combination of ballasts, slots and despheres, which quench the relative kinetic energy and compensate for the initial displacements. acceleration is determined

The controlled closed-circuit television systems (TS) installed on the GH-2 39-27 and OC-I 45-31 are designed to monitor and control the docking and contact process of locks 42-43-44 and 48-49 0. The vehicle consists of a transmitting television camera - a converter of light energy into an electrical signal, a communication channel and converting BaTevTLH of an electrical signal into an image. The TS includes a set of technical means - an optical device with a lighting source - a television camera, an amplifier (T) full-signal transformer, a jfaHOpaTop clock synchronization pulses, an amplifier and a signal-to-light signal-to-video converter (VK7). Television cameras 39 and 45 with transfO: city No. 1 are installed in the areas where the electro-mechanical locks of the dock are located; VKU - 27 and 31 of the information display system are installed on control pounds 28 and 32. The solid-state vehicles are used in the vehicle Do not transmit cameras based on charge-coupled devices, which are fed with lenses. In front of the lenses 1 of cameras 39 and 45 there are light filters, crosshairs, apertures, aperture, zoom mechanism. The number of elements and the sequence of forcing a television screen are determined According to the conditions of its operation, the control of the television camera and the camera 39 and 45 is carried out by the operator. with the help of electric drives 41 and 46.

The laser proximity system is located at both objects OC-I and CI-I-2. The CH-2 is on a constant trajectory and the OC-I maneuvers to approach it.

At both sites installed laser guidance systems, TsMG. 4.

The block of corner reflectors contains a back-reflecting SCHESHESh.1 having 6-angle input faces. As sensitive

To reduce background illumination, a narrow-band interference filter is installed. A lens lens with P 90 im and aperture ratio of 1: 0.95, provides a field with a resolution of 10 °.

The GH-2 is equipped with a gallim-arsenide block laser with a radiance of 0.5 °. The transmitter emits the same sequence of 11 pulses with a power of 300 W as the OC-I transmitter.

When maneuvering in the immediate vicinity zone and when docking, an incoherent gallium-arsenide diode is used, which creates a L5 with a shechdin 2.5 °, located concentrically relative to the beam of a pulsed laser. This diode is modulated in continuous reaash with a frequency of 3.75 MHz, which ensures the required measurement accuracy and allows one, meaningful reading of data in meters and decimeters.

The angular tracking system is used in the OS and SN. It provides a wide field of view in the detection mode and a narrow field of view. To reduce the sweeping background and to increase the angular accuracy during addition. In the detection solution, the field of view is discretely traversed so that successive steps form a raster of 32x32 elements. The frequency of steps in the detection process is set so as to guarantee a residence time in each position sufficient to receive at least one pair of emitted pulses.

In the slacking mode, the instantaneous field of view of the system is electronically detached. This results in a cruciform sweep. The linear size of which is 3 of the entire field of view. This scan can be anywhere in the field of view. As the target moves, the cruciform sweep moves so that the image of the target remains in the center of the cross.

The maximum range of action1 is 120 h, the accuracy of the measuring range: in the range of 120-3 km - 10 km, in the range of 3 KIVI extensions 10 cm, the accuracy of measuring angles 10

The information core on the OS Navigation system is the in-flight navigation system (SH1S) -7, in a number of its well-known advantages: information output continuity, autonomy, and noise immunity. A central problem is the provision of an OS during a start-up operation from a formation carrier aircraft. navigation information At the launch site, in accuracy slightly inferior to the launch option from the launch site.

One of the most difficult questions of the fashonation of the exact SH-TS is the preparation of Shushig for work, the initial exhibition of ShS-7,

The disadvantage of SHTS- is that the errors in the formation of inertial information unlimitedly increase in flight time. In order to limit the increase in errors, correction of readings Ш-Ю- is carried out with the help of other measuring systems based on other physical principles, ra.1shchotehniches - SCS-6.

A receiving device that receives navigation signals from the SNS-6 satellites is multi-channel and operates in two frequency ranges. Multi-channel allows you to stash information from at least four navigation satellites simultaneously. The optimal four navigation satellites are selected in the on-board computer at the smallest value of the geometric factor. Moving the two-frequency measurement method makes it possible to practically eliminate the errors caused by the refraction of the radio wave in the atmosphere.

To improve the resolution and accuracy of measurements of angles and coordinates, an interferometer is used, the antennas of which contain elements that are much spaced apart. If the observed radiation sources move relative to the interferometer at distances commensurate with its base (distance of antenna antenna

device gdt), then along with the ranges: / to the target, you can measure the position angles of the object.

In the consumer equipment, the pseudorange for estimating the envelope envelope of pseudorandom sequences and the radial pseudo-velocity for estimating the Doppler frequency offset of the carrier are scanned. IT equipment, according to the results of measurements in the consumer equipment when using random information-i navigation-simultaneous problem is solved.

The ranges are drawn out by fixing the time (time difference) of the propagation of the envelope of simple signals or fauns (phase difference) of mo, 1 regulatory pseudorandom sequences. Radial speeds fr1xir; t: evaluation of the Doppler shift of carrier frequencies. The position angles of the object are counted in an interferometric manner with a phase-1 count,

ShS-b includes 18 - 24 navigation satellites, which are thus located in their orbits, which means that in KaiiUB ifi the moment will hang at any point. No less than satellites are observed on the earth. Reception of signals from the ith navigation satellite makes it possible to determine the necessary value on the aircraft. Thanks to TOMJ, which is confused to the channel

communication reports the constant parameters of its orbit on the aircraft, its coordinates f, q, and its speed Vsn si are determined from the received signal, the range is determined),) the aircraft and sp .; quietly and 5) -, LTJ its changes,

 When measuring navigation parameters) .- and from the satellite a high-frequency signal is transmitted, which can be phase-locked using a time function whose forgla is known in advance both on the satellite and on the aircraft. Usually this is a sequence of rectangular bus pulses one-piece. and negative polarity - a pseudo-mental sequence: the law of alternating half-pins and negative ones

heart rate is known on. the satellite and at the receiving point - a high-frequency signal, two, is dyed, and then the pseudo-noise sequence and the pseudo-noise signal of such a forg, generated by the receiver, are tied to odu eiviy timers using airplane frequency standards. According to the temporal shift between, this means that the signal from the satellite determines the time of passage, adenia ra, cyan waves from the satellite

to IA and distance1-to2 /// I changed the unit Speed 1 // tU /), // 9 the range changes are determined either by the tracking speed generated on board the pseudo-noise signal behind the incoming tm signal, otherwise by the Doppler signal received signal.

Elements of the satellite’s orbit, which with high accuracy can be made constant for 1-2 hours, are transmitted from the satellite with an interval to the entire consumer. The Cartesian coordinates are calculated from the orbit and airborne time elements (Vcw of the satellite for any previously given (current) time instant, and already by the distance rg to three satellites located at known points

space, the location of M is determined. Based on a value of 1t of the rate of change of range to three satellites, the vector of the earth

JIA speeds.

According to dalshma.ha system, stored in the memory of CHG, the consumer selects a constellation of 4 satellites with the optimal configuration relative to the consumer, goes into communication with each satellite of the constellation (working only for reception) and after going into synchronization, by transmitting via phase of its pseudo-noise code until it matches, value with a non-code, emitted by satellite, receives a pseudorange value of up to

satellite.

To change the pseudorange SYS-b, it is possible to write down:

 ) jj) (39)

-

with the speed of propagation of radio waves;

L - consumer hours from satellite watches;

j) - range measurement error.

When working in full, 01 "1; constellation (4 satellites) of the consumer’s position in the space defined by the solution of a system of 4 equations with 4 - ME and known / ((), Y2. X

s - VYXi- RiuVxz- iwn i-yRjc) fr)

gdz iyXz | Xa - coordinates of the consumer;

V — known satellite coordinates, j 1,2,3; L 1,2,3,4.

i

Measured GHC-6 radial pseudo-velocity VHC can be represented as:

(41)

"T) - true radial velocity, relative projection

the speeds of JiA and MI on the connecting strand;

Дх / is the error of measuring the radial velocity; ДУЬ is the radar velocity measurement error associated with.

), - lfil} + fhllBlJi - () + (42)

T) i D;

/ Vj-iftiy V-i-VcvJ / D;

Yj are the cokonsponents of the velocity of the object;

/P ; - KOi.moHGHTH speed L-GO satellite, J 1,2,3;

V t-J I

I to 1,2,3,4 - satellite number.

When working to the fullest; in the constellation (4 satellites), the consumer’s speed in space will be separated from the solution of a system of 4 equalizing with 4 unknowns (V) t U. f s -4) for Vnc using the previously defined coordinates of the consumer and .

{

V

Along with the title of coordinate and components of the velocity vector, it is necessary to know the orientation of the axes in space. Determining the orientation of the longitudinal axis of the moving M relative to Naples, the true north is reduced to measuring the true course, the longitudinal axis relative to the horizon to the measured pitch angle, and the transverse axis relative to the horizon to the pitching bank.

For orientation 1, in a space using GliC, we’ll have a navigation distance of 1. IONL1 paragatrasht are mek; to the left J.iAKG i connecting is defined} 1u1o point from the artificial navigation satellite of the Earth (11ISZ) -1, fig. 6 The ordinates of the companion and the object (GZHS-A are known, therefore, it is possible to determine the orientation of the straight line GA in the geocentric coordinate system, and the measured angles W (V to:; nchtu osyae.№) (y, D of the object and SA of these axes in the coordinate system XU

The interference method for determining the direction is that two directional weakly directional antennas spaced a distance (base) receive a signal from a single source. The measuring device measures the difference in signal travel to the antennas. A wave incident on an entent is considered to be flat due to the remoteness of the signal source. From the antenna, Fig. 7, where c1 is the base, is the angle of arrival of the wave, p / 42, and Had / c 2: o / CuS and S bM $ (and

A radio interferometer - a meter with a high angular resolution consists of several antennas:, (4,5), spaced over a long distance and coupled me} 1s, which is a high-frequency excess (RF) connection. Source signals are received by antonnast:., -.4.5, transmitted via the high-frequency cable and soi & routers. Accepted by the antennas, the signal of the point source has a relative delay T /, where c: is the width of the base, 0 is the goal of the arrival of the wave, the place is the axis of the antenna and the direction to the object. The relative jamming and phase difference of the signals change as the radiation source moves and as a result of the DGT directional pattern of a single antenna, it turns out that the integrated antenna is jionecTKa, their width is equal to / and corresponds to the angular resolution of the D-wavelength radio interferometer. The dyain of the base of the radiointerferometer is limited by the HF communication line, the sensitivity is determined by the Esb (1) 9Active area of the antenna.

The difference in stroke determines the position of the base dshnik relative to the NKSZ-Z - the center of the base, but not in space, fym. estimates of the orientation of the baseline in the DVZ mernogl space it is necessary to measure the difference in stroke relative to the second Sh1SZ-3. W fig. 8 shows vbL11Ch11ny defining the orientation of the base in daumernon space; Cj and Gg are, respectively, L3C3, AB is the basic excess with the center D if it lies in the plane or the projection of the baseline on this plane.

We consider the case when / W d and le, 5pcs in the - plane. and this plane, in turn, coincides with the OXU plane. Distances from C to antennas A and B

r ,, V / | rtR -: - d, eos {-, R // ZTgjt | , (43)

/ 5 -i / g / / f-O, 0 &, / y% / fjS S (44)

Assuming that (. /, By the way we move Ф, И - 2 seam I: l / 77 "09 / К, Р,

- // A / 4

 a / - .i,. .-L 2le i & ,, 47)

. ,, / .... se-f..6

   2 - j- - cyVc- &. / rv rcv- / b

A 2; - z cifco B co Ay (49)

rio 0 / j Q (p; zQ, φ and substituting these relations in (.,

we have

(VEf -J f, E, (50)

(,,, .7 -b7: y ,; - // 5, - // q / (51) 7гж1 o (and are located according to the coordinates of Г1ИСЗ and the center of the base D. The length of the base is considered to be known. Differences / 4, and A measured:

/, / V /; ,,,; /

(52)) c4y -A, / (Nd (53) Here, It is the number nejfflx. Of the waves that can be seen on the path ШСЗ-З тька Д; (р is the phase of the oscillations adopted by the corresponding antenna from the corresponding one. Solving equation (50), we find the value Ср, Angle О characterizes the half-gest of the base in the DVZ Merryum space. To determine the position of the base in three-dimensional space, it is necessary to use measurements relative to the three ShaZZ-Z.

the polocerium of three OS9Y objects in space is enough for two non-collar base and three HI103-3,

The interferometric device eliminates the ambiguity of the measured phase difference. For this, measurements of the delay of codes are used, measuring the phase difference at the dow: frequencies jr and /

Razzagaeg-Gyv of ambiguity is sent to fix within the main base of additional intermediate antennas, forming 1Sh11k shortened bases, which makes it possible to take into account the increment of an integer number of ambiguity cycles in the process of measurement, changing the size of the bases.

The equipment operates in a standard and two-dimensional one-sided d.h. D.Ya. determination of the angles of orientation of the LAKS angles of roll, pitch i / and course F. The operation of the GHG-7 occurs when there is practically no restriction on the coverage area, meteorological conditions, time and day, and flight altitude.

4 antennas are mounted with reference to the longitudinal axis IA on top of the fuselage in the area of the cockpit compartment of the carrier aircraft (or the center section of the OS). The diagonal distance between the antennas; can be up to 8 m; the receiver is installed at an equal distance from the antennas, Fig. - .9.

The errors in determining the angles depend on the length of the baselines (distances along the diagonal between the antenna) and is determined by the expression

0 () (52)

where 0 is the error (j of determining the angle in / rddL, i is the length of the baseline of 5m1. Errors m: orientation

- 2 f- 3 angles

Providing an exhibition and correction. / RPTS moves

in flight allows to increase the accuracy of the exhibition and the corresponding RCS,

The communication adapter of the input-communication CV 13 with the on-board equipment provides the input of A-information, most of all, from the on-board 1 with the system for exchanging systems that are in accordance with GOST-I8S77-78. This communication adapter provides single line input. The data input adapter 13.17 provides for simultaneous reception on the Sh-24 of heterogeneous asirg / sron information in a large volume (from each source) with an accuracy of the time reference received parameters of no worse than 0.001 s. Timing, attaching a unit with a priori data (conversion, transport lag) is necessary for: further synchronizing information and linking it to the time scale, and one information stream according to the R .. standard.

D1 / 1 controller CV-24 implements. Two main fungi-gii:

-Distributes the CPU time of the Central Bank men {,

-Makes the data exchange me-k, the department calculates TTL and block.

When allocating processor time, my..you are assigned priorities, the highest priority from the sensors of my aircraft and OS. Control is transferred to it by the dispatcher immediately upon receipt of information 11.I., when transferring control, a system interrupt apparatus is used. Computing machines are more advanced. operations and processing of the input information stream, function dioniryut in a certain sequence, which is laid down. In the Dispatcher / 13-24 is designed for

processing information in order to obtain the specified accuracy characteristics of CV-24 allows to |) organize the complex processing of redundant information (CFI) coming from SIS-b SHU-U SVS-V at which satisfactory accuracy characteristics can be obtained. In the IV-24, information from the SNS-B is received through the RGY Port port ice-breaker in the | 2S2 format in the sidzhaltl-yum form (c) Vf.s :, at Tt Ng). Information SHS-7 (,, K, A, J / CL), SHS-V / (received in format 1 {2s) using an input adapter.

in the vIAKG OS to OH system through the mexamolecular exchange equipment of 15 pre.1, information is exchanged on the coordinates of the leaving velocities,,, the height H, and the current time.

The values of the parameters from various systems are calculated and entered into the computer at various points in time. When entering information into the BMS, the readings of the computer system timer are recorded, the readings of which are updated via Canada 1.28 ms. The information packet from sleep contains information about the Greenwich time of the moment the packet began to be transmitted, which allows you to convert the readings of the system timer to the Greenwich time, KOTOpoj / iy includes coordinates and speeds.

Bringing the value of each parameter to the current 1st time moment is carried out using linear interpolation using the following zuhs: the values of this parameter and the corresponding time points.

If the information frame contains the coordinates and rates of change of coordinates related to a single / in time element T, then the coordinate values are reduced to the moment TtE about the formula:

) (g., - bMTtE1 .-- t, (53)

where) (., - coordinate value at the moment of time;

/ is the value of the rate of change of the coordinate X at the time of Bremesh1 TT,

TEK - calculated coordinate value at the time

As a result of the operation of a block, values of all parameters are converted to edinol v y time Ifckr. The obtained parameter values are then fed to the input of the computer integrated processing information. In calculator 23, the following tasks are solved:

- the formation of reference values of coordinates, respectively, &, 71yay1tsih speed, true course. LA

To do this, use the information processing kit (RSI) in computation 25, the result of which is the real value of the aircraft motion parameters. Indeed, the parameter values are used to calculate CHCTGIVI errors. Esdat X is the value of о, щ1go-113 pair; 1трОБ of some estimated characteristics of the aircraft, and

/ lEi / tfT is the actual received value of the corresponding parameter, then the error of the given system i i characteristics of the aircraft is determined by yOra.ule:

HAEIGG. -X-AH (54)

The Kalashnov filtering algorithm provides the best linear estimates of the sistels state vector. at time point X:: when X; c is determined from the equation of state

 KI, S (55)

and dimension vector 2 is represented as

A: H | l K (56) Here, by the readings and cjijjr -j 1C, the algorithm consists of a vector estimate; c1, / Xix is independent of the zero-flux mean j (JV covariance matrices: fov / ,,; (57) is the fundchlent matrix, n; -, the matrix is measured in two stages and has the following form: states of the mens ; an equation is given - an estimate of direct measurement of sl0, blowing 1 equation where:

.

X / V (Xjc / V- 7

K-Sun.Ls-

  F.sA- / FJ // CH

  PJC // C- / -) r f P / C / G.A where) () c. , k / r / - a priori and a posteriori estimates

state vectors X and Kth step;

 R / c ic a priori and a posterior covariance matrices at the Kth step;

) V is the racial matrix.

To overcome the listed difficulties associated with the possibility of burning the properties of the United States and the positive definiteness of the PIC matrix, and increasing the accuracy of the estimates, the square root method from the matrix is used, based on the representation of the covariance matrix P in the form

D with S.T

(SO)

where J is the upper LJ: a tetragonal square matrix. Analysis of the characteristics of RCO-produced using alkh-iritma

optimal processing of Salgyan information, which allows one to divide the total errors into components and evaluate the instrumental errors of Sh1S-7.

With the filter filter Ka. the parameters are evaluated, which include errors of the ШС-7 in determining the coordinates, components of speed, course, errors of vertical lines construction, constant components of drifts of the gyros Ш1С-7,

f lltra

Form.etrova1Sh8 reference flight-naiigatsionnyh paraglets (coordinates, speed, course) is implemented by excluding from the values of the relevant parameters, defin. AL, estimates of its errors obtained as a result of CFI.

When implementing the a-algorithm of the Kalman filtration, the program uses the well-known forla protection from computational instability, the square root of matrinsky method, in which the covariance latric is not calculated explicitly, but presented as a product of factors that are extrapolated and corrected.

Calculation of kinematic parameters is carried out in calculator 1 SL1Tele 24.

Designer of the component speeds of the IS on the platform axis. 1 V 1 / SIL f-V, 3 s

V ;, 1 / V b2l -V (61) and according to where the platform Calculation of radii of curvature in the direction of the axes of the platform remains of the geographic system / you coordinates / / 5v I / G / V 82) U / s, / - ir / 2 ) -y /. In J /// - ri / 7 е - 0.0066934 is the square of the first eccentricity, r / is a large green ellipsoid. The calculation of the projections of the angular velocity of the Earth's rotation on the axis orls .. / y, - g g g its co. / / y / l, v, /) 1-7 where // is the angular velocity of the Earth. Calculation of the absolute absolute angular velocity on the axis of the LATFOR g in h to / Vx - // X -: /// § - Y V} A / L. // y. / / to Z ddia rioj.7CBo6oflHOii In the azimuth of the platform, ll O for free in azimuth platnorm. Calculation of the projected absolute linear acceleration on the axis of the platform;; 3. 1 / ,. a. / y - // IV, (65) / .. -. / / A. G. /. HD9 g 0.005317; . 9,78049; ; / Q, - the best vertical acceleration; obtained at the output of the algorithm. The vector of measurements includes IB itself following the criteria of the Competition; (. Pogrsnslzg-nx 8..-Jp WH / ur S HaJ / Vo3f Л% --АЧ where / 5i ЛА - errors of the FS in determining geographic coordinates: V- / 7HI "-Vr ,, JM / i / U / / b,,,.,l,,,;V «--3f where M, M are the radii of curvature according to the geographical system of the coordinate system: M A HJ / i V, v ,, HJ gg) t - / Vf fHj /// - tn fi ,,,, y (69) / ttHc- A - geographic coordinates according to the information of INS-7, P (h О graphic coordinates from СЕС-б. B VY lx / is-Is G / CSS And V- - - -4 ft-fc (70) Calculator 24 determines the actual values of the trajectory parameters according to the information of GKG-6 and ANN-7. The latitude (% t, longitude / 1y and altitude / Beat.) Are determined with the help of the next, du1a1ck cooTHomeHiffi :, W.,., fi :: vb / c 7 (l / g - / AU / /, / lov / b- // - / r / V // /// i, ovr / - fH l - cifcj where, (f Hdfc coordinates of the aircraft, output to OHC-S B moment time, K, K // components of the velocity vector taken from the ANS-7 output parameters; 7 / v, are the radii of curvature of the earth ellipsoid; / is the current time. The values of the remaining output parameters are assumed to be equal to the corresponding values of r / parameters, from CHG- 6. Intrinsic errors of the inertial system ANS-7 at an exhibition on the ground / 2b7 - O, ang. vertically and 15 angular meters in azsh71ute, and the values of the mathematical expectation of errors are corrected by the value of the corresponding installation angles of the antenna system. KOI provides an estimate of the ANN-7 error in determining the vertical and heading with noppemHOCTaviPT 0.1 and 3.5 ang. Errors in determining the course - standard deviations (OK) - 1.1 1.8; mathematical expectation 0.8 ang. KOI op1, gift1 this measurement (and - true values)

In the evaluation algorithm, this measurement is presented in the form

z 9z. / s / 2 (73)

where the error in determining the azt / uutal fragility gyroplatforsche ANN; 2. The error of the azi-angle installation angle of the antenna equipment; - white cabbage soup.

Ш1-26 implements the general organization of the work of SOI-27. It collects all the information prepared by the blocks discussed above in a single layout, which arrives for the formation of each formation frame. GSh-2b content of the program for the formation of info-computation of computer calculators issued by. „On electronic or liquid crystal indicators (Ж1й1), as well as commands on which program-gyg. mod.dulyam information should appear for the RNS. SHI-26 gives the current and allowed values of the parameters 1) tech :,. , HTEIC ,,, H4SP lop also signs of triggering

signal1:; 1sat1; and when adjusting to the permissible values / values of these pairs of years.

SOI-27 is designed to provide the crew with information and alarms on the position of one aircraft on their display. SOI-27 forms a picture, for, I image format coming from BFI-26.

LITZRAT7RA

1. Aerospace Sistvln. IvIAPI Moscow. 1998 year

2. (GC H-М- i1j5roToTMi fe - AtnEri fnpA3r --- r «5 1ЛГ7Е« OPERATION LAZY. Д SiV4VcurAMf4BricA4TECHNIQUE AND THKHwAC. МЗ, lO lQr- ,,

during descent from orbit, i

5 -: / i M8} k, tsu nar one of the Air Navigation and Technology Symposium of the 21st Century Aviation and Technology 17-22 / 8. IS9S-.

4.V. Kozey, B.GoxoEffl. Control of transport orbital ship during landing. Management in space, vol. 1, Spider ,, M., 1975.

5. Ikadov L.M., Bukhalova R.S., PtaapiiOHOB V.F., Plokhikh V.P. / lech.sh:11ga of optimal simple movement of aircraft in the atmosphere. Engineering, M. 1972.

6.Kharin E.G. Assessment of the characteristics of inertial skegs / i. kursertertkale according to the result of flight zksper: -shenta. LV1. Lecture course. 1982.

7.Shebshaevich B.C., Dvlitriev P.P., Ivantsevich E.V. Network satellite radio navigation systems. Radio connection. M. 1993, p. 414.

8. Bodner V.A., Kozlov M.S. Aircraft stabilization and autopilots. I96I. M. Oborongiz.

9.Risenberg V.L. Peculiarities of non-maintenance of the aerospace system. Digest of articles. Aerospace systems. M; MI Publishing House, 1997.

Claims (1)

Satellite system of air landing (SSVP) of an orbital aircraft (OS), including a carrier aircraft (SN), an OS with a detachable external fuel tank (VTB) mounted on electromechanical locks on the fuselage of the SN, automatic control systems (ACS) with an engine traction control computer (VUTD) and navigation systems installed on SN and OS and consisting of satellite navigation system (SNA), inertial navigation system (INS), airborne signal system (AHS), radio altimeters (RV) associated with self-propelled guns, central computer system we, landing computers, connected to interface and switching devices (USK), including adapters for input and output of information, control panels with information display systems (SDI), characterized in that it includes satellite navigation systems installed on the OS and MV, made on based on radio interferometers, laser rangefinders, closed-circuit television systems for monitoring and control of electromechanical locks for airborne landing of OS and connected to the SDI on control panels, inter-aircraft information exchange equipment tion, associated with the UCSC block prediction parameters planting, planting prohibition logic unit included landing to the calculator, and calculators OS real coordinates and CH are respectively connected to the central computer.