RU2125237C1 - Self-contained navigation system - Google Patents

Abstract

FIELD: determination of distance covered by walking operator in specified direction with use of radio and electronic aids. SUBSTANCE: invention can be used in sports, tourism and other fields. Self- contained navigation system incorporates self-contained navigation instruments and data input-output unit. Each self-contained navigation instrument has computer, permanent storage, on-line storage, indication register, angle register, circuit selecting operational mode, digital indicators, circuit controlling indicators, navigation meter, electron key, former of analog signals, phase-to-code converter, angle orientation transmitter, circuit measuring period of step, step sensor and connector. Mass and size characteristics of self-contained navigation instruments are diminished thanks to reduction of controls. Employment of input-output unit enhances accuracy of determination of current coordinates of operator and distance to objective due to input of coefficients A and B individual for operator into instrument, due to measurement of period of his step and computation of current length of his step. EFFECT: diminished mass and size characteristics and enhanced accuracy of determination of current coordinates of operator. 2 cl, 15 dwg

Description

 The invention relates to devices for determining the path traveled by the operator in a given direction using electronic devices, and can be used in sports, tourism, geology and other areas of the national economy.

 Known pathometer [1], containing a step sensor, pulse shaper, R - trigger, two counters, OR element, register, exponentiation block, two division blocks, two blocks for setting constant settings a and b, generator, frequency divider and indicator. The known device allows you to measure the distance traveled, but does not allow you to determine the direction of movement, and therefore the location of the user. This is a disadvantage of this device.

 A well-known autonomous navigation device [2], containing the "Mode" switch, data set buttons, a switch is a data driver, memory registers, coordinates of the route endpoint and average step length, a calculator, ROM, an indication control circuit, indicators and a navigation gauge, in which Includes an orientation sensor, multiphase signal generator, converter, phase code, step sensor and step selector.

The device allows you to determine at stops the current coordinates x _i , y _i , the direction of movement α _oi , the directional angle to the end point of the route α _k and the distance to it R _k , which allows the operator to navigate the terrain when moving along the route. However, the device has a relatively large weight and dimensions, it is not possible to determine the deviation Δα _{i of the} direction of movement from the direction to the end point of the route, the mechanical input of magnetic declination, which complicates the design of the compass.

 This is a disadvantage of the device and reduces the efficiency of its use.

 Of the known devices closest in technical essence to the claimed invention is a stand-alone navigation device [3], selected for the prototype. It contains a calculator, ROM, RAM, display registers, modes, keyboards, angles, a scheme for generating a mode code, a data set button and a “Decision” button, an indication control circuit, digital indicators, an OR circuit, a navigation gauge consisting of an angle orientation sensor, shaper of analog signals, phase-to-code converter, selector-shaper, step sensor and voltage converter.

The prototype device allows you to move along the route, to determine the stops at the stops of the current coordinates x _i , y _{i of the} operator, the direction of his movement α _oi , the direction to the end point of the route α _to and the distance to this point, enter magnetic declination, automatically determine the deviation of the direction from directions to the end point of the route. However, the prototype device has several disadvantages.

 1. A large number of controls on the instrument panel - 12 buttons of the dial field, which are used only when entering data, the "Mode" switch. In addition, a magnetic compass is located on the instrument panel. The placement of these controls on the instrument panel determines its relatively large dimensions (85 x 200 mm), and a large number of controls makes it difficult for the operator to work with the device on the route.

 2. The analog signal generator of the device is powered from a bipolar (± 5 V) source, which is used as a battery DC-to-bipolar voltage converter. The power supply of the driver and voltage converter is carried out continuously during operation of the device, while the angle is measured over several MS. This leads to an increase in the energy consumption of the device (15 - 18 mA) and the use of energy-intensive current sources, which leads to an increase in the mass and dimensions of the device (85 x 168 x 200 mm, 2.6 kg).

3. When calculating the coordinates x _i , y _i and the distance, the average operator step length is entered into the device, which is determined when passing a previously known distance (for example, 200 m). However, during the route and due to operator fatigue, the average step length changes, which leads to errors in measuring its coordinates x _i , y _i and the distance traveled.

 These disadvantages of the prototype device reduce its efficiency and lead to certain inconveniences in operation.

 The technical task of the invention is to significantly reduce the weight and size characteristics of autonomous navigation devices by reducing the controls and entering data into the devices and outputting data from them using the data input-output unit, as well as improving the accuracy of determining the current operator coordinates and distance to the target due to introducing into the device individual coefficients for the operator (A, B), measuring its step period in the process of moving along the route and calculating the current step length.

Δα_цi= α_oi-α_цi,

где
x_i, y_i - текущие координаты оператора;
α_oi - угол направления движения;
α_цi - угол направления на цель;
Δα_цi - угол, равный разности между углом направления движения и углом направления на цель;
R_цi - расстояние от текущей точки до конечной точки маршрута (цели);
γ - магнитное склонение;
L - длина мерной дистанции - 100 м;
N₁, N₂ - количество шагов;
T_ш1, T_ш2 - периоды шага при разных темпах движения.The specified technical problem is solved so that in an autonomous navigation system consisting of the first, second, N-th autonomous navigation devices, each of which contains a step sensor, a computer, the address bus of which is connected to the first inputs of RAM and ROM, the second RAM input, input the display register and the output of the angle register are connected to the data bus of the calculator, the inputs “Read” of the ROM and RAM “Write” to the RAM and to the registers of the display and the angle “Select” of the ROM, RAM, display registers and the angle are connected to the control bus of the calculator, the output of the display register through a display control circuit connected to digital indicators, a navigation gauge consisting of an angular orientation sensor, the output and input of which is respectively connected to the first input and output of the analog signal conditioner, the second output and input of which are connected respectively to the first input and output of the phase-to-code converter, the second output of which is connected to the input f _{t of the} calculator, the third output of the phase-code converter is connected to the third input of the angle register, according to the invention, an input / output unit of this s, a connector, a step period measurement circuit, an operation mode selection circuit and an electronic key, the input-output unit being able to alternately connect through the connector to the first, second, ... N-th autonomous navigation device during data input or output, input and the first output of the electronic key are respectively connected to the control bus and the third input of the analog signal driver, the first, second, third inputs of the operation mode selection circuit and the second input of the phase-code converter are connected to the control bus rer, fourth and fifth inputs of the operation mode are respectively connected to the output f ₃ inverter phase code and output pitch sensor, the first output mode selection circuitry coupled to the first input of the measuring circuit pitch period, second, third and fourth inputs which are respectively connected to the control bus and the outputs f ₁ and f _{2 of} the phase-to-code converter, the output of the step period measuring circuit is connected to the data bus, the second and third outputs of the operation mode selection circuit are respectively connected to the data bus and to the input RST 7, 5 If the address bus is connected to the first, second, third, fifth, sixth, seventh contacts of the connector, and the data bus is connected to the fourth, fifth, sixth and seventh contacts of the connector, the outputs JN 07 and OUT 04 of the calculator are connected respectively to the eighth and ninth contact connector, the tenth pin of the connector is connected to the input RST 6, 5 of the calculator, which is made in the form that implements the dependencies
x _i = x _i-1 + l _i • cosα _oi ,
y _i = y _i-1 + l _i • sinα _oi ,

Δα _qi = α _oi -α _qi ,

Where
x _i , y _i - current coordinates of the operator;
α _oi is the angle of the direction of movement;
α _qi is the angle of direction to the target;
Δα _Цi is the angle equal to the difference between the angle of the direction of movement and the angle of direction to the target;
R _Цi - the distance from the current point to the end point of the route (target);
γ is the magnetic declination;
L - length of the measured distance - 100 m;
N ₁ , N ₂ - the number of steps;
T _W1 , T _W2 - periods of a step at different speeds.

 The data input-output block contains a dial-up field with buttons 0, 1, 2, ... 9, a parameter and input-output, an encoder, schemes for generating a parameter value, a discharge of a number, a write pulse and a read address, data display and output registers, a circuit indication control, digital indicator, interface circuit and connector, outputs of buttons 0, 1, 2, ... 9, parameter and input-input respectively connected to inputs 0, 1, 2, ... 9 of the encoder and circuits for generating the parameter value and a discharge of a number, the output of the encoder is a data bus and is connected to the first inputs of the circuit recording pulse, display registers, data output, with the outputs of the circuit for generating the parameter value, the pairing circuit and the fourth, fifth, sixth and seventh contacts of the connector, the first output of the circuit for generating a digit of the number is the write address bus and connected to the second inputs of the display and output registers data, with the first, second and third contacts of the connector, the first output of the write pulse formation circuit is connected to the inputs C of the display registers and data output, the output of the display register through the control circuit nen with digital indicators, the second output of the parameter value generating circuit is connected to the second input of the write pulse generating circuit, the second output of which is connected to the second input of the digit generating circuit, the second output of which is connected to the first input of the reading address generating circuit and the tenth contact of the connector, the third the input of the write pulse formation circuit is connected to the eighth pin of the connector, the output of the read address circuit is connected to the fourth input of the data output register, the output of which is connected to the first input of the interface circuit, the second input of which is connected to the second input of the read address formation circuit and to the ninth pin of the connector.

 The operation mode selection diagram contains the Compass buttons Δα, the Step switch, the four-phase asynchronous RS-trigger with three states, two three-input majeure logic elements, a D-trigger and a four-digit binary counter, normally open and normally closed contacts of the Compass buttons "and respectively interconnected and connected to the plus and minus of the power source, the common contacts of the buttons and the toggle switch are connected respectively to the inputs S2, S3, S4 of the quad asynchronous RS-flip-flop, S2 and S3, whose inputs are through the first and second ma the unitary elements are connected to the R-input of a four-digit binary counter, input E and outputs Q1, Q2, Q3, Q4 of the RS-flip-flop are respectively the first input and output of the circuit, inputs R2, R3 and R4 of the asynchronous RS-flip-flop are combined and are the second input of the circuit, R D-trigger input is the third circuit input, binary counter CE input is the fourth circuit input, S4 quadruple asynchronous RS trigger input is connected via the second majority element to the R-input of the binary counter and is the second circuit output, normally open contact of the toggle Lera step is the fifth input of the circuit, output 8 and input C of the binary counter are combined and connected to the input C of the D-flip-flop, output Q of which is the third output of the circuit.

 In FIG. 1 is a functional diagram of the proposed autonomous navigation system, FIG. 2 is a functional diagram of an autonomous navigation device of the system, FIG. 3 is a functional diagram of a data input / output unit, FIG. 4 is a diagram of a selection of an operation mode, FIG. 5 and 6 digital indicators of an autonomous navigation device and data input-output unit are shown, in Fig. 7 - table. 3 operating modes, Fig. 8 is a table. 4 values of an input or output parameter, Figs. 9-15 show, respectively, examples of a step period measuring circuit, an encoder, a recording pulse generation circuit, a parameter value generating circuit, a number discharge generating circuit, an analog signal former and a phase-to-code converter.

 The autonomous navigation system of figure 1 includes the first, second, ... N-th autonomous navigation devices and data input-output unit N + 1.

 Each autonomous navigation device of FIG. 2 includes a calculator 3, ROM 4, RAM 5, display registers 6, angle 7, an operating mode selection circuit 8, a digital indicator 9, an indication control circuit 10, a navigation meter 11, an electronic key 12, an analog driver signals 13, phase-to-code converter 14, angular orientation sensor 15, step 16 measuring period circuit, step 17 sensor and connector 18.

The calculator 3 of the control bus is connected to the inputs "Read" and "Select" ROM 4, "Read", "Write" and "Select" RAM 5, with inputs "Write" and "Select" of display registers 6 and angle 7, with inputs 1 , 2, 3 of the circuit for selecting the operating mode 8, with the input of the electronic key 12 and the fourth input of the circuit for measuring the period of step 16, and the data bus with the output of the ROM 4, the input and output of the RAM 5, with the input of the display register 6 with the outputs of the angle 7, s the first output of the circuit for selecting the operating mode 8, with the output of the circuit for measuring the period of step 16 and contacts 4, 5, 6, 7 of the connector 18. The address bus of the calculator 3 is connected with inputs of ROM 4, RAM 5 and contacts 1, 2, 3 of the connector 18. The output of the display 6 through the control circuit 10 is connected to a digital indicator 9. Output 2 of the circuit mode 8 is selected with the input RST 7, 5 of calculator 3, and inputs 4, 5, respectively, with the output f _{3 of} the phase-code 14 converter, with the output of the step sensor and the first input of the step period measurement circuit 16, f ₁ and f ₂ , the inputs of which are connected to the corresponding outputs of the phase-code 14 converter. Electronic key output 12 is connected to the first input of the analog signal former 13, the second input and output to which are respectively connected to the input and output of the angular orientation sensor.

 The data input-output block (Fig. 3) contains a dial-up field 19, an encoder 20, a circuit for generating the parameter value 21, a discharge of number 22, a write pulse 23 and a read address 24, display registers 25 and data output 26, a display control circuit 27 and a pair 28, digital indicator 29 and connector 30.

 The output of the buttons 0, 1, 2, ... 9 and the "Parameter", "I / O" of the dial field 19 are respectively connected to the inputs of the encoder 20 and the circuits for generating the value of the parameter 21 and the discharge of the number 22. The output of the encoder 20 is connected to the first inputs of the circuit generating a write pulse 23, the display register 25 and data output 26, with the output of the parameter value generating circuit 21, with the output of the interface circuit 28 and with the contacts 4, 5, 6, 7 of the connector 30, the second output of the parameter 21 value generating circuit is connected to the second input write pulse shaping circuit 23, third input and ne the second and second outputs of which are connected respectively to terminal 8 of connector 30 and to inputs C of display registers 25 and data output 26 and to the second input of the digit generating circuit of number 22. The first output of this circuit is connected to the first input of the read address circuit 24 and to terminal 10 of connector 30 and the second output with the second inputs of the display registers 25, data output 26 and with pins 1, 2, 3 of the connector 30. Pin 9 of the connector 30 is connected to the second inputs of the coupling circuits 28 informing the read address 24, the output of which is connected to the third input m data output register 26. Output register 25 through the display driving circuit 27 is connected to display digital indicator 29 and the output of the data output register - a second input interface circuit 29.

 The operation mode selection diagram of FIG. 4 contains the “Compass” “Δα” buttons, the “Step” toggle switch, a four-phase asynchronous RS-trigger with three states 31, two three-input majority logic elements 32, 33, a D-trigger 34 and a four-digit binary counter 33. Normally open and normally closed contacts of the buttons "Compass", "Δα", respectively, are interconnected and connected to the plus and minus of the power source. The common contacts of these buttons and the toggle switch are connected respectively to the inputs S2, S3, S4 of the quadruple asynchronous RS-trigger 31, S2, S3 whose inputs are connected through the majority element 32 to the R input of the binary counter 33, the normally open contact of the step switch is the fifth input of the circuit . Inputs R2, R3, R4 asynchronously RS-trigger 31 are combined and are the first input of the circuit. Input E and outputs Q1, Q2, Q3, Q4 of this trigger, respectively, are the second input and second output of the circuit. The input CE of the counter 33 is the fourth input of the circuit. Input 8 and input C of this counter are connected and connected to the C input of the D-flip-flop 34, the output R and the output of which respectively are the third input and the third output of the circuit.

 In FIG. 5 shows a digital indicator of the device containing four indicators. The information displayed on the indicators and its dimension are given in table. 1 Fig. 5.

 In FIG. 6 shows a digital indicator of a data input-output unit containing 6 indicators. The information displayed on the indicators and its dimension are given in table. 2 (Fig.6).

 The autonomous navigation system (Fig. 1) contains several autonomous navigation devices 1, 2, ... N and an input / output unit for data N + 1. Next, we will consider the operation of the system using the example of one device 1 and one unit N + 1, since the interactions block with other devices are similar.

The principle of operation of the autonomous navigation system is that autonomous navigation devices prepared for operation through the connectors are alternately connected to the data input-output unit, using the buttons of the dial field 19 of which the necessary information is entered or displayed. The data input / output unit N + 1 is disconnected from device 1, and device 1 is ready to work on the route, and the unit is ready to connect to the next i-th device. Thus, the stand-alone navigation device and the data input-output unit are interconnected during data input and output, since the data input and output function is transferred to the unit. On the route, the device works independently, calculating the current coordinates x _i , y _{i the} distance to the target R _Цi . the deviation of the main axis of the device from the direction to the target Δα _ci and the directional angle of the direction of movement α _oi .
Autonomous navigation device operates as follows.

 The inclusion of a stand-alone navigation device (Fig. 2) is carried out by connecting a power supply to the device. At the moment of power-up, the calculator 3 is reset by a pulse from the RC chain, and the 500 kHz clock frequency of the navigation gauge 11 will begin to arrive at its input. In this case, the program of operation of the device and the constant from ROM 4 byte-by-bit through the data bus according to the signals from the control bus. The choice of ROM, Read ROM are stored in the calculator 3, and then, according to the signals Select RAM and Write RAM via the data bus are overwritten in RAM 5.

 On the address bus, the calculator 3 generates the address of the memory cell of the ROM 4, from which the information is read, and the address of the RAM cell 5, in which the information is written. After overwriting the ROM 4 is turned off, and during operation, the calculator 3 will only access RAM 5. Overwriting the information from the ROM 4 is carried out each time the device is turned on, for approximately 2 to 3 seconds, and is performed in order to reduce power consumption, since the existing ROMs are energy-intensive . After the dubbing is over, the numbers "1996" are displayed on the instrument indicators, indicating that the correct dubbing has passed, the calculator 3 goes into standby mode "HALT", and the ROM 4 is turned off.

The device is controlled along the route by the buttons “Compass”, “Δα” and the “Step” switch, which are located on the front panel. This panel also contains indicator 9, which contains four digital indicators. The purpose of the indicators, their location is shown in Fig.5. The modes of operation of the device are given in table. 3 of Fig. 7 and are divided into two groups: 1) calibration; 2) work on the route after data entry. The operation of the device on the route is associated with the calculation of the directional angle α _oi , the angular deviation of the main axis of the device from the direction to the target Δα _qi and the distance to the target R _qi .

 In calibration mode, using the instrument, the coefficients A and B are determined for each individual operator.

 The data input-output unit operates as follows.

 When you turn on the unit on all of its indicators digital indicator 29 will display the digits "0". Pressing and releasing the "Parameter" button of the dialing field 19, dial the desired parameter value, for example, "0". Each time you press and release this button, the circuit for generating the value of parameter 21 generates a pulse at the second output, which through the first output of circuit 23 at the inputs C of registers 25 and 26 will write the value of the parameter "0" to the "0" memory cell of these registers, since the first the output of the discharge circuit of the number 22 is set to "0" discharge of the number. The value of the parameter "0" from the output of the register 25 through the control circuit 27 will be displayed on the first indicator on the panel of the block of Fig.6. When you press and release one of the buttons 0, 1, 2, ... 9 of the dialing field 19, information about the digital value of the parameter "0" is supplied to the corresponding input of the encoder 20, the output of which this information appears in a binary four-digit code. This information is transmitted via the data bus to the information inputs of the registers 25, 26 and the write pulse shaping circuit 23, the pulse from the first output of which will establish the first bit at the first output of the bit formation circuit of the number 22, and the pulse from the second output on the inputs of the C registers will record information from the information inputs of registers 25, 26 in their first memory cells. The recorded information from the output of the register 25 through the circuit 27 will be displayed on the indicator 2 of the digital indicator 29. With the second, third, fourth and fifth pressing one of the buttons 0, 1, 2, ... 9 of the dialed field 19 pulses generated at the first output of the formation circuit write pulse 23, the circuit for generating a discharge of the number 22 at the second input will generate second, third, fourth and fifth digits of the number at its first output, respectively. Moreover, the second, third, fourth and fifth pulses will be generated at the second output of the recording pulse generation circuit 23, which are delayed by about 10 ms relative to the pulses at its first output. Therefore, when you press and release one of the buttons a second time, the information typed is recorded in registers 25, 26 and will be displayed on 3 indicators, when you press and release one of the buttons a third time, on 4 indicators, and when you press and release one of the buttons fourth and fifth, respectively, on fifth and sixth indicators. After that, the indicators and its value in the form of a five-digit decimal number will be displayed on indicators 1, 2, 3, ... 6 of Fig. 6.

 Parameters 1, 2, ... 7 and their values are typed in the same way, as well as parameters 8, 9, ... F and their values.

 The selection mode of operation 8 operates as follows.

 When the device is turned on after overwriting is completed, trigger 35 at the input C of the B3 circuit is set to "0". When you press and release one of the buttons or two buttons at the same time, information about the operating mode code (Table 3 of Fig. 7) is remembered by trigger 31. At the same time, the positive difference from the pressed button (two buttons) through the elements 32 and 33 will set the counter 34 to the input R "0" and enable it in count mode. When level “1” appears at output 6 of counter 34, it is blocked at input “C”, and trigger 35 at input C is set to “1”, which will go to input R T 7, 5 of calculator 3, including it to the interrupt processing routine.

 According to this subroutine, the calculator 3 reads input 1 from the trigger 31 to the data bus, analyzes the code at the outputs 01, 02, 03, 04 of the trigger 31 and switches to the operation subroutine corresponding to the read operation mode code, resets operation mode operation circuit input 2 trigger 31 and input 3 of the circuit - trigger 35, preparing circuit 8 for subsequent work.

В конце дистанции оператор останавливается, выключает тумблер "Шаг" и нажимает и отпускает кнопки "Компас" и "Δα" два раза.Autonomous navigation system operates as follows. At the first stage of preparing the system for operation using the device in calibration mode, the coefficients A and B are determined. For this, the power is connected to the stand-alone navigation device. After the dubbing is over, the numbers “1996” are displayed on the indicators of the device and the operator goes to the prepared measured distance of 100 m. At the beginning of the distance, the operator presses and releases the “Compass” and “Δα” buttons (the indicators display the word idi 1) and turn on the STEP toggle switch " At an average pace, the distance travels in one direction. At the end of the distance, the “Step” switch is turned off. It turns around, presses and releases the "Compass" and "Δα" buttons (the word idi 2 is displayed on the indicators), switches on the "Step" toggle switch and quickly moves the distance in the opposite direction. During these passes, the autonomous navigation device calculates the number of steps N ₁ , N ₂ passed and determines the average periods of the step T _W1 , T _W2 from the expressions

At the end of the distance, the operator stops, turns off the Step switch and presses and releases the Compass and Δα buttons two times.

а коэффициент A по формуле
A = K₁ - B • T_п1.By this command, the device calculates the coefficients A and B as follows. As in [3], in the autonomous navigation device of the system, the step length is measured by the formula l = kTn, where T _p is the pace of movement, and K = A + BT _p . The coefficients A and B in a standalone navigation device, given that the coefficient K has a linear dependence on T _p , are calculated by known formulas. So, the coefficient B, as the tangent of an angle formed by a straight line with a positive direction of the X axis, constructed from two points K ₁ , T _p1 and K ₂ , T _p2 is determined by the formula

and the coefficient A by the formula
A = K ₁ - B • T _p1 .

Измерение коэффициентов A и B осуществляется только после осуществления включения автономного навигационного прибора и окончания перезаписи.Due to the fact that the device measures the step period T _p and the number of steps N at a measured distance (100 m), we transform these formulas into a form convenient for calculation

Coefficients A and B are measured only after the autonomous navigation device is turned on and the dubbing is completed.

 To re-measure these coefficients of another operator, you must turn off the stand-alone navigation device. Turn on the device and, after dubbing, measure the coefficients A and B.

 Coefficients A and B are stored in the device memory. You can count them from the device using the data output input unit.

 Before entering the route, the autonomous navigation device and the data input-output unit are placed close to each other. They turn on the power on the data input-output unit and the stand-alone navigation device, which after overwriting (displays the number 1996 on the indicators), connect to the data input-output unit through connectors 18 and 30. The number "0" is displayed on all indicators of the data input-output unit " Data entry into the stand-alone navigation device is carried out so that at the beginning press and release the "I / O" button and enter the value of the parameter, which corresponds to the value of the input value in accordance with table. 4 Fig. 8. The parameter value is entered by pressing and releasing the "Parameter" button of the dialing field 19 (Fig. 3). In this case, after pressing and releasing the “Parameter” button, at the first output of the parameter value generation circuit 21, a parameter value will be generated, which will be transmitted through the data bus to the information inputs of the registers 25, 26 (Fig. 3). The pulse from the second output of this circuit for generating the value of parameter 21 through the circuit for generating a write pulse 23 at inputs C will write this information to the zero memory cells of registers 26 and 25, from the output of which, through the control circuit of indication 27, information about the dialed parameter is displayed on the first indicator (Fig. 6).

 Each time you press and release the "Parameter" button, other values of the parameter 0, 1, 2, ... 9, A,, c,, E, F are formed in accordance with Table. 4 of FIG. 8 and recording pulses recording these values in registers 26 and 25, from the output of which, through the display control circuit 27, these values are displayed on the first indicator. Since after pressing the "Enter", "Output" button, the digit generating circuit of the number 22 always sets the state to "0", the parameter values are always written to the "0" memory cell of registers 25 and 26.

 When typing the value of the parameter (number) after the first pressing and releasing one of the buttons 0, 1, 2, ... 9 of the dialed field 19, the information in the binary code about the dialed digit is transmitted via the encoder 20 via the data bus to the information inputs of registers 25, 26 and the input of the pulse shaping circuit of the recording 23, from the first output of which the signal will go to the second input of the discharge forming circuit of the number 22 and will set the signal corresponding to the first digit of the number at its output. This signal on the write address bus sets the addresses of the first memory cells of registers 25, 26, into which the value of the dialed digit from the second output of the write pulse formation circuit 23 at the inputs C is recorded in registers 26 and 25, the output of which through the display control circuit 27 the dialed number will be displayed on the second indicator (Fig.6).

 When you subsequently press and release one of the buttons of the dialed field 19, the information in the binary code about the dialed digit is transmitted via the encoder 20 via the data bus to the information inputs of the registers 25, 26 and the input of the write pulse formation circuit 23, from the first output of which the signal goes to the second input of the circuit the formation of the discharge of the number 22 and sets at its output a signal corresponding to the second discharge of the number. This signal on the write address bus will set the addresses of the second memory cells of registers 25, 26, into which the value of the dialed digit from the second output of the write pulse generation circuit 23 at the inputs C is written to the registers 26 and 25, the output of which through the control circuit of the indication 27 information the dialed number will be displayed on the third indicator. Likewise, the values of the digits typed by the buttons of the dialing field 19 in the 4th, 5th and 6th digits of the number are typed, recorded in 3, 4 and 5 memory cells of registers 25, 26 and displayed on 4, 5 and 6 indicators. The typed parameter and its value are displayed on six indicators (Fig.6).

 To enter the dialed information into a stand-alone navigation device (parameter "0" and its value), press the "Enter-Output" button of the dial field 19. Press the output signal from this button through the digit generating circuit of number 22 and set the address "0 to the write address bus "of the memory cell of registers 25, 26 and will generate an RST signal 6, 5 at the second output of this circuit 22, which, through the read address formation circuit 24, will set the read cell address" 0 "on the register 26 and through the contacts 10 of connectors 30 and 18 will go to the RST input 6, 5 calculator 3 autonomous n vigatsionnogo device. The calculator 3 goes to the subroutine for reading data from the data input-output unit, for which it generates 6 pulses IN 07. The first pulse IN 07 reads through the interface circuit 28 the information written in the “0” cell of the register 26 (parameter value) and sets it through the interface circuit 28 read address of the first memory cell of the register 26. The second pulse IN 07 through the interface circuit 28 reads the information recorded in the first memory cell of the register 26, through the formation circuit of the read address 24 sets the address of the second memory cell regis pa 26, and so on ... IN sixth pulse 07 through the interface circuit 28 reads the information stored in the fifth memory cell of the register 26. In this case, in the scheme of formation of the read address 24 set the memory address which is not used.

 After reading information from the block about the first parameter and its value, the calculator 3 sets "0" on all bits of the data bus and generates an OUT 04 pulse, which through the eighth pins of the connectors 18 and 30 will go through the write pulse generation circuit 23 to the input C of registers 25, 26 will write this information to these registers. This information from the output of the register 25 through the display control circuit 27 will display the digits “0” on all six indicators, which indicates the reception of data from the data input-output unit and the readiness to receive the following data. Reading information from the input / output unit of data on the parameters 1, 2, ... 8 is carried out similarly to reading the parameter "0", described above.

 When outputting data from a stand-alone navigation device, the included data input-output unit and stand-alone navigation device are connected via connectors 18 and 30. Pressing and releasing the "Parameter" button, dial one of the parameters, for example, "F" (table 4 of Fig. 8), corresponding to the output. Press and release the I / O button. The circuit 22 will generate a signal RST 6, 5, according to which the calculator 3 on the data bus will generate the value of the dialed parameter received at the information inputs of the registers 25, 26. By the signal OUT 04, the calculator 3 will write this information to the registers 25 and 26 through the write pulse generation circuit 23 From the output of register 25 through the display control circuit 27, this information will be displayed on indicator 29. Similarly, by typing a parameter with the "Parameter" button and pressing and releasing the "I / O" button, other parameter values displayed from the device are displayed.

After entering the coordinates of the initial x ₀ , y ₀ and the final x _k , y _{to the} points of the magnetic declination route γ, coefficients A and B into the device using the data input / output unit, the stand-alone navigation device is ready to work on the route. Moreover, when entering data and in the process of reaching the starting point of the route, the step sensor is disabled by the Step switch.

The primary information sensors of the navigation gauge 11 are an angular orientation sensor 15, which generates information about the direction of movement of the operator, and a step sensor 17, which records the movement of the operator along the route and generates an electrical impulse at each step. The angular orientation sensor 15 of the phase-type type is connected with its inputs and outputs to the analog signal former 13, which generates orthogonal sinα and cosα voltages from the sensor input circuits 15, as well as a pulse signal from the output signals of the sensor 15 that carries information about the direction of motion and arrives at the phase converter -code 14, made according to the standard scheme of the instantaneous phase meter. This signal in the phase-to-code converter 14 is represented in the form of a phase-code in binary form, which in the calculator 3 is converted using the constants stored in RAM 5 to the values sinα _oi and cosα _oi to calculate the current coordinates x _i , y _i and the angle α _oi .
At the beginning of the route, the Step switch is set to the on position and the operator starts moving. At each step of the operator, during the movement, the step sensor generates an electrical impulse which, through the Step switch, is supplied to input S4 of trigger 31 through output 1 of operation mode selection circuit 8, through the third input of microcircuit 33, sets counter 34 at the input R to act as a delay circuit (τ ≈ 20 ms) and arrives at the first input of circuit 16.

The step period T _wi is measured at each step by a period measurement circuit of step 16, which operates as follows. At the input CE of the counter 39, a frequency f ₁ is supplied, the value of which determines the measurement discrete T _wi , and at the input C of the counter 37, a frequency f ₂ , a value that determines the measurement time T _wi . The pulse from the step sensor is fed to the input S of the trigger 36 and to the input R of the counter 37. The trigger 36 is set to "1", which from the output 0 through the microcircuit 38 blocks the counter 39 at the input C, preventing the passage of pulses f ₁ at its input CE. The counter 37 is reset at the input R and begins to count pulses f ₂ . The pulse from the first output of counter 37 will write information about T _wi from the outputs of counters 39, 40 to register 41 at its C input, and the pulse from its fourth output will set trigger 36 and counter 39, 40 at inputs R to "0". At the input C of the counter 39, “0” will be set, and the counters 39, 40 will begin to read the value of the current step period.

The counter 37 is blocked by the pulse from the output 10 at the input C. Information about T _шi from the register 41 at the input AE is read by the pulse from the calculator 3 to the data bus. The whole process of measuring T _{wi is} repeated upon receipt of each pulse from the step sensor.

x_i= x_i-1+l_i•cosα_oi,
y_i= y_i-1+l_i•sinα_oi.
Аналогично в процессе движения оператора вычислитель 3 рассчитывает l_i, x_i и y_i при каждом его шаге.Due to the fact that the output 6 of the counter 34 is connected to the input C of this counter, when the potential "1" appears at the output 6, the counter 34 is locked at the input C, and the trigger 35 at the input C is amplified to "1", forming the interrupt signal RST 7, 5 of the calculator 3. According to this signal, the calculator 3 goes to the calculation routine according to the formulas

x _i = x _i-1 + l _i • cosα _oi ,
y _i = y _i-1 + l _i • sinα _oi .
Similarly, during the movement of the operator, the calculator 3 calculates l _i , x _i and y _i at each step.

После выполнения этой подпрограммы вычислитель 3 переходит на подпрограмму динамической индикации рассчитанного R_цi, длительность которой около 4 с. Повторное нажатие и отпускание кнопок включает индикацию еще на 4 с.At stops, to determine the correct movement along the route, the operator can determine the distance to the end point and the direction to it. The distance to the end point of the route is determined by pressing and releasing the "Compass" and "Δα" buttons. In this case, the circuit 8 generates, as described above, the signal RT 7, 5, according to which the calculator 3 analyzes the code typed by the buttons (Table 3 of Fig. 7), polls the outputs Q1, Q2, Q3, Q4 of the trigger 31 and switches to the subroutine calculation of distance according to the formula

After completing this subroutine, the calculator 3 switches to the subroutine of the dynamic indication of the calculated R _ci , the duration of which is about 4 s. Pressing and releasing the buttons again turns on the display for another 4 s.

The direction to the end point of the operator’s route is determined by the indicator of the stand-alone navigation device 9 after pressing and releasing the Δα button when the Step switch is set to the Off position. The stand-alone navigation device calculates the deviation of the axis of the device from the direction to the target using the formula
Δα _qi = α _oi -α _qi .
In this case, when deviating counterclockwise (to the left) on the indicator 9 in the first category, the symbol "F" is displayed, and on the remaining bits of the indicator the values of the deviation angle Δα _qi . In case of clockwise deviation (to the right), “0” is displayed in the first digit, and on the remaining digits of the indicator, the value of the deviation angle Δα _qi . Guided by these values and turning around its axis, the operator achieves readings of "0" in the second, third and fourth digits of indicator 9, sets the "Step" switch to the "On" position and continues to move along the route.

Upon reaching the end point of the route (R = 0), the operator sets the “Step” toggle switch to the “Off” position and presses and releases the Compass and Δα buttons twice. In this case, the device remembers the coordinates of the end point of the route x _k , y _k . Moreover, the coordinates x _k , y _k are set initial, and the coordinates x ₀ , y ₀ - final.

Therefore, the operation of the device when the "Step" toggle switch is set to the "On" position and returning to the starting point x ₀ , y ₀ the route point does not differ from moving to the final x _k , y _to the route point.

When you do not need to return to the starting point of the route, the Step switch remains in the Off position. Information about the coordinates of the final x _k , y _to the route point is read using the data input-output block, as described above.

 The proposed autonomous navigation system is easily implemented on commercially available radio components.

 In FIG. 9 shows an embodiment of a step period measuring circuit, which functionally corresponds to a part of the device described in [1].

 The circuit contains a trigger on the 564TM2 chip, a counter on the 564IE9 chip, and two counters on the 564IE10 chip, an exclusive OR element on the 564LP2 chip, and a register on the 564IR6 chip.

 An eight-bit microprocessor set of the IM1821VM85A series was used as a calculator; the block diagram, command system, and pin assignment are given in [4]. Chips 537RU17A and 573RF4A were used as RAM and ROM, and digital indicator 3LS339A was used as indicators. The mode selection scheme contains buttons made on PM21 microswitches, two triggers on 564ТМ2 and 564ТР2 microcircuits, a decoder on 564ID1 microcircuit, a counter on 564IE10 microcircuit and an exclusive OR element on 564ЛП2 microcircuit.

 Figure 10 shows an embodiment of the encoder, which contains the encoder on the chip 1564IV3, the outputs of which are connected via a key on the chip 564KT3 to the data bus.

 11 shows an embodiment of a recording pulse shaping circuit. It contains the And element on the 564LA7 chip, the key on the 564KT3 chip, the button to eliminate the crushing of the signal from the button, two three-input majority logic elements on the 564LP13 chip, and a delay circuit on the 564TM2 chip.

 On Fig shows an embodiment of a circuit for generating a parameter value containing an element for eliminating crushing, a counter on a chip 564IE10 and keys on a chip 564kt3, and Fig.13 is an embodiment of a circuit for generating a digit discharge.

 The button splitting elimination element consists of an RC chain and a shaper on a 564TM2 microcircuit. The counter and key are made on 564IE10 and 564KT3 microcircuits.

 Fig. 14 shows an embodiment of an analog signal driver, a sinusoidal and cosine voltage generator for powering the Hall sensors (PHE602117A) of the angular orientation sensor, made on 564TM2, 564PU6, 1N251, 2T622A microcircuits and two transformers matching the low input voltage of the Hall converters (5 - 10 Ohm) with the output impedances of the keys (≈ 100 Ohms). The adder, active filter and comparator are made on a 1401UD2A chip.

 The phase-code converter, the embodiment of which is shown in FIG. 15, contains a crystal oscillator assembled on a 564LE5 chip and RK-230 quartz with a frequency of 500 kHz, a frequency divider and a counter on 564IE10 chips and a trigger on a 564TM2 chip.

The angular orientation sensor (Fig. 3) contains a magnetized sensing element in the form of an annular magnet with a thrust bearing in the center, which is mounted on an axis fixed in the base of the housing, made in the form of a glass. Four Hall transducers are installed on the opposite side of the base of the housing through 90 ^o , from which electrical signals are removed, depending on the angular position of the sensor.

 The step sensor (Fig. 2) is made similar to the sensor described in [2]. It contains a housing in which a flat spring is cantilevered, on which a ferromagnetic plate is fixed and at the end a permanent magnet interacting with the reed switch. The contact node of the step sensor is a magnet and a reed switch mounted motionless in the zone of action of the magnet. When walking, the magnet is set to the upper and lower positions at each step, closing the contacts of the reed switch, and forms an electrical impulse.

 The practical use of an autonomous navigation system compared to the prototype device due to the separation of the functions of working with the device on the route and input / output of data can significantly reduce the number of controls to three and the number of indicators to four (for the prototype 15 and 8), using the input unit - data output (weight 0.37 kg, dimensions 32 x 30 x 132 mm) significantly facilitate the entry into the device and output from it the corresponding data, data input into the devices and data output from them is carried out sequentially using one unit in water-output data, which significantly reduces material costs when creating an autonomous navigation system, significantly improve the weight and size characteristics of a wearable autonomous navigation device, weight 0.6 kg, dimensions 32 x 120 x 160 mm (prototype 2.6 kg and 85 x 168 x 200 mm) due to the use of a small-sized sensor of angular orientation, diameter 22 and height 14 mm (prototype 70 and 85 mm) and batteries of lower capacity NKGTs-0.45 (NKHTs-1.8 at the prototype).

 These advantages can significantly facilitate the work of the operator with the device on the route, data input-output and improve the efficiency of using an autonomous navigation system.

 The manufactured prototypes showed high accuracy characteristics, ease of operation and did not hamper the operator's actions in the process of movement.

Sources of information
1. A.S. USSR, N 1434259, IPC G 01 C 22/00.

 2. Product ANP-2k. Technical description and instruction manual. FR2.511.000TO, 1984.

 3. RF patent N 2039955, IPC G 01 C 22/00.

 4. A.S. Basmanov, Yu.F. Shirokov. Microprocessors and single-chip microcomputers: nomenclature and functionality. M .: Energoizdat, 1988, p. 6 - 23.

 5. Integrated circuits. Series 564. OST 11 340.907-80.

Claims (3)

1. Autonomous navigation system, consisting of the first, second, third,. . ., Of the Nth autonomous navigation device, each of which contains a step sensor, a calculator, the address bus of which is connected to the first inputs of RAM and ROM, the second RAM input, the input of the display register and the output of the angle register are connected to the data bus of the calculator, the read inputs ROM and RAM, "Recording" of RAM and display and angle registers "Select" ROM, RAM, display and angle registers are connected to the control bus of the calculator, the output of the display register through the display control circuit is connected to digital indicators, a navigation meter consisting of sensors angular orientation indicator, the output and input of which are connected respectively to the first input and output of the analog signal former, the second output and input of which are connected respectively to the first input and output of the phase converter - a code, the second output of which is connected to the input f _{t of the} calculator, the third output of the phase converter - the code is connected to the third input of the angle register, characterized in that a data input-output unit, a connector, a step period measurement circuit, an operation mode selection circuit and an electronic key are inserted in it, the unit in The data ode-output is configured to alternately connect through the connector to the first, second, ..., N-th autonomous navigation device during data input or output, the input and the first output of the electronic key are respectively connected to the control bus and the third input of the analog signal conditioner, first, second, third inputs of the operation mode and the second input of the phase inverter - a code coupled to the bus control calculator, the fourth and fifth inputs of the operation mode are respectively connected to the output f ₃ f phase generator - code and step sensor output, the first output of the operation mode selection circuit is connected to the first input of the step period measurement circuit, the second, third and fourth inputs of which are connected respectively to the control bus of the computer and the phase - code converter outputs, the output of the step period measurement circuit is connected with the data bus, the second and third outputs of the mode selection circuit are respectively connected to the data bus and to the RST 7.5 input of the computer, the address bus of which is connected to the first, second and third contacts of the connector, and the bus is yes GOVERNMENTAL connected to the fourth fifth, sixth and seventh connector contacts, JN outputs 07 and 04 of the calculator OUT are connected respectively with the eighth and ninth connector contacts, tenth contact connector is connected to an input RST 6,5 calculator, which is configured in the form that implements depending
x _i = x _i-1 + l _i • cosα _oi ,
y _i = y _i-1 + l _i • sinα _oi ,

Δα _qi = α _oi -α _qi ,

where x _i , y _i are the current coordinates of the operator;
α _oi is the angle of the direction of movement;
α _Цi - the angle of the direction of movement to the target;
Δα _Цi is the angle equal to the difference between the angle of the direction of movement and the angle of direction to the target;
R _Цi - the distance from the current point to the end point of the route (target);
γ is the magnetic declination;
L is the length of the measured distance (100 m);
N ₁ , N ₂ - the number of steps at different speeds; T _W1 , T _W2 , - periods of steps at different speeds.  2. The system according to claim 1, characterized in that the data input-output unit contains a typesetting field with buttons 0, 1, 2, ... 9, "Parameter" and "I / O", an encoder, schemes for generating a parameter value, discharge digits, write pulse and read addresses, indication and output registers, indication control circuit, digital indicator, interface circuit and connector, button outputs 0, 1, 2, ... 9, "Parameter" and "I / O" respectively connected to the inputs 0, 1, 2, ... 9, of the encoder and the circuit for generating the parameter value and the digit of the number, the encoder output is a data bus and connected to the first inputs of the write pulse formation circuit, display and data registers, with the output of the parameter value generation circuit and the pairing circuit, with the fourth, fifth, sixth and seventh contacts of the connector, the first output of the digit discharge circuit is the write address bus and is connected with the second inputs of the display and data output registers, with the first, second and third contacts of the connector, the first output of the write pulse formation circuit is connected to the inputs C of the display and data output registers, the output is reg the indication circuit is connected to digital indicators through a control circuit, the second output of the parameter value generating circuit is connected to the second input of the write pulse generating circuit, the second output of which is connected to the second input of the digit generating circuit, the second output of which is connected to the first input of the reading address generating circuit and the tenth pin of the connector, the third input of the write pulse formation circuit is connected to the eighth pin of the connector, the output of the read address circuit is connected to the fourth input of the reg tra data output, the output of which is connected to a first input interface circuit, a second input connected to a second input of the read address generating circuit and a ninth pin connector. 3. The system according to claim 1, characterized in that the operating mode selection scheme includes the buttons “Compass”, “Δα”, the “Step” switch, four asynchronous RS-trigger with three states, two three-input majority logic elements, D-trigger and four-digit binary counter, normally open and normally closed contacts of the Compass and Δα buttons, respectively, are interconnected and connected respectively to the plus and minus of the power source, the common contacts of the buttons and the toggle switch are connected respectively to the asynchronous inputs S2, S3, S4 RS flip-flops, S2 and S3 whose inputs through the first and second majority elements are connected to the R-input of a four-digit binary counter, input E and outputs Q ₁ , Q ₂ , Q ₃ and Q _{4 of the} RS flip-flop are respectively the first input and output of the circuit, the inputs of R ₂ , R ₃ and R _{4 of the} asynchronous R-trigger are combined and are the second input of the circuit, the input of the RD-trigger is the third input of the circuit, the input CE of the binary counter is the fourth input of the circuit, the input S4 of the quad asynchronous RS-trigger is connected through the second majority element to the R-input of the binary counter and is the second output of the circuit, the normally open contact of the toggle switch is the fifth input of the circuit, output 8 and input C of the binary counter are combined and connected to the input C of the D-flip-flop, the output Q of which is the third output of the circuit.

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