RU2124222C1 - Mobile direction finder - Google Patents

Abstract

FIELD: equipment for radar stations, meteorology, geodesy. SUBSTANCE: device has bearing generator, buffer memory unit, unit for solving system of linear algebraic equations, displaying unit, unit of inertial navigation system, synchronization unit. Goal of invention is achieved by introduced computing generator, evaluation unit, unit for calculation of Cartesian coordinates of target, and corresponding connections. EFFECT: possibility to detect characteristics of curve-shaped trajectories using bearing measuring data of mobile direction finder. 6 dwg

Description

 The invention relates to radar and can be used in radio navigation, meteorology, geodesy and other fields.

 Known Doppler direction finder [1]. The disadvantage of this device is the inability to determine the location of the target using goniometric data.

 A device for passive location of a moving object [2]. The disadvantage of this device is the inability to determine the location of the target using goniometric data.

 The closest in technical essence to the claimed invention is a movable direction finder [3], which allows you to determine the location of the target using goniometric data based on a priori information about the nature of the movement, containing a synchronizer, a bearing forming device, a coefficient calculation unit, a buffer storage device, a linear algebraic systems solution block equations, median filter unit, location unit, inertial navigation system unit, display device, wherein the first exit q the bearing forming device is connected to the first input of the coefficient calculation unit, the output of which is connected to the first input of the buffer memory device, the output of which is connected to the first input of the linear algebraic equation systems solution block, the output of which is connected through the median filter unit to the first input of the location determination unit, the output which through the display device is connected to the output of the device, the output of the inertial navigation system unit is connected to the second input of the coefficient calculation unit cents, the first and second outputs of the synchronizer are connected respectively to the second inputs of the buffer storage device and the linear algebraic equation systems solution block, the first output of the bearing forming device is connected to the second input of the location determining unit, the first output of the bearing forming device is connected to the synchronizer input.

 The disadvantage of the prototype is limited functionality, since the device [3] does not allow to determine the location of the target using the goniometer data for a curved motion model.

 The objective of the invention is the expansion of the functionality of a device [3] containing a bearing forming device, a buffer memory, a block for solving systems of linear algebraic equations, a display device, an inertial navigation system block, a synchronizer, due to the introduction of a shaper-calculator, an estimation unit, a Cartesian calculation unit coordinates of the target.

A movable direction finder is proposed, comprising a bearing forming device, a buffer memory, a block for solving linear algebraic equations, a display device, an inertial navigation system block, a synchronizer, a calculator-shaper, an estimator, a unit for calculating the Cartesian coordinates of the target, and the first output of the bearing forming device connected to the first input of the calculator-shaper, the output of which is connected to the first input of the buffer storage device, the output of which is connected inen with the first input of the block for solving systems of linear algebraic equations, the output of which through the evaluation unit is connected to the first input of the unit for calculating the Cartesian coordinates of the target, the output of which through the display device is connected to the output of the device, the output of the inertial navigation system unit is connected to the second input of the transmitter-former, the first and the second outputs of the synchronizer are connected respectively with the second inputs of the buffer storage device and the block solving systems of linear algebraic equations, the first the output of the bearing forming device is connected to the second input of the target Cartesian coordinates calculation unit, the second output of the bearing forming device is connected to the synchronizer input, while the first bus of the first input of the calculator-shaper is connected to the input of the first code converter, the second bus of the first input is connected to the inputs of the second and third code converters, the outputs of the first and second code converters are connected respectively to the first and second inputs of the first multiplier, the first bus of the second turn connected to first inputs of the second and third multipliers, second and third second input bus connected to the first inputs of the first and second adders, respectively, a third bus of the first input-calculating shaper connected to fourth inputs. . . (K + 4) th code converters, outputs of the fourth ... (K + 4) th code converters are connected respectively to the first inputs of the fourth ... (K + 4) th and (K + 5) th .. . (2K + 5) -th multipliers, the output of the first multiplier is connected to the second inputs of the third, fourth, ... (K + 4) -th multipliers, the outputs of the second and third multipliers are connected to the second inputs of the first and second adders, respectively, the output the third code converter is connected to the second inputs of the second, (K + 5) -th, ... (2K + 5) -th multipliers, the output of the image transmitter-former the outputs of the first, fourth, ... (K + 4) -th, (K + 5) -th, (2K + 5) -th multipliers, the outputs of the third, fourth, ... (K + 4) -th converters codes, outputs of the first and second adders, the first 1 ₁ ... (3K + 3) -th 1 _{3K + 3} inputs of the evaluation unit through median filters are connected respectively to the first 1 ₁ ... (3K + 3) -m 1 _{3K + 3} outputs, the first 1 ₁ ... 3K-th 1 _3K buses of the first input of block 6 are connected to the first inputs of the first 21 ₁ ... 3K-th 23 _K multipliers, the outputs of the first 21 ₁ ... K-th 21 _K multipliers are connected respectively to the first 1 ... K-th K inputs of the first 24 adder, outputs (K + 1) of the 22 ₁ ... 2K-th 22 _K multipliers are connected respectively to the first 1 ... K-th K inputs of the second 25 adder, the outputs of (2K + 1) th 23 ₁ ... 3K th 23 _K multipliers are connected respectively with the first 1. . . K-th K inputs of the third 26 adder, (3K + 1) -th 1 _{3K + 1} ... (3K + 3) -th 1 _{3K + 3} buses of the first input are connected respectively to (K + 1) -th K + 1 the inputs of the first 24 ... third 26 adders, the outputs of which the first 1 ₁ ... third 1 ₃ form the output of block 6.

 As follows from the description of the totality of the features of the claimed invention, the novelty of the solution of the problem consists in the introduction of a calculator-shaper, an estimator, a block for calculating the Cartesian coordinates of the target, which makes it possible to determine the parameters of not only uniform rectilinear motion of the target, but also curved trajectories.

 In FIG. 1 is a structural diagram of a movable direction finder. It contains a bearing forming device 1, a calculator-shaper 2, a buffer memory 3, a block for solving systems of linear algebraic equations 4, a estimating block 5, a block for calculating the Cartesian coordinates of the target 6, a display device 7, an inertial navigation system 8, a synchronizer 9.

In FIG. 2 is a functional diagram of the calculator-shaper 2. It contains the first 10, second 11, third 12, fourth 13 ₁ ... (K + 4) th 13 _{K + 1} code converters, first 14, second 15, third 16, fourth 19 ₁ ... (K + 4) th 19 _{K + 1} and (K + 5) th 20 ₁ ... (2K + 5) th 20 _{K + 1} multipliers, the first 17 and second 18 adders.

In FIG. 3 shows a diagram of a possible implementation of the buffer memory 3, which consists of 3K + 7 super-operative memory devices (RAM) 3 ₁ ... 3 _{3K + 7} and (3K + 7) S (where S = [(3K + 3) / 2 )], [•] - integer) of registers 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{1}}$ ... 3 $\genfrac{}{}{0ex}{}{\text{<figure-callout id="3K" label="S" filenames="00000020.png,00000021.png" state="{{state}}">S</figure-callout>}}{\text{3K + 7}}$ .
In FIG. 4 is a diagram of a possible implementation of evaluation unit 5. It contains 3K + 3 median filters 5 ₁ ... 5 _{3K + 3} .

In FIG. 5 is a diagram of a possible implementation of the unit for calculating the Cartesian coordinates of target 6. It contains the first 21 ₁ ... 3Kth 23 _K multipliers, the first 24 ... third 26 adders.

In FIG. 6 shows a diagram of a possible implementation of synchronizer 9. It contains the first 27, second 28, third 29, fourth 39, fifth 41 counters, the first 30 ₁ ... S-th 30 _S adders, the first 31 ₁ ... (S-1) 31st _S-1 code converters, first 32 and second 33 multiplexers, first 34 and second 45 delay elements, trigger 35, comparator 36, register 37, first 38 and second 43 circuits I, clock generator (GTI) 40, decoder 42, OR 44.

 In FIG. 1, the first output of the bearing forming device 1 is connected to the first input of the calculator-shaper 2, the output of which is connected to the first input of the buffer storage device (BZU) 3, the output of which is connected to the first input of the block for solving systems of linear algebraic equations (BRSLAU) 4, the output of the BRSLAU 4 through the evaluation unit 5 is connected to the first input of calculating the Cartesian coordinates of the target 6, the output of which through the display device 7 is connected to the output of the device, the output of the inertial navigation system 8 is connected to the second input calculator-shaper 2, the first and second outputs of the synchronizer 9 are connected respectively to the second outputs of the BZU 3 and BRSLAU 4, the second output of the device for forming bearings 1 is connected to the input of the synchronizer 9.

In FIG. 2 the first bus 1 _{1 of the} first input of the calculator is connected to the input of the first code converter 10, the second bus 1 _{2 of the} first input of the calculator is connected to the inputs of the second 11 and third 12 code converters, the outputs of the first 10 and second 11 code converters are connected to the first and the second inputs of the first multiplier 14, respectively. The first bus 2 _{1 of the} second input of the calculator is connected to the first inputs of the second 15 and third 16 multipliers, the second 2 ₂ and third 2 ₃ bus of the second input of the calculator is connected to the first inputs of the first 17 and second 18 adders, respectively. The third bus 1 _{3 of the} first block input is connected to the inputs of the fourth 13 ₁ ... (K + 4) th 13 _{K + 1} code converters, the outputs of the fourth 13 ₁ ... (K + 4) th 13 _{K + 1} code converters connected respectively to the first inputs of the fourth 19 ₁ ... (K + 4) th 19 _{K + 1} and (K + 5) th 20 ₁ ... (2K + 5) th 20 _{K + 1} multipliers, the output of the first multiplier 14 is connected to the second inputs of the third 16, fourth 19 ₁ ... (K + 4) th 19 _{K + 1} multipliers, the outputs of the second 15 and third 16 multipliers are connected to the second inputs of the first 17 and second 18 adders, respectively, the output of the third converter the code Ov 12 is connected to the second inputs of the second 15, (K + 5) th 20 ₁ ... (2K + 5) th 20 _{K + 1} multipliers, the output of the transmitter-former 2 form the outputs of the first 14, fourth 19 ₁ ... (K + 4) th 19 _{K + 1} , (K + 5) th 20 ₁ . .. (2K + 5) th 20 _{K + 1} multipliers, outputs of the third 12, fourth 13 ₁ ... (K + 4) th 13 _{K + 1} code converters, outputs of the first 17 and second 18 adders.

In FIG. 3 first 1 ₁ ... (3K + 7) th 1 _{3K + 7} buses of the first input of the BZU 3 are the first inputs, respectively, of the first 3 ₁ ... (3K + 7) th 3 _{3K + 7} RAM. OUTPUT 3 outputs ₁ . . . 3 _{3K + 7 are} connected respectively to the first inputs of registers 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{1}}$ ... 3 $\genfrac{}{}{0ex}{}{\text{<figure-callout id="3K" label="S" filenames="00000020.png,00000021.png" state="{{state}}">S</figure-callout>}}{\text{3K + 7}}$ . .

The first bus of the second input 2 _{1 is} connected to the second inputs of the first 3 ₁ ... (3K + 7) th 3 _{3K + 7} RAM. The second bus of the second input 2 _{2 is} connected to the second inputs of the first 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{1}}$ ... (3K + 7) S-th 3 $\genfrac{}{}{0ex}{}{\text{<figure-callout id="3K" label="S" filenames="00000020.png,00000021.png" state="{{state}}">S</figure-callout>}}{\text{3K + 7}}$ . registers, the outputs of which form the outputs 1 _{1 (1)} ... 1 _{3K + 7 (S) of} block 3.

In FIG. 4 inputs 1 ₁ ... 1 _{3K + 3} through median filters 5 ₁ ... 5 _{3K + 3 are} connected respectively to outputs 1 ₁ ... 1 _{3K + 3 of} block 5.

In FIG. 5 first 1 ₁ ... 3K-th 1 _3K buses of the first input of block 6 are connected to the first inputs of the first 21 ₁ ... 3K-th 23 _K multipliers, the outputs of the first 21 ₁ . . . K-th 21 _K multipliers are connected respectively to the first 1 ... K-th K inputs of the first 24 adder, outputs (K + 1) of the 22 ₁ ... 2K-th 22 _K multipliers are connected respectively to the first 1 ... K-th K inputs of the second 25 adder, outputs of (2K + 1) th 23 ₁ ... 3K-th 23 _K multipliers are connected respectively to the first 1 ... K-th K inputs of the third 26 adder, (3K + 1) 1st _{1K + 1} . . . (3K + 3) th 1 _{3K + 3} buses of the first output are connected respectively to the (K + 1) th K + 1 inputs of the first 24 ... third 26 adders, the outputs of which the first 1 ₁ ... third 1 ₃ form the output block 6.

In FIG. 6, the input of the synchronizer 9 is connected to the counting input of the first counter 27, through the first delay element 34 with the first input of the trigger 35, with the second input of the trigger 35, through the second delay element 45 with the second input of the OR element 44, with the counting input of the second counter 28, the output of which connected to the counting input of the third counter 29, the output of which is connected to the second inputs of the register 37 and the comparator 36, with the first input of the first adder 30 ₁ , and also through the first 31 ₁ ... (S-1) th 31 _S-1 frequency multipliers the first inputs of the second February ₃₀ ... S-30 _S th adders outputs ne Vågå 30 ₁ ... _S-S of the adders 30 are respectively connected to the first 1 ... S-S m-input multiplexer 32, whose output is connected to a first input of the second multiplexer 33. The first output of the flip-flop 35 is connected to a third input of the second multiplexer 33 and with the second input of the second element And 43, the output of which is connected to the first input of the element OR 44. The output of the clock pulse generator 40 is connected to the second input of the first element And 38, with the first input of the second element And 43, with the first input of the fourth counter 39, the output of which is connected with the first entrance of the fifth with 41, with the input of the decoder 42, as well as with the (S + 1) -m input of the first multiplexer 32, the second output of the trigger 35 is connected to the fourth input of the second multiplexer 33. The output of the first element And 38 is connected to the first input of the register 37, the output of which is connected with the first input of the comparator 36, the output of which is connected to the first input of the AND element 38, the second input of the fourth counter 39, the second input of the fifth counter 41, the output of which is connected to the second inputs of the first 30 ₁ ... S 30 _S adders, the output of the first counter 27 is connected to the second input of the second multipl Exxor 33. The output of the second multiplexer 33, the first and second outputs of the trigger 35, the output of the OR element 44, the output of the decoder 42 form respectively the bus 1 ₁ . . . 1 _{5 of the} first output of the synchronizer 9. The output of the fourth counter 39 forms the second output of the synchronizer 9.

The claimed device implements a method for estimating the parameters of curvilinear trajectories based on high-precision measurements of a moving direction finder, using polynomial models of object motion [4]. In the Cartesian XYZ coordinate system, the position of the direction finder is specified by the vector
Y _p (t) = [x _p (t), y _p (t), z _p (t)] ^T ,
and goals
Y _c (t) = [x _c (t), y _c (t), z _c (t)] ^T.

где
x_c(t), y_c(t), z_c(t) - декартовы координаты цели;
a $\genfrac{}{}{0ex}{}{\text{x}}{\text{l}}$ ,a $\genfrac{}{}{0ex}{}{\text{y}}{\text{l}}$ ,a $\genfrac{}{}{0ex}{}{\text{z}}{\text{l}}$ , - неизвестные коэффициенты модели движения.The movement of the target is determined by the following model:

Where
x _c (t), y _c (t), z _c (t) - Cartesian coordinates of the target;
a $\genfrac{}{}{0ex}{}{\text{x}}{\text{l}}$ , a $\genfrac{}{}{0ex}{}{\text{y}}{\text{l}}$ , a $\genfrac{}{}{0ex}{}{\text{z}}{\text{l}}$ , - unknown coefficients of the motion model.

Given the relationship of the Cartesian coordinate system with the radio engineering, the following relationships are true:
(2) Y _c (t) = Y _p (t) + Y _cp (t),
Where
Y _cp (t) = [x _cp (t), y _cp (t), z _cp (t)] ^T ;
x _cp (t) = R (t) cosα (t) cosβ (t);
y _cp (t) = R (t) cosβ (t) sinα (t);
z _cp (t) = R (t) sinβ (t);
x _p , y _p , z _p - Cartesian coordinates of the moving direction finder;
R (t), α (t), β (t) - respectively, the inclined range, azimuth and elevation angle of the target in the radio-technical coordinate system associated with a moving direction finder.

С учетом (1) и (2) несложно получить

где

Переписав (3) в виде

можно использовать их для определения коэффициентов модели (1). Однако следует учитывать, что в системе уравнений (4) независимыми являются два уравнения, поэтому, воспользовавшись, например, первыми двумя уравнениями системы (4), можно записать
(5) BA = D,
где

α_j= α(t_j), β_j= β(t_j), S = [(3K+3)/2],
[•] - целая часть числа.Using the approach developed in [4, 5], we write

In view of (1) and (2), it is easy to obtain

Where

Rewriting (3) as

You can use them to determine the coefficients of model (1). However, it should be taken into account that in the system of equations (4) two equations are independent, therefore, using, for example, the first two equations of system (4), we can write
(5) BA = D,
Where

α _j = α (t _j ), β _j = β (t _j ), S = [(3K + 3) / 2],
[•] - the integer part of number.

The desired vector of model parameters (1) is found as a solution to the system of linear algebraic equations (5)
(6) A = B ^-1 D,
Where
B ^-1 is the inverse matrix B.

 Solving (6) the required number of times for different sets of time measurements of bearings of the target, we can obtain the desired vector of parameters. The problem of estimating the parameters of model (1) from the goniometric data of a moving direction finder is observable if the law of motion of the latter is not rectilinear uniform. The proof of this statement is given in detail in [4].

 Thus, as follows from expressions (1) - (6), the introduction of new structural elements and relationships allows, together with common features, to obtain a technical result consisting in providing the ability to determine the location of an object using goniometric data from a moving direction finder for curved paths using polynomial models of the movement of objects.

а также соответствующие им моменты времени t_j с выхода устройства формирования пеленгов 1 поступают на первый вход вычислителя-формирователя 2. Блок 1 может быть выполнен, например, как показано в [6]. На второй вход вычислителя-формирователя 2 поступают коды декартовых координат пеленгатора x_p, y_p, z_p от блока инерциальной системы навигации 8, который может быть выполнен, например, в соответствии с [7].Mobile direction finder (Fig. 1) works as follows. Codes of measured bearings

and also the corresponding moments of time t _j from the output of the bearing forming device 1 are supplied to the first input of the calculator-shaper 2. Block 1 can be performed, for example, as shown in [6]. The second input of the calculator-shaper 2 receives the codes of the Cartesian coordinates of the direction finder x _p , y _p , z _p from the inertial navigation system 8, which can be performed, for example, in accordance with [7].

с выходов 1₃₍₁₎...3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{3K+1}}$ блока 2, в регистры 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{3K+1}}$ ...3 $\genfrac{}{}{0ex}{}{\text{S}}{\text{K+3}}$ записываются коды времени t $\genfrac{}{}{0ex}{}{\text{1}}{\text{j}}$ ...t $\genfrac{}{}{0ex}{}{\text{l}}{\text{j}}$ с выходов 1₂₍₁₎ . . . 1_2(K+1) блока 2, в регистры 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{2K+4}}$ ...3 $\genfrac{}{}{0ex}{}{\text{S}}{\text{2K+4}}$ и 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{3K+4}}$ ...3 $\genfrac{}{}{0ex}{}{\text{S}}{\text{3K+4/}}$ записываются коды -t_jtg_j...t $\genfrac{}{}{0ex}{}{\text{l}}{\text{j}}$ tgα_j с выходов 1₄₍₁₎ ... 1_4(K+1) блока 2, в регистры 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{3K+5}}$ ...3 $\genfrac{}{}{0ex}{}{\text{S}}{\text{3K+5}}$ записываются коды z_pj-x_pjtgβ_jsecα_j с выхода 1₆ блока 2, в регистры 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{3K+7}}$ ...3 $\genfrac{}{}{0ex}{}{\text{S}}{\text{3K+7}}$ записываются коды y_pj-tgα_jx_pj с выхода 1₇ блока 2. По окончании записи кодов в регистры 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{1}}$ ...3 $\genfrac{}{}{0ex}{}{\text{S}}{\text{3K+7}}$ , последние по управляющему сигналу, поступающему от синхронизатора 9, записываются в блок решения систем линейных алгебраических уравнений (БРСЛАУ) 4. Коды чисел "0" и "-1" (система (3)) полагаются "зашитыми" в соответствующие регистры блока 4 при изготовлении устройства. По сигналу "Пуск", который поступает со второго выхода синхронизатора 9 на второй вход блока решения систем линейных алгебраических уравнений 4, который может быть выполнен в соответствии с [8], последний обрабатывает заложенный в него порядок действия, и по окончании счета коды вычисленных коэффициентов поступают на первый вход блока оценивания 5 (фиг. 4), и который может быть выполнен в соответствии с [8], осуществляющий статистическое оценивание рассчитываемых коэффициентов, так как в реальных условиях процесс пеленгования неизбежно сопровождается флуктуационными погрешностями. Оценки искомых коэффициентов с выхода блока оценивания 5 поступают на первый вход блока вычисления декартовых координат цели 6 (фиг. 5). На второй вход блока 6 поступают коды, пропорциональные моментам времени t $\genfrac{}{}{0ex}{}{\text{l}}{\text{1}}$ ...t $\genfrac{}{}{0ex}{}{\text{l}}{\text{s}}$ с выхода БЗУ 3. Структура блока 6 аппаратно реализует выражения (1), и, следовательно, на его выходе имеют место коды, пропорциональные декартовым координатам цели x_c, y_c, z_c на текущий момент времени, которые поступают на вход устройства отображения 7.The calculated coefficients for control signals from the output 1 of the synchronizer 9 are recorded in the BZU 3 (Fig. 3). In the intervals between the recording cycles, the BZU 3 is in the reading mode, and according to the reading cycles, the information from the RAM 3 ₁ ... 3 _{3K + 7 is} written to the registers 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{1}}$ ... 3 $\genfrac{}{}{0ex}{}{\text{<figure-callout id="3K" label="S" filenames="00000020.png,00000021.png" state="{{state}}">S</figure-callout>}}{\text{3K + 7}}$ (Fig. 3). The order of recording information from the RAM 3 ₁ ... 3 _{3K + 7} in registers 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{1}}$ ... 3 $\genfrac{}{}{0ex}{}{\text{<figure-callout id="3K" label="S" filenames="00000020.png,00000021.png" state="{{state}}">S</figure-callout>}}{\text{3K + 7}}$ controls the decoder 42 synchronizer 9. In this case, in registers 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{1}}$ ... 3 $\genfrac{}{}{0ex}{}{\text{<figure-callout id="1" label="S" filenames="00000019.png,00000020.png" state="{{state}}">S</figure-callout>}}{\text{1}}$ codes recorded tgβ _j secα _j output from January ₁ calculator-generator 2, the registers 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{1}}$ ... 3 $\genfrac{}{}{0ex}{}{\text{<figure-callout id="2" label="S" filenames="00000019.png,00000020.png" state="{{state}}"><figure-callout id="3" label="S" filenames="00000020.png,00000021.png" state="{{state}}">S</figure-callout></figure-callout>}}{\text{2}}$ and 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{K + 2}}$ ... 3 $\genfrac{}{}{0ex}{}{\text{S}}{\text{K + 2}}$ codes are written

from outputs 1 _{3 (1)} ... 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{3K + 1}}$ block 2, into registers 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{3K + 1}}$ ... 3 $\genfrac{}{}{0ex}{}{\text{S}}{\text{K + 3}}$ time codes t are written $\genfrac{}{}{0ex}{}{\text{1}}{\text{j}}$ ... t $\genfrac{}{}{0ex}{}{\text{l}}{\text{j}}$ from outputs 1 _{2 (1)} . . . 1 _{2 (K + 1)} block 2, in registers 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{2K + 4}}$ ... 3 $\genfrac{}{}{0ex}{}{\text{S}}{\text{2K + 4}}$ and 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{3K + 4}}$ ... 3 $\genfrac{}{}{0ex}{}{\text{<figure-callout id="3K" label="S" filenames="00000020.png,00000021.png" state="{{state}}">S</figure-callout>}}{\text{3K + 4 /}}$ codes -t _j tg _j ... t are written $\genfrac{}{}{0ex}{}{\text{l}}{\text{j}}$ tgα _j from outputs 1 _{4 (1)} ... 1 _{4 (K + 1) of} block 2, into registers 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{3K + 5}}$ ... 3 $\genfrac{}{}{0ex}{}{\text{<figure-callout id="3K" label="S" filenames="00000020.png,00000021.png" state="{{state}}">S</figure-callout>}}{\text{3K + 5}}$ recorded codes z _pj -x _pj tgβ _j secα _j output from June ₁ block 2, 3 into registers $\genfrac{}{}{0ex}{}{\text{1}}{\text{3K + 7}}$ ... 3 $\genfrac{}{}{0ex}{}{\text{<figure-callout id="3K" label="S" filenames="00000020.png,00000021.png" state="{{state}}">S</figure-callout>}}{\text{3K + 7}}$ codes recorded y _pj -tgα _j x _pj output from July ₁ unit 2. After recording codes in the registers 3 $\genfrac{}{}{0ex}{}{\text{1}}{\text{1}}$ ... 3 $\genfrac{}{}{0ex}{}{\text{<figure-callout id="3K" label="S" filenames="00000020.png,00000021.png" state="{{state}}">S</figure-callout>}}{\text{3K + 7}}$ , the latter by the control signal coming from the synchronizer 9, are recorded in the block for solving systems of linear algebraic equations (BRSLAU) 4. The codes of the numbers "0" and "-1" (system (3)) are assumed to be "wired" in the corresponding registers of block 4 when manufacturing device. According to the “Start” signal, which comes from the second output of the synchronizer 9 to the second input of the block for solving systems of linear algebraic equations 4, which can be performed in accordance with [8], the latter processes the operating procedure laid down in it, and at the end of the calculation, the codes of the calculated coefficients arrive at the first input of the estimation unit 5 (Fig. 4), and which can be performed in accordance with [8], which performs a statistical evaluation of the calculated coefficients, since in real conditions the direction finding process is inevitably accompanied by ozhdaetsya fluctuation errors. Estimates of the desired coefficients from the output of estimator 5 are sent to the first input of the Cartesian coordinates calculator of target 6 (Fig. 5). Codes proportional to time t $\genfrac{}{}{0ex}{}{\text{l}}{}$$\genfrac{}{}{0ex}{}{}{\text{1}}$ ... t $\genfrac{}{}{0ex}{}{\text{l}}{\text{s}}$ from the output of the BZU 3. The structure of block 6 implements expressions (1) in hardware, and, therefore, at its output there are codes proportional to the Cartesian coordinates of the target x _c , y _c , z _c at the current time, which are input to the display device 7 .

Consider the work of the calculator-shaper 2 (Fig. 2). Input 1 ₁ receives a code proportional to the elevation angle β of the target; input 1 ₂ receives a code proportional to the azimuth α of the target. The inputs 2 ₁ ... 2 ₃ receive codes proportional to the Cartesian coordinates of the direction finder x _pj , y _pj , z _pj, respectively. Input 1 ₃ receives a code proportional to the current time t _j . At the output of converter 10, there is a code proportional to tgβ, at the output of converter 11, a code proportional to secα _j , at the output of converter 12, a code proportional to tgα _j , at the output of converters 13 ₁ ... 13 _{K + 1} is a code proportional to t _j ... t $\genfrac{}{}{0ex}{}{\text{K + 1}}{\text{j}}$ respectively. At the output of multiplier 14 there is a code tgβ _j secα _j , multipliers 19 ₁ ... 19 _{K + 1} - a code proportional to t $\genfrac{}{}{0ex}{}{\text{1}}{\text{j}}$ tgβ _j secα _j ... t $\genfrac{}{}{0ex}{}{\text{1}}{\text{j}}$ tgβ _j secα _j . At the output of the multipliers 20 ₁ ... 20 _{K + 1,} codes proportional to t $\genfrac{}{}{0ex}{}{\text{1}}{\text{j}}$ tgα _j ... t $\genfrac{}{}{0ex}{}{\text{1}}{\text{j}}$ tgα _j . At the output of the multiplier 16 is a code proportional to x _p tgβ _j secα _j . The outputs of adders 17 and 18 have codes proportional to y _p -tgα _j and z _p -x _p tgβ _j secα _j, respectively. Thus, at time t _S , at outputs 1 $\genfrac{}{}{0ex}{}{\text{<figure-callout id="1" label="S" filenames="00000019.png,00000020.png" state="{{state}}">S</figure-callout>}}{\text{1}}$ ...one $\genfrac{}{}{0ex}{}{\text{<figure-callout id="3K" label="S" filenames="00000020.png,00000021.png" state="{{state}}">S</figure-callout>}}{\text{3K + 7}}$ block 3 ends the formation of the coefficients of the system of linear algebraic equations (3) and (4).

Consider the operation of the synchronizer 9 (Fig. 6). The pulses from the output 2 of the device forming bearings 1 (Fig. 1) are fed to the counting input of the counter 27, which generates the address code received at the second input of the multiplexer 33. The pulses from the second input of block 1 also go to the second input of the trigger 35, the output signal of which sets RAM 3 ₁ ... 3 _{3K + 7} in recording mode. The first input of the trigger 35 receives pulses from the second output of the unit 1 through the delay element 34, forming the output signals for reading information from the RAM 3 ₁ ... 3 _{3K + 7} . The pulses from the output of the OR circuit 44 clock SRAM 3 ₁ . . . 3 _{3K + 7} . After counting S pulses from block 1, an overflow pulse appears at the output of counter 28, which is transmitted through counter 29 to code converters 31 ₁ ... 31 _S-1 , while element 31 ₁ is a multiplier by two, element 31 ₂ is by a multiplier by three, ... element 31 _S-1 by a multiplier by S. After counting S pulses from the clock generator 40, the overflow pulse from the output of the counter 39 enters through the counter 41 to the second inputs of the adders, increasing their content by one. Depending on the state of the output of the counter 39, one of the S inputs is switched to the output bus of the multiplexer 32. As a result, at the output of the multiplexer 32, the address codes of the measurements most spaced in time are sequentially generated, which ensures the achievement of the best accuracy characteristics of determining the location of the object. The pulses from the outputs of the trigger 35 control the operation of the multiplexer 33, while the write pulse from the output 2 of the trigger 35 connects to the output of the multiplexer 33 a signal from the output of the counter 27. The decoder 42 controls the order of reading information from registers 3 _1,1 ... 3 _{3K + 7, S.} The pulse from the output of the counter 39 goes to the second output of the synchronizer 9 and starts the BRSLAU 4. Comparator 36, register 37 and the first circuit AND 38 are necessary for the synchronous operation of the circuit. The output of the second multiplexer 33, the first and second outputs of the trigger 35, the output of the OR circuit 44, the output of the decoder 42 form the first output of the synchronizer 9, which is connected to the second input of the BZU 3. The connection procedure is as follows: output 1 _{1 is} connected to the address inputs of the RAM 3 ₁ ... 3 _{3K + 7} , outputs 1 ₂ ... 1 _{3 are} connected to the inputs for setting the write and read mode of the RAM 3 ₁ ... 3 _{3K + 7} , output 1 _{4 is} connected to the sync wire of the RAM 3, outputs 1 ₁ , 1 ₂ , 1 ₃ , 1 _{4 of} block 9 are combined into the control input of the BZU 3 (see Fig. 3). Output 1 _{5 is} connected to control inputs 2 _{2 of} BZU 3. All blocks and elements of the claimed device can be implemented on the basis of typical nodes of computer technology [9].

Sources of information
1. US patent N 3329955, CL 343-113, 1967.

 2. USSR author's certificate N 1521072, G 01 S 11/00, 3/02, 1987.

 3. Patent of the Russian Federation N 2012902, 5 G 01 S 13/46, 1974.

 4. Bulychev Yu.G., Burlai I.V., Motorkin V.A. Estimation of motion parameters of objects based on high-precision goniometric systems. Radio engineering and electronics, 1992, t-37, N 4, p. 618 - 627.

 5. Bulychev Yu.G., Korotun A.A., Manin A.P., Motorkin V.A. Radio Electronics, 1991, N 4, p. 51 - 56.

 6. Copyright certificate of the USSR N 1097072, G 01 S / 3152, 1982.

 7. Gromov G.N. Differential-geometric method of navigation. M .: Radio and communications, 1986.

 8. USSR author's certificate N 1508235, G 06 F, 15/36, 1987.

 9. Yakubovsky S.V. etc. Digital and analog integrated circuits. M .: Nauka, 1989.

Claims (1)

 A movable direction finder comprising a bearing forming device, a buffer memory, a block for solving linear algebraic equations, a display device, an inertial navigation system block, a synchronizer, characterized in that a calculator-shaper, an estimator, a target Cartesian coordinate calculator are introduced, the first the output of the bearing forming device is connected to the first input of the calculator-shaper, the output of which is connected to the first input of the buffer storage device, the output One of which is connected to the first input of the block for solving systems of linear algebraic equations, the output of which through the estimator is connected to the first input of the calculation unit of the Cartesian coordinates of the target, the output of which through the display device is connected to the output of the device, the output of the inertial navigation system is connected to the second input of the calculator , the first and second outputs of the synchronizer are connected respectively to the second inputs of the buffer storage device and the block of the solution of linear algebraic systems ur VN, the first output of the bearing forming device is connected to the second input of the Cartesian coordinates calculation unit, the second output of the bearing forming device is connected to the synchronizer input, while the first bus of the first input of the calculator-shaper is connected to the input of the first code converter, the second bus of the first input is connected to the inputs the second and third code converters, the outputs of the first and second code converters are connected respectively to the first and second inputs of the first multiplier, the first bus the second input is connected to the first inputs of the second and third multipliers, the second and third buses of the second input are connected to the first inputs of the first and second adders, respectively, the third bus of the first input of the calculator-shaper is connected to the inputs of the fourth, ..., (K + 4) (K is the degree of the polynomial describing the motion model) of the code converters, the outputs of the fourth, ..., (K + 4) -th code converters are connected respectively to the first inputs of the fourth, ..., (2K + 5) -th multipliers, output the first multiplier is connected to the second input the odes of the third, ..., (K + 4) -th multipliers, the outputs of the second and third multipliers are connected to the second inputs of the first and second adders, respectively, the output of the third code converter is connected to the second inputs of the second, (K + 5) -th,. .., (2K + 5) -th multipliers, the output of the transmitter-former is formed by the outputs of the first, fourth, ..., (2K + 5) -th multipliers, the outputs of the third, ..., (K + 4) -th converters codes, outputs of the first and second adders, while the first, ..., (3K + 3) -th inputs of the evaluation unit through the median filters are connected respectively with the first, ..., (3K + 3) -m outputs, the first, ..., 3K-th bus of the first input of the Cartesian coordinates calculation unit are connected to the first inputs of the first, ..., K3-th multipliers, outputs the first, ..., Kth multipliers are connected respectively to the first, ..., Kth inputs of the first adder, the outputs of the (K + 1) th, ..., 2Kth multipliers are connected respectively to the first, .. ., The Kth inputs of the second adder, the outputs of the (2K + 1) -th, ..., 3Kth multipliers are connected respectively to the first, ..., Kth inputs of the third adder, (3K + 1) -th, ..., (3K + 3) -th buses of the first input are connected respectively Actually with the (K + 1) -th inputs of the first, ..., third adders, the first, ..., third outputs of which form the output of the block for calculating the Cartesian coordinates of the target.

Images