RU2158004C1 - Method for detection and identification of mobile objects - Google Patents

Abstract

FIELD: radio engineering. SUBSTANCE: method uses central station and receiving stations. Mobile objects are able to receive control signal and receive and transmit wide- band signal. Receiving stations are able to receive and transmit wide-band signal. Method involves adding personal code of each mobile object to signal of mobile object state and control signal, receiving control signals of mobile objects, and transmission of signal about mobile object state to central station, when personal code of control signal and personal code of mobile object match, as well as when free radio channel is detected for first frequency of receiving stations and central station. When personal code of control signal and personal code of mobile object do not match, as well as, when radio channel of first frequency of receiving stations and central station is busy, transmission of mobile object state to central station at first frequency ends. Then, method involves receiving signal of mobile object state by central station and generation of acknowledgement signal and control signal, which is equipped with personal code and code marker for detection of coordinates. Then, method involves emission of acknowledgement signal and control signal at first frequency, their reception by all mobile objects and at least three receiving stations, ceasing transmission of mobile object state by central station, when acknowledgement signal is received. When, said control signal is received, method involves generation of phase-keyed wide-spectrum signal, which is emitted by each receiving station in sequence. Then, method involves reception of phase-keyed signal by mobile object and its conversion to another phase-keyed signal with another central frequency, retransmission of phase-keyed signal from mobile object to receiving station, reception of phase-keyed signal by receiving station, correlation processing of emitted and received phase-keyed signal and measurement of signal delay in each receiving station, in order to detect minimal delay. Then, method involves generation of signals, which correspond to delays, by respective receiving stations, and their transmission in sequence using second frequency from receiving stations to central station, in order to calculate distance from receiving stations to mobile object by means of distance-measurement method for position detection. EFFECT: improved quality, increased functional capabilities. 8 cl, 8 dwg

Description

 The invention relates to radio engineering and can be used in systems for determining the coordinates of radio sources installed on mobile objects, mainly for assessing the location of mobile police groups, emergency services vehicles, collection vehicles, means of transporting valuable documents or goods, as well as in security alarm systems to determine the location of cars when they are stolen.

 A known method for determining the location and identification of moving objects, based on the emission of signals by transmitters equipped with individual codes and installed on moving objects, receiving these signals due to the strictly limited energy availability only to the receivers closest to moving objects installed at known stationary points, transmitting from receivers to the point processing data on the fact of reception and code of received signals, where according to the coordinates of the receivers that pick up the signals of the transmitters of objects, about they determine the location of moving objects and identify them (1).

 The system that implements this method contains transmitters installed at the facilities, N receivers installed at known stationary points within the required radius of operation, a processing point and a system for transmitting information from receivers to a processing point.

 The limitations of this method are, firstly, the low accuracy of positioning of objects, commensurate with the distance between the closest receivers, secondly, low bandwidth, and thirdly, a limited radius of action.

 The closest is a method for detecting and identifying moving objects (ON), including transmitting on the first radio frequency from a moving object (ON) a signal about the state of a moving object, equipped with an individual code (IR) for each moving object, receiving a signal from the object, at least in three receiving points (PP) spatially spaced on the ground and with known coordinates, signal processing at receiving points for measuring the delay time of arrival of a signal at receiving points (PP), radiation in series about the time at the first radio frequency of the control signal from the central point (CPU) to ensure consistent time-based information from the receiving points, receiving the control signal at the first radio frequency at the receiving points (PP) and transmitting signals from the PP at the second radio frequency to the CPU to calculate the distance from Software to software (2).

 In the known method, signals are emitted by software transmitters equipped with IR. Signals are received and demodulated in spatially spaced PNs with known coordinates. Software identification is carried out on the basis of signal demodulation and calculation of coordinates on the CPU with known coordinates for the mutual delays of the software signals received in the software, corrected for the corresponding corrections obtained during calibration. Calibration is periodically carried out by radiation at the first radio frequency from the CPU with known coordinates of the control signal with an identification calibration code. This signal is received by the PP and stored in the form of corrections of the results of comparing the obtained mutual delays between the signals received in the PP with the known calculated values. The signals received in the PP are relayed with the transfer of the spectrum to the CPU, where these signals are received with conversion to a single intermediate frequency and the mutual delays between them are measured.

 Signals are relayed simultaneously only by three PCs for a set period of time, for which purpose a control signal periodically emitted from the CPU at the first radio frequency of the software is equipped with individual PP codes. The control signal is received in the PP, demodulated, and when the transmitted code matches the individual PP code, the signals are relayed by this PP. In the control signal, individual codes of three neighboring software are generated with sequential enumeration from cycle to cycle of codes of all software.

 In addition, at set intervals, a calibration identification code is generated in the control signal. Software emits signals periodically with an established duty cycle. The identification of moving objects and the identification of the calibration code are performed on the CPU based on the results of demodulation, comparison and generation of an averaged code of signals received simultaneously from three PCs.

 Calculation of coordinates, software identification, and calibration of the PPs are carried out if the sum of the three measured mutual delays between pairs of signals received from the first and second, second, third, third, and first PPs of the selected PP group and the signal codes relayed by these PPs are equal to zero. To measure the mutual delay between the signals, they are synchronized in time and quantized by level, the obtained discrete time samples of these signals are converted into a set of discrete spectral components, and the mutual delay is calculated.

 The software status signal in this system may contain information about the type, color, software license plate, and the like, and the event itself corresponding to a particular incident is not evaluated. When entering a radio channel on the first radio frequency of a particular software, it is believed that some undesirable event has occurred with it.

 The limitations of the known technical solutions are low accuracy of location, throughput and functionality, due to the following circumstances.

 First, the fundamental limitations in the accuracy of positioning are associated with the main factors: the multipath nature of the propagation of radio waves in urban areas and a decrease in the signal-to-noise ratio at the inputs of the CPU delay measurement units due to intra-system interference due to the lack of synchronization of the switching processes of transmitters of moving objects when one or several software with overlapping periods of radiation that are not in the energy availability zone (the zone where the specified accuracy of the location is ensured ) three operating at a given time PP, increase the level of external noise at their inputs. A similar situation occurs when calibrating the system. All these factors lead to measurement errors and, consequently, to location errors.

 Secondly, the throughput of the method and the entire system is limited by the total time of the overlap of the periods of radiation of the software located in the zone of energy availability of the software, and the periods of the radiation of the control signals of the software and the software signals. With an increase in the number of software and / or software, the total time for overlapping periods of radiation increases, which leads to a decrease in the operating time of the system in operating mode and reduces the technical and operational capabilities of the method.

 Thirdly, the method and system allows only the location of the software and its standard identification, for example, the name of the software owner, make, color, registration number of the vehicle on which the software transmitter is installed, while expanding the range of services provided to the software owner, leads to an additional complication of the entire system, and in accordance with the above limitation, this leads to an additional significant decrease in the time the system operates in the operating mode during processing, increasing The number of information parameters. In addition, due to the long processing time of these parameters, the signal about the state of a moving object characterizes only the occurrence of an emergency situation with the software, and the known method does not allow to inform the CPU quickly about a specific event that has occurred with the software and provide it with appropriate assistance or service.

 Fourth, in this method, for measuring the range and coordinates of the location of the software, the differential-ranging method of positioning with an insufficiently high detection and identification range of the software is used, which leads to either the need to increase the number of transmitters or to increase the power characteristics of the transmitters that make up the system, or to improve the quality of the reception of receivers, which increases the cost of the system as a whole.

 The problem solved by the invention is improving the quality and expanding functional capabilities without significantly increasing the arsenal of used technical means.

 The technical result that can be obtained by implementing the claimed method is to increase the accuracy of locating a moving object, increasing the service area without increasing the number of receiving points or improving the energy characteristics of the equipment used in the method, increasing the throughput of the method and the number of simultaneously serviced moving objects, increasing service capabilities .

 To solve the problem with achieving the specified technical result in a known method, including transmitting at the first radio frequency from the moving object a signal about the state of the moving object, equipped with an individual code for each moving object, receiving a signal from the object at least at three receiving points, spatially spaced on the ground and with known coordinates, signal processing at receiving points for measuring the delay time of arrival of a signal at receiving points, radiation sequentially o in time at the first radio frequency of the control signal from the central point to ensure consistent time-based information from the receiving points, receiving the control signal at the first radio frequency at the receiving points and transmitting signals from receiving points at the second radio frequency to the central point to calculate the distance from the receiving points to of a moving object, according to the invention, moving objects are capable of receiving a control signal and receiving and transmitting a broadband signal, and receiving points You perform the ability to transmit and receive a broadband signal, transmit a signal about the state of the moving object at the first radio frequency from the moving object, additionally equipped with a status code, additionally receive a signal about the state of the moving object in other moving objects and block their transmission of signals about the state of moving objects, receive a state signal from a moving object at a central point; when receiving a signal about a state of a moving object at a central point, block transmission to them on the first radio frequency of the signals to the moving objects and receiving points, a confirmation signal is provided at the central point, provided with an individual code of the moving object, and a control signal, which is additionally provided with a code-sign for determining coordinates, is emitted by the central point to the confirmation signal and the control signal at the first radio frequency, receive the first radio frequency confirmation signal and the control signal at all moving objects and at least three receiving points, when receiving a signal the signals on the state of the moving object stop transmitting the signal on the state of this moving object, and when the control signal is received by the other moving objects after the end of the control signal, their signal transmission on the state of the moving objects is blocked once, when the control signal is received at the receiving points form a phase-shifted signal with a wide spectrum and with a first central frequency different from the first radio frequency and the second radio frequency, additionally emit time-phase-manipulated signal at each receiving point, a phase-manipulated signal is received by a moving object that transmits a signal about the state of a moving object, and it is converted into a phase-shifted signal with a second center frequency different from the first center frequency, from the first radio frequency, from the second radio frequency and preserving the spectrum phase-shifted signal with a first central frequency, relay a moving phase-shifted signal with a second central frequency with a moving object, at phase-manipulated signal with a second central frequency is at least three receiving points that previously emitted a phase-shifted signal with a first central frequency, the emitted and received phase-shifted signals are correlated at the receiving points at one intermediate frequency and the signal delay time is measured at each receiving point with a minimum delay time, they form signals at the receiving points corresponding to the delay times and transmit them sequentially in time to a second the frequency from the receiving points to the central point for calculating the distance from the receiving points to the moving object by the range-finding method of positioning.

Additional embodiments of the method are possible in which:
- the duty cycle of signals about the state of a moving object for each of the moving objects is chosen different;
- the status code sign in the signal on the state of the moving object is selected common for all moving objects, and separate codes characterizing the registration of the moving object, or the removal of the moving object from registration, or a traffic accident, or a call are used as feature codes medical assistance, or calling a towing vehicle of a moving object, or determining the route, or presence in the registration list.

In addition to the previous embodiment, embodiments of the method are possible in which:
- when registering a movable object, or when removing a movable object from registration, or during a traffic accident, or when calling for medical assistance, or when calling a tow truck, or when determining the route, or when determining the presence of a moving object in the registration list, when receiving a signal about the state of a moving object in a central point, remember the individual code of such a moving object for registration by the central point of the corresponding event, emit a central pun that the first radiofrequency verification signal provided with an individual code of the mobile object, receiving and storing confirmation signal to the mobile unit for registration of the mobile unit an acknowledgment central point of the event information;
- when determining the presence of a moving object in the registration list at a central point, a presence signal is generated, equipped with an individual code and a presence sign code, a presence signal is emitted at the first radio frequency by the central point, a presence signal is received at the first radio frequency on the mobile object, an acknowledgment signal is generated in the moving object presence with an individual code and with an additional code entered, a sign of confirmation of presence, transmit it on the first radio frequency, receiving ie the central point of the first radio frequency signal to confirm the presence and stored in a central location-specific code of the mobile unit to register the presence of a moving object;
- when determining the route of the moving object, the control signal, equipped with an individual code and a code-sign for determining the coordinates, is emitted at the first radio frequency with a delay after the end of the confirmation signal for the period of emission of the phase-shifted signals at the first central frequency by all receiving points and the relay of the phase-shifted signal by the moving object to the second central frequency, while the radiation of the control signal is repeated at predetermined intervals.

 In addition to the main embodiment of the method, a variant is possible in which, when measuring the delay time of a signal with a minimum delay time, all incoming signals are allocated relative to the threshold noise level in channels with fixed numbers configured for delays that are multiples of the duration of the elementary pulse of the modulating function of the phase-shifted signal, then the signal corresponding to the minimum delay, additionally use vernier channels with fixed numbers and with the setting for the back rzhke equal parts elementary pulse duration modulating function, separated signal corresponding to the minimum delay, a vernier duct, and the time delay determined by vernier channel with the maximum level signal, wherein the fixed number vernier channel receiving a corresponding numerical value of the delay time signal.

 In addition to the previous embodiment of the method, a variant is possible in which the correlation processing of the emitted and received phase-manipulated signal is performed in channels with fixed numbers by simultaneously multiplying the received phase-manipulated signal with copies of the modulating function of the emitted phase-manipulated signal, and the copies are delayed for equal periods of time relative to the time equal to the total delay at the receiving point and the moving object, the multiplied signal filtered in a band equal to the reciprocal of the duration of the modulating function is detected amplitude integrated over the duration of the modulating function and is compared with a threshold noise level.

 In the proposed method for detecting and identifying moving objects, the following actions were used to solve the problem.

 The use for measuring the delay time of the ranging method and a complex phase-manipulated signal with a wide spectrum, its optimal processing, which ensures the maximum possible peak signal-to-noise ratio and suppression of concentrated noise at the output of the correlation channel, allows to increase the range of the system, reduce the number of receiving points while maintaining accuracy and increase throughput. Using the properties of a complex phase-shifted signal, which provides the possibility of separation of beams in multipath communication channels to select a direct beam, i.e. beam with the least delay, allows in urban areas to improve the accuracy of measuring signal delay. The exclusion of the calibration mode at set intervals (in comparison with the closest analogue) provides an increase in throughput with an increase in the accuracy of measurements of the signal delay time. In this case, with a signal spectrum width of units of megahertz and a technically feasible change in the signal delay time in the equipment due to destabilizing factors within a few percent of the reciprocal of the bandwidth, the error is thousandths of microseconds, which is insignificant and allows only the initial calibration in the factory during the manufacture of the system. Regulation of the radiation mode based on recognition of the radio channel’s occupation, aimed at eliminating the simultaneous operation of several sources with overlapping periods of radiation at the same frequency, makes it possible to increase the measurement accuracy by eliminating intrasystem interference.

 Separation of the information-control and measuring channels while maintaining the number of operating frequencies with the introduction of codes-signs characterizing the state of moving objects into the information-controlling subsystem allows independent primary contact with one moving objects when determining the coordinates of other moving objects, expanding the range of services provided to the owner moving object, and determine, depending on the state of the moving object, the priority of providing a measuring channel, on Example, the emergency call ambulance.

 These advantages, as well as features of the present invention are illustrated by the best option for its implementation with reference to the accompanying figures.

Figure 1 depicts a structural block diagram of a system that implements the claimed method;
FIG. 2 is a functional diagram of a central point;
FIG. 3 is a functional diagram of a reception center;
FIG. 4 is a functional diagram of a transceiver of a moving object;
FIG. 5 is a functional block diagram of a delay measurement unit;
FIG. 6 is a timing diagram of signals explaining in general the operation of a system that implements the claimed method;
FIG. 7 is a timing chart of signals for a delay measurement unit;
in FIG. 8 is a diagram of a variant of location of receiving points on the ground at N = 7.

In FIG. 6 are shown:
a - signal about the state of the first software; b - second software; in - third software; g - fourth PO; d - CPU signals to the first, second, third and fourth software; e - complex phase-shifted signals of the first, second, ..., N PP, where N is the number of PP; g - signal at the control input of the second radio transmitting unit of the first software; h - signal at the control input of the second radio transmitting unit of the second software; and - relayed by the first and second software complex phase-shifted signals at the inputs of the first, second, ..., N PP; k - signals of the first, second, ..., N PP with information about the distances (delays of phase-shifted signals) between the first, second, ..., N PP and the first PO and between the first, second, ..., N PP and the second BY.

In FIG. 7 are simplified showing:
a - direct A and reflected B signals during processing in PP; b - dependence of the output signal level on the delay time of the input signal at the outputs of P + 1 and reference channels, where P is the total number of reference and vernier channels; in - signal level at the outputs of the reference channels; g - dependence of the output signal level on the delay time of the input signal at the outputs of the vernier channels; d is the signal level at the outputs of the vernier channels; where t ₀ is the duration of the elementary pulse of the modulating function; ΔU is the threshold level; Δτ is the error in measuring the signal delay.

 As an example, which implements the claimed method for detecting and identifying moving objects, a system for determining their location is shown (Fig. 1).

 The system (Fig. 1) contains a central point (CPU) 1, N receiving points (PP) 2.n (n = 1, 2, ..., N), with N≥3, and M moving objects (ON) 3 .m (m = 1, 2, ..., M).

 CPU 1 (Fig. 2) has a receiving antenna (PrA) 4, first and second radio receiving units (RPrB) 5 and 6, first and second demodulators (DM) 7 and 8, an object code recognition unit (BOCO) 9, a signal detection unit (BOS) 10, the control unit (UB) 11, the generator of object codes (GKO) 12, the radio transmitting unit (RPB) 13, the antenna switch (AK) 14, the transceiver antenna (PAP) 15, the display unit (BI) 16, a storage device (memory) 17 and a coordinate calculation unit (DBK) 18. RPrB 6, DM 8, memory 17, DBK 18 are connected in series. RPrB 5, DM 7, BOKO 9 are connected in series. GKO 12, RPB 13, AK 14 are connected in series. The output of the BOKO 9 is connected to the input of the GKO 12 through the first input and the first output (control) of the UB 11. The output RprB 5 is connected to the second input of the UB 11 through the BOS 10. The output of the BRK 18 is connected to the third input of the UB 11. The first output of AK 14 is connected to the input RPrB 5. The second input / output (receive / transmit mode) AK 14 is connected to the PSA 15. The second output of UB 11 is connected to the second input of RPB 13. The third output of UB 11 is connected to the second input of AK 14. The fourth output of UB 11 is connected to the input of BI 16. The fifth output of UB 11 is connected to the second input (control) of the DBK 18. The sixth output of UB 11 is connected to the second input (control them) memory 17.

 Each PP 2. n (Fig. 3) contains the first and second receiving antennas 19 and 20, the first and second radio receiving blocks (RPrB) 21 and 22, a demodulator (DM) 23, a code recognition unit (BOC) 24, a control unit (UB ) 25, delay measurement unit (LSI) 26, first and second radio transmitting units (RPB) 27 and 28, first and second transmit antennas (PA) 29 and 30. RPrB 21, DM 23, BOK 24 are connected in series. The output of the BOK 24 is connected to the first input of the BPM 27 through the first input and the first output (control) of the UB 25. The RPBB 22 is connected to the first input (signal) of the BIZ 26. The second and third output of the UB 25 is connected to the second and third input (control) of the BIZ 26 , respectively. The first output of the BIZ 26 is connected to the first input of the BPM 28, and the second output of the BIZ 26 is connected to the second input (signal) of the BPM 27. The fourth output of the UB 25 is connected to the second input (control) of the BPM 28.

 Each transmitter of a moving object 3.m (Fig. 4) contains a receiving antenna (PrA) 31, first and second radio receiving units (RPB) 32 and 33, demodulator (DM) 34, signal detection unit (BOS) 35, object code recognition unit (BOKO) 36, control unit (UB) 37, object code generator (GC) 38, first and second radio transmitting units (RPB) 39 and 40, antenna switch (AK) 41, transmitting and receiving antenna (PSA) 42, and transmitting antenna (PA) 43. RPB 32, DM 34, BOKO 36 are connected in series. GK 38, RPB 39, AK 41 are connected in series. The first output of the BOKO 36 is connected to the input of the GC 38 through the first input and the first output (control) UB 37, respectively. The output of the RPB 32 is connected to the second input of the UB 37 through the BOS 35. The second output of the UB 37 is connected to the second input (control) of the BPM 39. The third output of the UB 37 is connected to the second input (control) of the AK 41. The first output of the AK 41 is connected to the input of the RPB 32 and the second output / input AK 41 (transmission / reception mode) is connected to the PAC 42. The output of the RPM 33 is connected to the first input (signal) of the RPM 40. The second output of the BOKO 36 is connected to the second input of the RPM 40, the output of which is connected to the PA 43.

 In addition, the delay measuring unit BIZ 26 (Fig. 3) has the following technical means (Fig. 5): maximum length sequence generator (HMF) 44, delay line with P taps (LZ) 45, (where P is the number of taps equal to the total number of reference and vernier channels), P + 1 multipliers (PM) 46. i (i = 1, 2, ..., P + 1), P + 1 band-pass filters (PF) 47.i (i = 1, 2, ..., P), P + 1 amplitude detectors (HELL) 48.i (i = 1, 2, ..., P), P + 1 integrators (I) 49.i (i = 1, 2 , ..., P + l) and a decisive unit (RB) 50. The first input of the BIZ 26 (Vkh. 1) - signal, the second and third inputs (Vkh.2 and Vkh.3) are control inputs and are connected to second and third output UB 25, respectively. The second output of the GPMD 44 is connected to the input of the LZ 45. The BIZ 26 has a P + 1 parallel circuit made of series-connected PM 46.i, PF 47.i, AD 48.i, and 49.i. The first inputs of ПМ 46.i of all parallel circuits are connected by a common bus and are the first input (signal) connected to the output of РПРБ 22 (Fig. 3), LZ 45 (Fig. 5) has P taps (outputs), each of which is connected to the second inputs of each PM 46.i (i = 1, 2, ..., P) for P circuits, and the first output of the GPMD 44 is connected to the second input of the (P + 1) -th PM 46.P + 1 of the parallel circuit. The input of the GPMD 44 is the second input of the BIZ 26. The outputs of And 49 P + 1 circuits are each connected to the P + 1 input of RB 50, the separate two control inputs of which are also connected by separate circuits to the second and third output of UB 25. The first output of RB 50 is connected by a common bus with the second inputs And 49 of each P + 1 circuit and is designed to bring And 49 to its original state for the implementation of the integration process. The second output of the RB 50 is a signal and is designed to transmit a signal with a dedicated channel number with the least delay.

 Functional relationships between the blocks (Fig. 2-5) are shown by arrows.

 The system (Fig. 1) in accordance with the claimed method implements the following actions.

 When the state of moving objects is changed to software 3.m, where m is the serial number of software 3 (for example, registration, deregistration, emergency call of the police, ambulance, signaling about a traffic accident, calling a car tow truck, unauthorized opening and car theft, etc.), in software 3 individual codes are generated for identifying software 3 and status code codes for software 3, the specific values of which are selected common for all software 3 (respectively different in terms of the functions performed, for example, registration or ambulance call, but the same in their encoded characteristics for the entire system). Each of the status indicator codes corresponds to a new state of software 3.m. in comparison with the previous one. In practice, a signal about the state of a moving object is transmitted by pressing the button corresponding to this event on the control panel of the software, and when the car is stolen when the sensor is triggered.

 For registration in the system (Fig. 1), the radio channel is occupied. With a free radio channel, 3.m transmitters periodically with a set duty cycle emit signals on the 3.m state on the first radio frequency with a central frequency f and spectral width ΔF, containing their individual and status codes for fixed time intervals Δt. With a large number of software 3 serviced by the system, there is a possibility of simultaneous emission of signals about the state of a moving object 3 by two or more software 3.m, when it becomes impossible to recognize their individual codes and status codes.

 Due to natural differences in the repetition period of the 3.m radio signals, their relative position in each repetition period will randomly change, therefore at some point in time the radio channel will be free for 3.k * software, where .k * is a specific software number, with some for example, a shorter period T (k). This software 3.k * starts radiation at the first radio frequency and the channel at this radio frequency f becomes occupied for other software 3.m.

 They receive the signal of this software 3.k * in CPU 1, demodulate it, identify the individual and status code signs, transmit this software 3.k * at a frequency f with a spectral width ΔF a confirmation signal equipped with an individual software code 3.k *. Upon receipt of a confirmation signal, the software 3.k * stops periodic emission. The confirmation signal is transmitted in order to notify software 3.k * that its status is fixed in CPU 1. This signal for this software 3.k * is at the same time a blocking signal, which is removed independently upon subsequent change of the state of software 3.k * (or upon request his presence on the registration list with the CPU 1).

 From the CPU 1, following the confirmation signal, a control signal is transmitted. This control signal, equipped with an individual software code 3.k * and a code-sign for determining the coordinates, is also a control signal for PP 2. n. At the end of the control signal, the channel at the radio frequency f becomes free for other software 3.m.

The control signal, equipped with an individual software code 3.k * and a code-sign for determining coordinates, is received and processed in software 3.k * and in N software 2, demodulated, the individual code is recognized in software 3.k *, the identification code is recognized coordinates in software 3.k * and in N software 2. After processing the control signal in N software 2 sequentially at the time intervals established for each software 2.n, software PP 2.n emits phase-shifted signals with a central frequency f _s and a spectrum width Δf _c for fixed time intervals Δt _c . The phase-manipulated signals of all the 2.n.sub.P are received in the 3.k * software, are subjected to frequency conversion while preserving the spectrum and are relayed at the frequency f _p for the time interval Δt _p , and Δt _p = NΔt _c , where N is the total number of the PP 2. n (since all N PP 2.n process a control signal with a code-sign for determining coordinates - a synchronizing signal from the moment of which all N PP 2.n are sequentially operated).

Relay signals are received at each receiver in the time interval set by each receiver 2.n to receive the phase-shifted signal. The correlation process in PP 2.n at the same intermediate frequency is the emitted and received phase-manipulated signals and measure in each of PP 2 the signal delay time with the minimum delay time τ _i (i = 1,2,3, ... N, where i - PP sequence number 2.n, wherein the delay time is measured, and N - total number of PP 2) of the received signal relative to the modulation function at a frequency of f emitted _from the phase manipulated signal. Further successively, for each set in 2 PP intervals emit signals to the second radio frequency from the central frequency f _and Δf and the spectrum width _and containing the numerical values of the time delays τ _i, for fixed time intervals Δt _and. These signals are received in CPU 1, demodulated, the numerical values of the delay times τ _i are extracted, and the distances R _i between each SP 2.n and PO 3.k * are calculated using the values of the delay times τ _i . The calculated distances R _i determine the location (coordinates) of the software 3.k *.

Regardless of the state of the radio channels with center frequencies f _c , f _p and f, _and with a free radio channel with a center frequency f, another software 3.l *, where l * is the serial number of the second software 3.m with a slightly longer radiation period T, begins periodic radiation signal about the state of the second software 3.l *. The CPU 1 receives the signal of this software 3.l *, demodulates it, recognizes an individual code and a status indication code for the coordinates, transmits a confirmation signal equipped with an individual software code 3.l * on the first radio frequency f, upon receipt of which the second software 3.l * stops periodic radiation. After the end of emission of phase-shifted signals at the center frequency f _with all BF 2 for software 3.l *, with a free radio channel with center frequency f, a control signal is transmitted, equipped with an individual software code 3.l * and a code for determining coordinates. Then similarly receive in software 3.l * and N PP 2.n, emit and relay phase-shifted signals with subsequent determination of coordinates of software 3.l *.

At some point in time, regardless of the state of the radio channels with center frequencies f _s , f _p and f _and with a free radio channel with center frequency f, the third software 3.m *, where m * is its serial number, emits a signal, for example, equipped with an individual code and a code-sign about the registration of a moving object (or removal of software 3 from registration). This signal is received in CPU 1, demodulated, an individual code and a status code code are identified, the status of software 3.m * is determined by a status code. The results of recognizing an individual code and a code-sign of the state of an object are recorded in CPU 1. Then, with a free radio channel with CPU 1 at the first radio frequency frequency f, software 3.m * is transmitted, a confirmation signal equipped with an individual software code 3.m * is received in software 3.m *, demodulate, recognize the individual code and stop the periodic emission of 3.m * software. Similarly, they register other software 3.m.

However, a situation may arise in which the software on the 3.m registration list does not change its state for long periods of time and does not emit signals at the first radio frequency f. In this case, at predetermined time intervals, for example, 1 time per day, with the CPU 1 on the first radio frequency f, with a free radio channel, presence signals are provided, equipped with an individual code of those software 3.m that did not emit signals about the state of software 3.m, and presence code (in the registration list). Having received such a signal and identifying its individual code and presence signal code, the fourth software 3.p *, where p * is its serial number, with a free radio channel on the first radio frequency f emits a presence confirmation signal equipped with an individual code and a presence confirmation code in system. (The presence code is a request in the signal produced by CPU 1. It ensures the release of the signal on the status of software 3.p * after it receives an individual code, which is perceived as a confirmation signal - a blocking signal. The presence confirmation code is a response in the signal 3.p * software status upon request from CPU 1. These codes may differ from each other or may be the same). The presence confirmation signal is received in CPU 1, demodulated, the individual code and the presence confirmation code sign are recognized, the recognition results are recorded in CPU 1. Then, with a free radio channel with the first radio frequency from CPU 1 on the first radio frequency f, to the fourth software 3. p * emit a signal confirmation by the central point of CPU 1, equipped with an individual software code 3.p *, upon receipt and recognition of which the fourth software 3.p * stops periodic radiation at a frequency f. Then, the CPU 1 emits a control signal, equipped with an individual code of the fourth software 3.p * and a code-sign for determining the coordinates, while the control signal is emitted on the first radio frequency f with a free radio channel after the end of emission of phase-shifted signals at a frequency f _{c with} all of the PCs 2.n. Further, this control signal is likewise received in the fourth software 3.p * and in N software 2, the phase-manipulated signals are emitted and relayed with the subsequent determination of the coordinates of the fourth software 3. p * and the indication of the health of the equipment of the fourth software 3.p * in the CPU 1. Similar In this way, the presence in the registration list and the health of the equipment of other 3.m software are carried out, which for a specified long periods of time did not transmit a signal about the state of the moving object.

 To ensure temporary separation of signals and ensure the normal functioning of the system, its operation is synchronized using conventional techniques and technical means used for these purposes in radio equipment that are not the subject of the present invention. The following describes in more detail the operation of the system to reveal the possibility of its implementation of the main declared in the method actions of receiving and transmitting signals and performing the specified functions by technical means.

 In the initial state (Fig. 4), the PAP 42 of each of the 3.m software (Fig. 1) is disconnected from the output of the first RPM 39 using AK 41 and connected to the input of the first RPB 32. To do this, from the third output of UB 38 to the control second input AK 41 constantly gives the corresponding signal.

 When the state of software 3.m changes, when it is necessary to make a message, for example, register a moving object, or remove a moving object from registration without determining coordinates, or send a message about a traffic accident, about the need for medical assistance, about calling a car tow truck and etc. with the determination of coordinates, or when a car is stolen, accompanied by valuable goods, etc. with the determination of the trajectory of movement, in UB 37 a corresponding combination of signals is generated, which from the first output of UB 37 goes to the input of the GC 38, where the individual code of this particular software 3.k * is stored and status codes are generated whose values are the same and common for the entire system in accordance with a combination of code signals previously adopted for this.

If the radio channel is occupied by some other software 3.m or CPU 1, then on the first radio frequency a control signal with a central frequency f and spectral width ΔF from another software 3.m or CPU 1 is received by the PAP 42, through the AK 41 it is fed to the input of the first RPB 32, where it is amplified and converted into a signal with an intermediate frequency f _CR while maintaining the original spectrum. Next, the signal from the output of the first RPBB 32 simultaneously enters the DM 34 input and the BOC input 35. In the demodulator 34, the received signal is demodulated and then fed to the BOKO 36 input, where the received code is compared with the individual software code 3. k *. If the received code does not match the individual software code 3.k *, there is no match signal at the output of BOKO 36. In BOS 35, the occupancy of a radio channel with a center frequency f is recognized. At the output of the biofeedback 35, a busy signal is generated for the radio channel, which is fed to the second input of UB 37, and UB 37 by its outputs 1, 2, and 3 prohibits the emission of a periodic signal 3.k * at the first radio frequency f.

 With a free radio channel at the first radio frequency f at the output of the BOS 35, there is no busy signal of the radio channel and, if necessary, output a signal about its status to the radio channel 3.k * periodically with a period T with a set duty cycle, radio signals with a central frequency f and spectral width ΔF containing it an individual code and one status code from a set of common code. Radiation is performed for fixed time intervals Δt (see Fig. 6, a). When this signal is emitted, the radio channel at the first radio frequency f becomes busy, and other software 3.m receive this signal, in accordance with the above, monitor the radio channel busy and stop transmitting messages about its state, eliminating the introduction of interference into the radio channel at the first radio frequency. To emit a signal about the state of software 3. k * in UB 37, control signals are generated that are periodic with a period T and a set duty cycle for fixed time intervals Δt, which from the first, second, and third outputs of UB 37 respectively supply the second input of AK 41, the first input GK 38 and the second input of the first RPM 39. When these signals are received, the AK 41 connects the PAP 42 to the output of the first RPM 39. A signal containing an individual and status code signal is output from the output of the GC 38 to the input of the first RPM 39, and the first RPM 39 is turned on .

The signal about the state of the moving object emitted at the first radio frequency f ON 3.k * is received by the PAP 15 in the CPU 1 (Fig. 2), through the AK 14 it is fed to the input of the first RPB 5, where it is amplified and converted into a signal with an intermediate frequency f _pr preserving the original spectrum. Next, the signal from the output of the first RPBB 5 is supplied simultaneously to the inputs of the first DM 7 and BOS 10. In BOS 10, the radio channel is occupied with a center frequency f, a channel busy signal is generated, which from the output of the BOS 10 goes to the second input of UB 11 to inhibit signal emission at a frequency f. In DM 7, the signal is demodulated, after which the demodulated signal from the output of DM 7 is fed to the input of BOKO 9, in which the individual and code-sign of the state of software 3.k * are recognized.

 Since all the 3.m softwares change their state independently of each other, there is a possibility with a free radio channel on the first radio frequency of the simultaneous emission of signals at a frequency f by two (or more) software 3.m. (as an example, see Fig. 6, a and b). With the simultaneous receipt of status signals from at least two software 3.m. BOKO 9 does not recognize software codes 3. m and immediately generates an error signal. However, due to natural differences in the repetition period of the 3.m radio signals, their relative position in each repetition period varies randomly. Therefore, the radio channel at the first radio frequency f will be free at some point in time for the first of software 3.k *, for which, for example, the repetition period T is slightly less than that of another software 3.m *, for which the radio channel will be occupied first by the time of radiation 3.k * software. In addition, with a large number of used 3.m software in the system, when the RPB 39 transmitters are manufactured from batch to batch, the possibility of their functioning with different duty cycle is laid in the equipment, which generally reduces the likelihood of the event of CPU 1 receiving a signal about the state of a moving object from several software 3.m at the same time.

 The results of recognition of an individual software code 3.k * and a status indicator code (as an example with a message about calling a car tow truck) from BOKO 9 go to the first input of UB 11 (Fig. 2). In UB 11, a combination of signals is generated, which from the first output via the data bus goes to GKO 12, where individual codes and status codes from the entire software set 3.m are stored and sets of individual and additional status codes are formed in accordance with the adopted combination signals. There is no channel busy signal at the output of BOS 10, therefore, a confirmation signal with a spectral width ΔF is emitted at a frequency f for a fixed time interval Δt, equipped with an individual code of the first software 3.k *, and a control signal for a fixed time interval Δt, equipped with an individual code the first software 3.k * and a code-sign for determining the coordinates (see Fig. 6, e). To do this, from the first, second and third outputs of UB 11, respectively, to the second input of the RPM 13, the second input of the AK 14 and the input of the GKO 12 supply control signals for a fixed time interval 2Δt, upon receipt of which the AK 14 connects the PSA 15 to the output of the RPM 13. Signals confirmation and control from the output of GKO 12 are fed to the input of the RPM 13, and then the confirmation signal and the control signal with a central frequency f for a time interval of 2Δt is fed to the control panel 15 and is emitted.

 The studied confirmation and control signal at the same time (Fig. 1) is received at the first radio frequency f in each software 2.n and software 3.m of the system.

In each IF 2.n, the signal at the first radio frequency with a central frequency f during the time interval 2Δt with PrA 19 is fed to the input of the first RPrB 21 (Fig. 3), where it is amplified and converted into a signal with an intermediate frequency f _pr retaining the original spectrum. Further, from the output of the first RPrB 21, the signal is supplied to the input of the DM 23. The demodulated signal from the output of the DM 23 goes to the input of the BOC 24, where the obtained code-sign for determining the coordinates that the control signal is equipped with is compared with the existing code in the BOC 24 for the presence of the code- sign of determining the coordinates. If the adopted code-sign of determining the coordinates coincides with that available in the BOC 24, a coincidence signal appears at the output of the BOC 24, which is input to the UB 25. When the UB 25 receives a coincidence signal from its second and fourth outputs, respectively, to the second input of the BIZ 26 and the second the input (control) of the second RPM 28, at the same time, signals of duration Δt _c are received. Moreover, in the first PP 2.n at the second and fourth outputs of UB 25, the formation of signals of duration Δt _{c is} carried out immediately after the coincidence signal appears at its input, and in each subsequent PP 2.n (n = 2, 3, ..., N ) - with a delay of (n-1) Δt _c time intervals after the coincidence signal appears on UB 25, where n is the serial number of the software 2.n. Upon receipt of signals of duration Δt _c from the second and fourth outputs of UB 25 to the second input of the BIZ 26 and the second input of the second BPM 28, the second BPM 28 is turned on for the time Δt _c , and from the first output of the BIZ 26 to the first input of the second BPM 28 during the time interval Δt _c , the elements of the sequence of maximum length arrive, and then a complex, phase-shifted signal with a central frequency f _s and a spectrum width Δf _c for a fixed time interval Δt _c from the output of the second RPM 28 enters the second PA 30 and is emitted. In this case, the radiation of the phase-manipulated signal of the SP 2.n (n = 1, 2, ..., N) is carried out sequentially at the time intervals equal to Δt _c set for each SP 2.n (Fig. 6, f).

 Simultaneously with the PC 2.n (n = 1, 2, .., N) emitted from the CPU 1 at the radio frequency f, a confirmation signal provided with an individual code of the first software 3.k *, and a control signal equipped with an individual code of the first software 3. k * and a code-sign for determining the coordinates (Fig. 4) take the PAP 42 all software 3.m. The confirmation signal and the control signal received by the PAP 42 and the control signal through the AK 41 are fed to the input of the first RPB 32. Next, similar actions are performed on the signals that are carried out when the radio channel with the first radio frequency f is recognized, taking into account the following. At the first output of BOKO 36 of the first software 3. k *, a signal is generated matching the individual and received codes (the received code is the individual code of the first software 3.k *, which is equipped with a confirmation signal). The code coincidence signal is supplied to the first input of UB 37, with the receipt of which the UB 37 at the first, second and third outputs stop the formation of periodic, with a period T, with a set duty cycle, for fixed time intervals Δt, control signals. From this point in time, the PAC 42 is constantly connected to the input of the first RPB 32 through the AK 41, the first RPB 39 is off, the GC 38 stops transmitting individual and additional codes to the input of the first RPB 39, and the first software 3. k * becomes a moving object in initial state (i.e., before the emission of a signal about the state of software 3.k *).

After receiving the confirmation signal, the PAP 42 receives a control signal equipped with an individual code of the first software 3.k * and a code-sign for determining coordinates, which through AK 41 is fed to the input of the first RPB 32. Then, with a control signal equipped with an individual code of the first software 3.k * and a code-sign for determining the coordinates, perform similar actions, taking into account the following. If the first code 3.k * in BOKO 36 matches the individual code and the coordinate determination code with the adopted additional code (the accepted individual code and the coordinate determination code), a coincidence signal of Δt _p is generated at its second output, with Δt _p = NΔt _c , where N is the total number of PP 2.n (since all N PP 2.n participate in processing in the sense that the system’s time is spent on all N PP 2.n, although only some of them can determine the time delay of phase-shifted signals ( not less than three). nye PP at time intervals Δt reserved for _{them, and} will not transfer to the CPU 1 delay values, since for some reason, for example, a very large range, low signal to noise ratio, the delay is not measured). A match signal of duration Δt _p from the second output of the BOKO 36 is supplied to the control second input of the second RPM 40 and turns on the RPM 40 for a period of time Δt _p (see Fig. 6, g).

Complex phase-shifted signals with a central frequency f _with a spectral width Δf _c emitted by PP 2.n (n = 1, 2, ..., N), and the radiation is produced sequentially at equal time intervals Δt _c set for each PP 2.n, accept PRA 31 all software 3.m. However, the processing and relaying of phase-shifted signals is performed only by software 3. k *, since in other software 3. m there is no coincidence signal at the second output of BOKO 36 and the second RPM is not turned on (Fig. 4). Next, phase-shifted signals are fed to the input of the second RPrB 33, where they are amplified and converted into signals with an intermediate frequency f _prs while maintaining the original spectrum. Then the phase-shifted signals are fed to the first input (signal) of the second BPM 40 and for the first software 3.k * are converted into signals with a central frequency f _p while maintaining the original spectrum. These phase-shifted signals from the output of the second RPM 40 are supplied to the PA 43 and emitted during the time interval Δt _p .
The first phase-relayed signals relayed by the first software 3.k * (Fig. 3) receive the second PrA 20 in the software 2.n (n = 1, 2, ..., N). From the output of the second PrA 20, this signal is fed to the input of the second RPrB 22, where it is amplified, converted with the preservation of the original spectrum into a signal at an intermediate frequency f _prs . From the output of the second RPBB 22, the phase-shifted signal is fed to the first input (signal) of the BIZ 26. In the BIZ 26, the delay time τ _i (i = 1,2, ..., N) is determined, where i is the serial number of the transmitter 2.n, and N is the total number of PP 2. n) the received signal relative to the modulating function of the sequence of maximum length coming from the first output of the BIZ 26 to the first input (signal) of the second BPM 28 of the complex phase-shifted signal emitted by this PP 2.n Then, at the end of the action of the signals at the second and fourth outputs of UB 25 with a duration of Δt _c, control signals of duration Δt _c are generated at the first and third outputs of UB 25. The control signal from the first output of UB 25 is supplied to the first input (control) of the first RPM 27 and turns on the first RPM 27 for a time Δt _c . A control signal of duration Δt _c from the third output of the control unit 25 is fed to the third input of the BIZ 26. When a control signal of duration Δt _{c is} received at the third input of the BIZ 26, a signal _{with a} duration of Δt _and containing information about the delay time τ _i (i = 1,2, ..., N), with Δt _n ≤Δt _c . This signal from the second output of the BIZ 26 is fed to the second input of the first BPM 27 and then the radio signal with a central frequency f _and a spectral width Δf _and for a fixed time interval Δt _and from the output of the first BPM 27 is transmitted to the first PA 29 and emitted (it can be noted that control signals at the third and first outputs of UB 25 are formed after the signals at its second and fourth outputs are formed, which are formed in the 2.n (n = 1, 2, ..., N) software with a delay of (i-1) Δt _c time intervals after the appearance of a coincidence signal at the input of UB 25, therefore, the emission of signals at the center frequency f _and PP 2.n (n = 1, 2, ..., N) are produced sequentially in time with a delay of iΔt _c time intervals (Fig. 6, k).

Radiated at the second radio frequency with a central frequency f _and signals containing information about the delays τ _i (i = 1,2, ..., N), receive PrA 4 CPU 1 (Fig. 2), which are then fed to the input of the second RPB 6 , where amplified and converted into signals with an intermediate frequency f _CR while maintaining the original spectrum. Next, the signals from the output RPrB 6 are fed to the second DM 8, where they are demodulated. The demodulated signals from the output of the second DM 8 are fed to the first input (signal) of the memory unit 17. In the memory unit 17, information on the numerical values of the delays τ _i (i = 1,2, ..., N) from all the SPs 2.n is stored. To do this, from the sixth output of UB 11 to the second input (control) of the memory device 17 via the control bus after a period of time Δt _c after the end of the control signals at the first, second and third outputs of UB 11 (it can be noted that at the end of the action of these control signals, synchronization a first software 3.k *, all PP PP 2.n and first begins to 2.n phase manipulated signal radiation at frequency f _with a period of time Δt _c) is fed to Δt _c recording information signal of the delay τ ₁ of the first for a time PP 2.n in the first memory cell of the memory 17. D Then, in the next period of time Δt _c from the sixth output of UB 11, to the second input of the memory unit 17, a signal for recording delay information τ ₂ from the second PC 2.n is sent to the second memory cell via the control bus. Similarly, at the appropriate time intervals, information is recorded about the delay from the remaining PP 2.n (n = 3, 4, ..., N) in the corresponding N-2 memory cells. Next, from the output of the memory device 17 via the data bus, the numerical values of the delays τ _i (i = 1,2, ..., N) are fed to the first input of the DBK 18 data, rewritten to the DBK 18, where, based on the use of the well-known ranging formulas for the delays obtained in this time interval NΔt _c , the coordinates of the first software are calculated 3. k *. For this, after the completion of the formation of signals for recording information about delays τ _i (i = 1, 2, ..., N) at the sixth output of UB 11, the fifth output of UB 11 generates a signal of a logical unit, which is then fed to the second input of DBK 18. Calculated coordinate values from the output of DBK 18 are fed to the third input of UB 11. In UB 11, information about its coordinates is attached to the number of the first software 3.k * of the system and a message about calling the tow truck. Detailed information about the software 3.k *, stored in the data bank (for example, name of the owner of the software 3.k *, make, color, vehicle registration number, etc.), and all available information at the moment, are extracted from the memory of UB 11 time from the fourth output of the control unit 11 is served on the BI 16 for visual observation.

Regardless of the state of the radio channels with center frequencies f _c , f _p and f _and with a free radio channel with the first radio frequency f of another software 2.l * with a slightly longer emission period, periodic radiation begins (Fig. 6, b). The studied signal about the state of the second software 2.l * at the first radio frequency f is received in the CPU 1 and then perform similar actions on the signal of the second software 2. l *, equipped with an individual code of the second software 2.l * and a status code, for example, determining trajectories of a moving object carrying valuable cargo. The system works in this case in the same way, taking into account the following. The control signal for a fixed time interval Δt, equipped with an individual code of the second software 2.l * and a code-sign for determining coordinates, is emitted on the first radio frequency f not immediately after the end of the confirmation signal, equipped with an individual code of the second software 2.l *, but after radiation of phase-shift keyed signals at the center frequency f _with all PP 2.n when determining the coordinates of the first software 3. k * (see Fig. 6, d, g). For this, in UB 11 (Fig. 2) after the end of the control signal, equipped with an individual code of the first software 3.k * and a code-sign for determining the coordinates, a signal of duration NΔt _{c is} generated, which prohibits the passage of the first, second and fifth outputs of UB 11 of control signals to generate a control signal equipped with an individual code of the second software 2.l * and a code-sign for determining the coordinates. In this case, the radiation of the control signal, equipped with an individual code of the second software 2.l * and a code-sign for determining the coordinates, is repeated at specified intervals, and the calculated current coordinates are stored in a memory cell allocated for the second software 2.l * in UB 11, displaying information about the second software 2.l * in BI 16 with updating the current coordinates of the second software 2.l * at set intervals.

 Similar actions are performed on 3.m software signals, which carry out registration or deregistration (enter the system or exit the system), taking into account the following actions. When signals about the state of software 3.m, equipped with individual codes and a sign code, are received at the first radio frequency f at the first radio frequency f, an individual code and a status sign code are recognized or entered into the BOKO 9 (see, as an example, FIG. . 6, c). At the same time, in the memory block of the control unit 11 allocated for this software 3.m *, its input or output from the system is recorded, then a confirmation signal is generated, equipped with an individual code for this software 3.m *, the CPU 1 signal with a central frequency f , receive in software 3.m *, identify the individual code in BOKO 36 (Fig. 4) and register in UB 37 the statement of software 3.m * for registration or deregistration. A control signal is emitted if necessary to determine the coordinates of the software 3. m *. When applying for registration or deregistration in the General case, the control signal can not be emitted (Fig. 6, c). However, to solve the problem of determining the location of software 3.m * in the future, it is already necessary to radiate a control signal from CPU 1.

 Similar actions are carried out on the signals present in the software 3. m, which for a specified long period of time did not emit signals at a frequency f, taking into account the following actions. In UB 11, the CPU 1 generates a signal whose duration is equal to a predetermined long period of time. The duration of this period of time is selected based on their requirements of services: air traffic control, ambulance, etc. or, for example, for personal vehicles - within a few hours. For example, if a subscriber leaves 3.m * software, then he puts the car on registration. If the subscriber is in the software 3.m *, then he can remove it from registration. Other subscribers can perform similar actions (change the state of an object) at shorter intervals. Therefore, the length of time the signal generated in UB 11 is selected based on those events that rarely occur, otherwise the system will be overloaded with presence requests. If UB 11 CPU 1 matches the set long period of time signal with the recording of software codes 3.m in the memory cells corresponding to the software numbers 3.m of the entire system (during a radio contact, the code of this software 3.m is recorded, and the recording signal coincides with a signal for a long period of time), UB 11 generates logical unit signals (it should be noted that these signals are a sign of an established radio contact with specific software 3.m) and record the signals of a logical unit in the corresponding cells Yati UB 11 data 3.M software for all software 3.m, transmits signals on the state of the object. Then, after the end of the signal for a set long period of time, combinations of signals are formed sequentially at predetermined certain time intervals in UB 11 for those software 3.p * in the memory cells of which there are no logical unit signals. The combination of signals (Fig. 2) from the first output of UB 11 is fed to the input of T-bills 12, where, in accordance with the adopted combination of signals, sets of individual software codes 3.p * and a code-sign of presence in the system are formed. Then, in a similar manner, a radio signal is emitted at the first radio frequency with a center frequency f (as an example, the fourth software 3.p *, see Fig. 6, d, e), it is received by all software 3.m, the individual code and presence code are recognized in BOKO 36 (Fig. 4) of the fourth software 3.p *, in the same way, an individual code and a code-sign of confirmation of presence in the system are generated in GK 38. ON 3. p * emits a corresponding signal about the state of a moving object with a central frequency f. This signal about the state of the moving object is likewise received in CPU 1, the individual code and the sign code confirming the presence of the fourth software 3.p * in BOKO 9 are recognized (Fig. 2). In UB 11, the state of the fourth software 3. p * is recorded in the corresponding memory cells, signal combinations for T-bills 12 are generated. Next, the confirmation signal 1, equipped with the individual code of the fourth software 3.p *, and the control signal are emitted on the first radio frequency f equipped with an individual code of the fourth software 3.p * and a code-sign for determining the coordinates, determine the coordinates of the fourth software 3.p *. In UB 11, in the corresponding memory cell, the health state of the fourth software 3.p * is recorded and the result is output to BI 16 for visual display of information. After establishing a radio contact with all software 3.m, which for a long period of time did not emit signals at frequency f, and recognizing their status (working or faulty), they generate a logic unit reset signal in the corresponding memory cells of UB 11 for all software 3.m . It can be noted that from this moment it is believed that not a single 3.m software emitted a signal about its state.

 (If there hadn’t been a signal for the dative time interval, then the registered software 3.m an hour ago, a day ago, a few days ago would have been equal. It would have been considered that there was a radio contact with them, they are all working and are present in the registration list. Therefore, they are only called 3.m software that is registered but has not changed its state for a long period of time, after which it is considered that there was no radio contact with any 3.m software (but current information about the status of 3.m software is saved). Then all repeat 3.m software registered a few days ago and then not changing their state (being, for example, in the parking lot) in each long period of time will be recorded as registered 3.m software with which there was no radio contact, and then checked. Software 3.m, which during this long period of time changed its state, will not be checked).

 Thus, the main feature of the claimed method is that the signal transmission is blocked by the very fact of radiation at the first radio frequency of any signal for the duration of its operation. So, for example, CPU 1 cannot start emitting at the first radio frequency of any of the signals if its BOS 10 signal detecting unit detects the fact that the radio channel is busy, that is, receiving any of the signals of any moving object of software 3.m. This also applies to any of the moving objects, regardless of who emits the signal - CPU 1 or other software 3.m. A specific mobile object 3.M is blocked by a confirmation signal, and it is unlocked upon transition to another state or by the command of CPU 1, for example, when determining the presence.

 The delay measurement unit BIZ 26 (Fig. 3) of all PP 3.n works as follows (Fig. 5, 7).

Upon receipt of a signal of duration Δt _c to the second input (In2) of the BIZ (Fig. 5), which is the combined input of the GPMD input 44 and the first separate input RB 50, RB 50 along the leading edge of this signal generates a reset signal that sets RB 50 to the initial state. In addition, the generated reset signal from the first output of the RB 50 is fed to the second control inputs of the integrators And 49.i (i = 1, 2, ..., P + 1), which are also set to the initial state. At the same time, the HMDF 44 during the period of time Δt _c generates two identical signals in the form of a sequence of maximum length (PMD). The first PMD signal from the first output of the GPMD 44 is fed to the first input of the multiplier of the (P + 1) -th PM 46. P + 1 and the first output (Output 1) of the BIZ 26. The second signal is delayed relative to the first signal for a period of time equal to the total the delay time of the first signal in the equipment of one of the software 2.n and one of the software 3.m, from the second output of the HMD 44 is fed to the input LZ 45 with P taps (it can be noted that the total delay time in the equipment of the software 2. n and software 3 .m are determined for factory calibration of the system as opposed to the closest analogue). From the corresponding tap LZ 45, the signal in the form of PMD is fed to the second input of the corresponding PM 46.i (i = 1, 2, ..., P). Moreover, from each subsequent tap the signal in the form of PMD is served with a delay relative to the previous tap for a period of time equal to the L-th part of the duration of the PMD elementary pulse. The combined second inputs of the PM 46.i multipliers (i = 1, 2, ..., P + 1), which are the first input (Bx.1) of the BIZ 26, provide a complex phase-shifted signal with a spectrum distributed in a wide frequency band. From the outputs of the PM 46.i multipliers (i = 1, 2,..., P + 1), the results of multiplying the complex phase-manipulated signal with P + 1 copies of the modulating function, which was used to form the complex phase-manipulated signal, are fed to the inputs of the corresponding band-pass filters PF 47.i (i = 1, 2, ..., P + 1).

In those P multipliers in which copies of the modulating function and the modulating function of the phase-manipulated signal with the spectrum distributed in a wide frequency band are synchronous (or out of sync with less than the duration of the elementary pulse of the modulating function), phase manipulation is eliminated (partially eliminated) and compressed over a frequency band of various amplitudes, sinusoidal signals of duration Δt _c and frequency f _prs . In the rest of the multipliers, including the (P + 1) -m PM 46. P + 1, due to the non-synchronization of the modulating function and its copy, the corresponding convolution does not occur and broadband noise is generated at their outputs. Since the P + 1 copy of the modulating function corresponds to a negative delay, the level of the generated signal at the output of the multiplier 46. P + 1 is used as an estimate of the noise level in a given time interval Δt _c (noise threshold level).

The signals from the outputs of the PM 46.i multipliers (i = 1, 2, ..., P + 1) are fed to the inputs of the corresponding bandpass filters PF 47.i (i = 1, 2, ..., P + 1), where squeezed sinusoidal signals compressed with a duration of Δt _c or a part of the spectral components of broadband noise are extracted. Next, the filtered signals from the outputs of the PF 47.i (i = 1, 2, ..., P + 1) are fed to the inputs of the corresponding amplitude detectors HELL 48.i (i = 1, 2, ..., P + 1), where the envelope of the signals is extracted. The selected envelopes of the signals from the output of HELL 48.i (i = 1, 2, ..., P + 1) are fed to the inputs of the corresponding integrators And 49.i (i = 1, 2, ..., P + 1), where integrate them over time Δt _c . The results of integration with the outputs And 49.i (i = 1, 2, ..., P + 1) are fed to the corresponding inputs of RB 50.

At the end of the signal with a duration of Δt _c at the second input (Input 2), the BIZ 26 of the GPMD 44 stops the generation of PMD signals, and two read signals are generated at the trailing edge of this signal in RB 50. The first read signal in RB 50 determines the value of the signal level at the output of the integrator And 49. P + 1 (at the output of P + 1 channel), take this value as the noise level and, in accordance with the Neumann-Pearson criterion, determine the threshold level, i.e. . the required excess of the signal over the noise (see Fig. 7, b). The second read signal is generated with a delay relative to the first read signal for a period of time equal to the time interval between the start of the PMD generation at the second and first outputs of the GPMD 44. The second read signal in RB 50 determines the signal levels at the outputs of P integrators (outputs of P channels). With multipath propagation of radio waves, which is typical for urban conditions (for example, a two-beam, see Fig. 7, a), the output signals exceed the threshold level in the first, third and fifth channels (Fig. 7, b), tuned to delays, multiple durations elementary momentum of the modulating function t ₀ , and which are supporting. These reference channels with corresponding output signal levels are allocated (see Fig. 7, c), they determine the channel with a lower number (in this case, the first channel) and consider that the threshold level is exceeded in all other reference channels, except for the following (in this case of channel number three), due to the multipath nature of the propagation of radio waves. To clarify the signal delay value, vernier channels are used with a delay setting equal to the Lth part of the elementary pulse duration t ₀ (for example, L = 0.5t ₀ , see Fig. 7d). For this, a nonius channel with a high level of the output signal is allocated (in this case, the only channel with number two, see Fig. 7, d, e) and the delay value is taken as the delay value corresponding to channel with number two.

 If the signal delay corresponded to the delay at which the threshold level was exceeded only in the third reference channel, then vernier channels with numbers two and four are used to clarify the delay value. In this case, the true value of the delay corresponds to the delay setting of the channel (channels with numbers two, three or four) whose output signal has a maximum level, and at equal levels of two output signals (which can happen very rarely and is determined by the hardware accuracy of determining signal levels in vernier channels) - to any of them.

 Further, when a control signal arrives from UB 25 at the third input (Vkh.3) of the BIZ 26, which is another separate input of the RB 50, at the second output of the RB 50, which is the second output (Out.2) of the BIZ, a signal is provided with the number of the selected channel . The number of the selected channel corresponds to the numerical value of the delay time.

The number of channels P is determined as follows. Based on the requirements for the delay interval, at which the straight line A (see Fig. 7, a) and the reflected B rays must be different, we find the shift in the delay 2t ₀ between the orthogonal (excluding threshold level ΔU) reference channels (see Fig. 7, b). From this shift, the elementary pulse duration t ₀ and the spectrum width Δf _c ≥2 / t _{0 are} determined. From the required range of the system (the distance between the software 3.m and the software 2.n) r and the found value t ₀ we find the necessary number of reference channels P _о = 1 + 2r / ct ₀ , where c is the speed of light. In practice, usually range measurements are carried out to fractions of duration t ₀ . For the proposed method, the number of vernier channels P _tn in the interval t ₀ is determined from the expression P _tn = N _t - 1, where N _t is the number of fractions into which the interval t ₀ is divided. Moreover, the delay shift of the vernier channels will be t ₀ / N _t , the delay measurement error is σ _τ ≤0.5t ₀ / N _t , the number of all vernier channels is P _n = P _tn (P ₀ - 1), and the number of channels is P = P ₀ + P _n

 The following is an estimate confirming an increase in the accuracy of positioning and throughput in the claimed technical solution compared to the closest analogue.

где

- отношение удвоенной энергии сигнала E_с к спектральной плотности шума N₀ на выходе оптимального приемника,
f_эк - эквивалентная частота огибающей сигнала.In the closest analogue, the difference-ranging method of positioning is used. The variance of the estimate of the delay time of the signal (range) σ $\genfrac{}{}{0ex}{}{\text{2}}{\text{τ}}$ defined by the formula:

Where

- the ratio of the doubled energy of the signal E _with the spectral density of noise N ₀ at the output of the optimal receiver,
f _ek - equivalent envelope frequency of the signal.

При измерениях по двум спектральным составляющим (двум синусоидальным сигналам), разнесенным по частоте, эквивалентная частота f_эк= Δf_c/2. Здесь Δf_c - разнос по частоте или ширина спектра сигнала.If the signals in the channels of the difference-ranging system are not correlated, and the parameter q _o ² in the channels is the same, then the variance of the delay difference σ $\genfrac{}{}{0ex}{}{\text{2}}{\text{Δτ}}$ determined in accordance with the formula:

When measured by two spectral components (two sinusoidal signals) spaced in frequency, the equivalent frequency f _ek = Δf _c / 2. Here Δf _c is the frequency spacing or the width of the signal spectrum.

В ближайшем аналоге среднеквадратическая погрешность измерения взаимных задержек (разности задержек) сигналов σ_Δτ= 0,1 мкс. при ширине спектра сигналов Δf_c= 30 кГц.
Для обеспечения такого значения погрешности σ_Δτ необходимо иметь в (3) отношение сигнал-шум на выходе оптимального приемника q_вых ≥ 148. Учитывая, что E_с = P_сT_с, а N₀= P_ш/Δf_c, получим:

где

- отношение сигнал-шум на входе приемника, P_с - мощность сигнала, P_ш - мощность шума, T_с - длительность сигнала.Substituting the value of f _eq in (2), we obtain:

In the closest analogue, the standard error of the measurement of mutual delays (delay difference) of signals σ _Δτ = 0.1 μs. when the width of the spectrum of the signals Δf _c = 30 kHz.
To ensure such an error value σ _Δτ, it is necessary to have in (3) the signal-to-noise ratio at the output of the optimal receiver q _o ≥ 148. Given that E _c = P _s T _s and N ₀ = P _w / Δf _c , we obtain:

Where

is the signal-to-noise ratio at the input of the receiver, P _s is the signal power, P _w is the noise power, T _s is the signal duration.

где E_с - напряженность поля в точке приема,
K_г - коэффициент, учитывающий дополнительное затухание в условиях города,
P_по - мощность передатчика ПО 3,
r - расстояние между ПО 3 и ПП 2,
λ - длина волны,
h₁, h₂ - высота антенн ПО и ПП 2 над уровнем земли.At Δf _c = 30 kHz, T _s = 10 ms and q _out ≥ 148 in accordance with (4) q _in ≥ 6. To estimate the range of the closest analogue at a transmitter power of a moving object P _with = 2 W emitting at a frequency f _s = 150 MHz and having an antenna with a gain equal to unity and a 100% efficiency, we use the Vvedensky quadratic formula for city conditions:

where E _{with the} field strength at the receiving point,
K _g - coefficient taking into account the additional attenuation in the conditions of the city,
P _on - transmitter power PO 3,
r is the distance between PO 3 and PP 2,
λ is the wavelength
h ₁ , h ₂ - the height of the antennas software and PP 2 above ground level.

или

Для определения дальности при ограничении на параметр q_вх найдем мощность шума на входе приемника P_ш:

где kT₀ = 4•10^-21 Вт/Гц,
K_ш - коэффициент шума приемника,
T_А - шумовая температура приемника в градусах Кельвина,
T₀ = 290 K.When the load resistance R _n = 50 Ohm, the current length of the antenna (quarter-wave vibrator) l _d = λ / 2π in matching mode

or

To determine the range with the restriction on the parameter q _I find the noise power at the input of the receiver P _W :

where kT ₀ = 4 • 10 ^-21 W / Hz,
K _W - noise figure of the receiver,
T _{And the} noise temperature of the receiver in degrees Kelvin,
T ₀ = 290 K.

The temperature T _A for f _c = 150 MHz and industrial areas of the city is 2 • 10 ⁴ . Then, for K _w = 2 from (7) we find P _w = 8.4 • 10 ^-15 W. Since q _input ≥ 6, then at this value of P _{W the} signal power P _s should be at least 302.4 • 10 ^-15 watts. Then from (6) for K _r = 0.1, h ₁ = 2.5 m, h ₂ = 50 m we find that the distance r between PO 3 and PP 2 should not exceed 4.9 km.

We assume that the height of the antenna of the central point (as well as the receiving one) is 50 m and no significant change in the signal-to-noise ratio occurs when relaying signals of PO 3. Thus, for seven receiving points 2 (Fig. 8), the area of the working area is:
S = πr ² = π • 4.9 ² = 75.4 sq. Km
with a viewing time equal to three switching triples of receiving points (signal repeaters).

In the proposed method, the distance r between PP 2 and PO 3 can be increased to 9 km. For example, we take Δf _c = 2MГw, and leave all other initial data the same as for the nearest analogue.

From (6) for r = 9 km we obtain the signal power at the input of PO 3 P ' _s = 28.6 • 10 ^-15 W, and from (7) we find P' _w = 560 • 10 ^-15 W.

The signal and noise are amplified in software 3 and emitted. In this case, the power of the PPO transmitter, equal to 2 W, is distributed between P ' _s and P' _w . The power spent on the signal P _pos = 0.1 W, and the noise P _pos = 1.9 W. Since the attenuation along the path is V = P ' _s / P _pp = 28.6 • 10 ^-15 / 2 = 14.3 • 10 ^-15 , so many times will weaken both P _pos and P _pol . In this case, P _c = P _pos • V = 1.4 • 10 ^-15 W, and P _W1 = P _pos • V = 27.2 • 10 ^-15 W. To the noise P _W1 are added the noise P ' _{W of the} receiving point PP 2, so that the total noise P _W = P _W1 + P' _W = 587.2 • 10 ^-15 W, and the signal-to-noise ratio q _I = 0.05.

With the ranging method of positioning, as proposed in the claimed technical solution, the signal travels a double distance. Therefore, a 0.1 μs location error is equivalent to not 30 m, as in the differential-ranging method, but 15 m. Therefore, to equalize the errors in (1), σ _τ should not be equal to 0.1 μs, but 0.2 μs.

поэтому (1) можно представить в виде:

Из (8) находим, что для обеспечения σ_τ= 0,2 мкс при Δf_c= 2 МГц необходимо иметь q_вых = 1,4. Однако при таком значении q_вых возникают проблемы с обнаружением сигнала. Для качественного обнаружения необходимо иметь q_вых = 9...10, что приведет к уменьшению погрешности σ_τ (8).For the proposed signal

therefore (1) can be represented as:

From (8) we find that to ensure σ _τ = 0.2 μs at Δf _c = 2 MHz, it is necessary to have q _o = 1.4. However, when such a value of q _O arise problems with the detection signal. For high-quality detection, it is necessary to have q _o = 9 ... 10, which will lead to a decrease in the error σ _τ (8).

From (4) for q _o = 9 ... 10, Δf _c = 2 MHz and T _c = 10 ms, we find the minimum necessary value of q _in , which is 0.045 ... 0.05 and is consistent with the previously calculated value for r = 9 km.

A signal with such properties can be implemented on the basis of an M - sequence with 8191 binary symbols with an elementary pulse duration t ₀ = 1 μs. In this case, the measuring channels should be shifted by a delay of 0.25 μs. The signal duration will be 8.191 ms.

The area of the working area in this case (Fig. 8) is S = πr ² = 254 km2, and the number of switchings for a full view is seven. For such a working area, an additional six reception centers would have to be entered into the closest analogue. In this case, the total number of switching increases from three to nine, which is two more switching than in the present method.

 The principal difference of the proposed method lies in the possibility of establishing the specific condition of the moving object and making a decision adequate to this condition (vehicle breakdown - call the representative of the repair service or tow truck; traffic accident - call the representative of the traffic police, and, if necessary, ambulance; car theft - providing relevant services with the necessary information about the car and its movement with reference to the electronic map of the city).

 The proposed method for detecting and identifying moving objects is quite flexible, i.e. it has the ability to change the order of service in emergency situations in accordance with the priorities determined by the conditions of the moving objects, to carry out diagnostic monitoring of the health of the equipment of the moving objects and, importantly, to inform the owner of the moving object of the receipt of his message.

 The most successfully claimed method of detecting and identifying moving objects can be industrially applicable in radio engineering systems for determining the coordinates of radio emission sources, mainly for assessing the location of mobile police groups, emergency services vehicles, means of transporting valuable documents or goods, as well as in security alarm systems for determining location cars when they are stolen.

Sources of information:
1. Application of France N 2630565, m.p. G 08 B 7/06, publ. 1988 year

 2. Patent of the Russian Federation, N 2013785, m.p. G 01 S 13/00, publ. 1994

Claims (8)

 1. A method for detecting and identifying moving objects, which consists in transmitting a signal on the state of the moving object, provided with an individual code for each moving object on the first radio frequency from the moving object, receiving a signal from the object at least at three receiving points, spatially spaced on the ground and with known coordinates, they process the signal at the receiving points to measure the delay time of the signal arrival at the receiving points, they radiate sequentially in time at the first radio hour totem the control signal from the central point to ensure consistent time-based information from the receiving points, receive the control signal at the first radio frequency at the receiving points and transmit signals from the receiving points at the second radio frequency to the central point to calculate the distance from the receiving points to the moving object, characterized in that moving objects are capable of receiving a control signal and receiving and transmitting a broadband signal, and receiving points are capable of transmitting to receive and receive a broadband signal, transmit a signal about the state of the moving object at the first radio frequency from the moving object, additionally equipped with a status code, additionally receive a signal about the state of the moving object in other moving objects and block their transmission of signals about the state of the moving objects, receive a signal about state from a moving object at a central point, when receiving a signal about the state of a moving object at a central point, they block the transmission of signals at the first radio frequency to mobile objects and receiving points, a confirmation signal is provided at the central point, equipped with an individual code of the moving object, and a control signal, which is additionally provided with a code-sign for determining coordinates, emits a confirmation signal and a control signal at the first radio frequency at the first point, and a confirmation signal is received at the first radio frequency and a control signal at all moving objects and at least three receiving points, when receiving a confirmation signal at a moving object, which gave a signal about the state of a moving object, stop transmitting a signal about the state of this moving object, and when the other mobile objects receive a control signal after the end of the control signal, their signal transmission about the state of moving objects is unblocked, when a control signal is received at reception points, a phase-shifted signal with a wide spectrum is formed and with a first central frequency different from the first radio frequency and the second radio frequency, an additional phase emit sequentially in time a pulled signal at each receiving point, a phase-shifted signal is received by a moving object that has transmitted a signal about the state of a moving object, and it is converted into a phase-shifted signal with a second center frequency different from the first center frequency, from the first radio frequency, from the second radio frequency and preserving the spectrum of the phase-shifted signal with the first center frequency, the phase-manipulated signal is relayed by the moving object with the second center frequency, the phase-shifted signal is received Al with a second center frequency, at least in three receiving points that previously emitted a phase-shifted signal with a first central frequency, the emitted and received phase-shifted signals are correlated at the receiving points at one intermediate frequency, and the signal delay time is measured at each receiving point with a minimum the delay time, generate signals at the receiving points corresponding to the delay times, and transmit them sequentially in time at the second radio frequency from the receiving points in ntralny point to calculate distance from collection points to an object by positioning the ranging method.  2. The method according to claim 1, characterized in that the duty cycle of the signals about the state of the moving object for each of the moving objects is chosen different.  3. The method according to claim 1, characterized in that the status code in the signal about the state of the moving object is selected common to all moving objects, and individual codes are used as feature codes, setting the moving object for registration, or removing the moving object with registration, or traffic accident, or calling for medical assistance, or calling a towing vehicle of a moving object, or determining the route, or presence in the registration list.  4. The method according to claim 3, characterized in that when the movable object is registered, or the mobile object is unregistered, or during a traffic accident, or when calling for medical assistance, or when calling a tow truck, or when determining the route, or when determining the presence in the registration list when receiving a signal about the state of a moving object in the central point, remember the individual code of such a moving object for registration by the central point of the corresponding event, emit a cent cial paragraph on the first radio frequency confirmation signal provided with an individual code, received and recorded confirmation signal to the mobile unit for registration of the mobile unit an acknowledgment of the central point of the event information.  5. The method according to p. 3, characterized in that when determining the presence of a moving object in the registration list at a central point, a presence signal is generated, provided with an individual code and a presence sign code, a presence signal is emitted at the first radio frequency by the central point, a signal is received at the first radio frequency presence in the moving object, form a confirmation signal of presence in the moving object with an individual code and an additionally entered confirmation code of presence and transmit it to howling radio frequency, taking the central point of the first radio frequency signal to confirm the presence and stored in a central location-specific code of the mobile unit to register the presence of a moving object in the registration list.  6. The method according to claim 3, characterized in that when determining the route of the moving object, the control signal, equipped with an individual code and a code-sign for determining the coordinates, is emitted at the first radio frequency with a delay after the end of the confirmation signal for the period of emission of the phase-shifted signals at the first center frequency all receiving points and relaying the phase-shifted signal by the moving object at the second center frequency, while the radiation of the control signal is repeated through the specified industrial daily time.  7. The method according to claim 1, characterized in that when measuring the delay time of the signal with a minimum delay time, all incoming signals are allocated relative to the threshold noise level in channels with fixed numbers configured for delays that are multiples of the duration of the elementary pulse of the modulating function of the phase-shifted signal, then the signal corresponding to the minimum delay additionally use vernier channels with fixed numbers and with a delay setting equal to part of the duration of the elementary and pulse of the modulating function, emit a signal corresponding to the minimum delay in the vernier channel, and the delay time is determined by the vernier channel with the maximum signal level, while the fixed number of the vernier channel is taken to correspond to the numerical value of the signal delay time.  8. The method according to claim 7, characterized in that the correlation processing of the emitted and received phase-manipulated signal is carried out in channels with fixed numbers by simultaneously multiplying the received phase-manipulated signal with copies of the modulating function of the emitted phase-manipulated signal, and the copies are delayed for equal time intervals relative to the time equal to the total delay at the receiving point and the moving object, the multiplied signals are filtered in a band equal to the reciprocal of the length The functions of the modulating function are detected by amplitude, integrated over the duration of the modulating function, and compared with a threshold noise level.

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