RU2192653C1 - Short-range radar system for collision warning of aircraft maneuvering on air field - Google Patents

Abstract

FIELD: aircraft collision warning equipment. SUBSTANCE: invention is related to short-range radar systems designed to prevent collision of aircraft moving across airfield with dangerous obstacles. It resides in determination of coordinates of obstacles falling within scanning zone of transmitting and receiving antennas of proposed radar system located on aircraft. Salient feature of invention consists in that frequency control over spatial position of concentration region of electromagnetic field in close zone formed by crossing beams of transmitting and receiving antennas coming in the form of linear slotted-guide arrays spaced apart by certain base distance is carried out in synchronous-coupled manner so that matching region of concentration of electromagnetic fields is formed at certain fixed distance from slotted-guide arrays whose falling on some nonuniformity in the form of obstacle is fixed in indication unit of proposed radar system. EFFECT: enhanced reliability, timeliness and authenticity of detection of obstacles which makes it feasible to ensure maneuver of aircraft to avoid collision with obstacles. 1 cl, 6 dwg

Description

 The invention relates to the field of near-radar technology and can be used to ensure the safety of aircraft during their maneuvering at the airport by warning their crews about the possibility of a collision with ground-based obstacles. The relevance of this task follows from the large number of cases of aviation accidents, the cause of which can be both difficult weather conditions and the impossibility of an accurate assessment of the relative position or movement of an aircraft (aircraft), in this case an airplane, and obstacles. This invention, for example, can be used to prevent the collision of large aircraft with a wingspan of more than 20 meters with obstacles unnoticed by pilots when maneuvering in the vicinity of the runway of the airfield in conditions of poor visibility, and is aimed at detecting obstacles, determining their location relative to a moving aircraft and ensuring the efficiency of displaying the current situation on the pilot's display for timely warning of the crew about the possibility of a collision with external obstacle.

The features of short-range radar systems that determine the formation of tactical and technical requirements for them are the following:
- a small distance to obstacles (radar targets) located on the surface of the airfield, which creates a strong background interference with the reception of radio signals from targets;
- a large range of fluctuations in the magnitude of the effective scattering surface (EPR) of the targets due to their great diversity;
- the need to ensure the effective operation of the antenna system in the near field of the radiation pattern (BH);
- the need to protect primarily the wings as the most vulnerable part of the aircraft structure, which determines the installation location of the system at the ends of the wings at their leading edge;
- a consequence of the previous requirement is the need to ensure small dimensions and weights of the system, as well as the need to maintain the aerodynamic qualities of aircraft wings;
- the need to ensure operation in adverse weather conditions (rain, fog, snowfall, etc.) and, accordingly, the choice of the frequency range with λ ≅ 8 mm (in the "transparency window" of the atmosphere);
- ensuring prompt and reliable display of information about the presence of an obstacle on the pilot's display for an adequate interpretation of the current situation and the possibility of assessing the mutual movement of the aircraft and the obstacle.

 Known short-range radar used in on-board control systems for blind landing of the aircraft and to prevent the collision of the aircraft with an obstacle [1]. In the known radar, the task of providing a blind landing and preventing collisions with obstacles is achieved by generating a continuous frequency-modulated (FM) signal from the radar transmitter with measuring the distance by the beat frequency with the signal from the receiving part of the same radar by adjusting the magnitude of the deviation of the FM signal. The disadvantages of the known radar are the low accuracy, lack of efficiency and the inability to assess the mutual motion of the aircraft and the obstacle, as well as the angular position of the obstacle relative to the radar, the low reliability of the information received when receiving a combination of signal and strong background created by reflection from the surface of the airfield.

 Similar shortcomings have radar collision avoidance systems considered in the information sources [2, 3, 4, 5]. For example, a short-range radar to prevent collisions of moving vehicles in difficult road conditions [5] with all its advantages, namely the ability to ensure the detection of obstacles, including out of the driver's field of view, does not allow an analysis of a potentially dangerous situation.

 The measuring system [2] allows, among other things, to ensure the correct orientation of the aircraft on the landing site to prevent it from colliding with obstacles, but does not provide sufficient accuracy in determining the position and movement parameters of the obstacle with respect to the aircraft and, as a result, does not provide reliable analysis of the current situation.

 The radar device [3] allows you to determine the distance to the obstacle with an accuracy of several resolution elements in range, depending on the bandwidth of the emitted signal, but does not determine the angular position of the obstacle.

 Known radar collision avoidance system [6], selected as the closest analogue (prototype), which is an autonomous radar system that detects an obstacle through the use of receiving and transmitting channels containing receiving and transmitting antennas, made in the form of planar microelectronic phased antenna arrays, placed on the corresponding sections of the surface of the aircraft, as well as due to the synchronous control of radiation patterns receiving and transmitting antenna arrays, the use of a block for processing received signals, range indicators and sound alarms that issue alarms and warnings about the presence of obstacles. The known system does not allow to determine with great accuracy the angular position of the detected obstacle relative to the direction of the main axes of the aircraft, as well as the velocity vector of the mutual movement of the aircraft and the detected obstacle, and therefore has insufficient reliability of preventing collisions with potential obstacles.

 The technical problem to which this invention is directed is to ensure reliable detection of obstacles and timely warning the crew of their presence in the field of view with the possibility of further operational assessment of the direction and speed of approach of the aircraft with obstacles.

 The problem is solved due to the fact that the short-range radar system to prevent collision with obstacles maneuvering at the aerodrome of aircraft (LA), containing two similar in structure half-set of equipment located on board the aircraft, each of which includes transmitting and spaced relative to each other in space the receiving antenna of the transmission channel and the reception channel, respectively, while the transmission channel of each half-set of equipment also contains sequentially A transmitter and a directional coupler, the first output of which is connected to the specified transmitting antenna, as well as a switch for controlling the position of the opening of the transmitting antenna, the output of which is connected to the input of the position of the opening of the specified transmitting antenna, the reception channel of each half of the set of equipment also contains a receiver whose input is connected to the output the specified receiving antenna, as well as the switch control the position of the opening of the receiving antenna, the output of which is connected to the input of the position control of the opening and the specified receiving antenna, wherein the second output of the directional coupler of the transmission channel is connected to the second input of the mixer of the receiver of the reception channel through a reference signal regulator, made in the form of an attenuator, which also contains a synchronizer and an information processing unit in each equipment half-set, in addition, containing an indication unit, according to the invention, differs from the known system in that the transmitting and receiving antennas of the transmission and reception channels of each half-set of equipment are mounted respectively on ednih aircraft wing edges, close to the ends, spaced from each other by a certain distance and the base are each formed as a linear slotted waveguide gratings (LVSCHR).

 In this case, the rays of the radiation patterns of the transmitting and receiving LVRShR in each half-set of equipment are oriented to a pre-selected fixed anticipatory point in space in the direction of aircraft motion. In addition, the switches for controlling the position of the opening of the transmitting and receiving HFSR in each half-set of equipment are made with the possibility of periodic change with a given time interval of the size of the base distance between the transmitting and receiving HFSR by a constant value δ by simultaneously turning on and off their extreme slots and the possibility of forming in the field of view two fixed lanes of vision, while controlling the beams of the transmitting and receiving LVRShR in each half-set of equipment according to fixed curves, about the synchronous frequency-coupled angular scanning sintering them in the field of view is carried out according to a single angular dependence by ensuring equality of the angle of rotation of the beam of the transmitting HFSR, relative to the normal to its middle, similar to the angle of rotation of the beam of the receiving HFSR, relative to the normal to its middle, and also by using as a probing continuous linear-frequency-modulated (LFM) signal, due to the use of the waveguide-decelerating structure of the HFSR transmitting and receiving antennas and the angular displacement of the receiving and receiving LVRShR relative to each other in each half-set of equipment at a certain angle.

 In this case, the first synchronizer output of each half-set of equipment, which is the output of the signal for specifying the scanning period of the beams of the transmitting and receiving LVSCRs, is connected to the synchronization input of the transmitter modulator, the synchronization input of the noise automatic gain control unit of the receiver and the first input of the information processing unit, the second synchronizer output, which is the signal output setting the exposure time of the viewing sector with a periodic LFM signal from the transmitter, connected to the inputs of the position control switches the disclosure of the transmitting and receiving LVRShR of the transmission and reception channels, respectively, as well as with the second input of the information processing unit, the third output of the synchronizer, which is the output of the signal for setting the exposure time of the resolution element of the review sector, is connected to the third input of the information processing unit, the fourth input of which is connected to the output of the information the signal of the receiver, and the fifth - with the output of the modulator of the transmitter of the transmission channel.

 In addition, in each half-set of equipment, the information processing unit is configured to generate a signal at its output that uniquely identifies the current angular position of the scanning region in each analyzed resolution element of the corresponding field of view, presented in the form of a corresponding marker with the assigned number of the strip resolution found in the analyzed element obstacle overview, while the outputs of the information processing units of both sets of equipment are associated with the corresponding by the inputs of the on-board electronic computer (BEWM) available in the radar system, and in the BEWM information on the angular position of obstacles if they are detected, obtained from the outputs of the information processing units of both sets of equipment when an obstacle gets into the formed at a fixed range during the movement of the aircraft in the direction of the aircraft’s movement, the viewing strips are divided for each detected obstacle, lead to a single coordinate system corresponding to the direction of the main axes of the aircraft, and t to the display unit, which is an audible signaling device and a pilot’s display, with the help of which the sound pilot and the type of information displayed on the display received from the computer, the pilot of the aircraft (airplane) decides whether or not there is an obstacle at a fixed range in the direction of the aircraft’s movement and if available, assesses the danger of the situation by the angular position of the obstacle relative to the direction of the main axes of the aircraft and the velocity vector of the mutual movement of the aircraft and the detected obstacle.

 Moreover, the information processing unit of each half-set of equipment contains an amplitude-time quantizer (AVK), the first input of which is the fourth input of the information processing unit, random access memory (RAM), adder, digital comparator, target counter, angle counter, data acquisition unit, unit data distribution and shift, adapter, analog-to-digital converter (ADC), while the second input of the AVK is the input of the quantization threshold, the output of the AVK is connected to the RAM input, the output of which is connected to the adder input, the output which is connected to the first input of the digital comparator, the second input of which is the input of the threshold setting, the output of the digital comparator is connected to the input of the target counter, the first input of the data acquisition unit and the first input of the adapter, the output of the target counter is connected to the second input of the adapter and the first input of the distribution and shift unit data.

 The output of the angle counter is connected to the second input of the data acquisition unit, the output of which is connected to the second input of the data distribution and shift unit, the output of which, in turn, is connected to the third input of the adapter, the fourth input of which is connected to the ADC output, the input of which is the fifth the input of the information processing unit. In addition, the first input of the angle counter synchronization is combined with the first adapter synchronization input and is the first input of the information processing unit, the first RAM synchronization input is combined with the target counter synchronization input and the second adapter synchronization input and is the second input of the information processing unit, the second angle counter synchronization input combined with the synchronization input of the data acquisition unit, the AVK synchronization input, the second RAM synchronization input, the adder synchronization input, the digital synchronization input a comparator and a third input synchronization adapter and the third input of the information processing unit, wherein the adapter output is the output of the information processing unit.

 In FIG. 1 is a structural diagram of one of the sets of the claimed short-range radar system; figure 2 presents a functional diagram of one of the sets of the claimed short-range radar system; figure 3 shows the location of the transmitting and receiving antennas of each half-set of equipment on the surface of the aircraft, and also shows the scanning area of the antenna system as a whole; in FIG. 4 shows the location of the transmitting and receiving LVRShR of one of the half-sets of equipment relative to each other; figure 5 shows a fragment of the implementation of the antenna array (HFRS) with the cover removed; figure 6 shows a fragment of a General view of the antenna array (HFRS).

In figure 1:
1 - transmission channel containing a flasher _PDD - transmitting antenna, K _PDD - switch control the position of the opening of the transmitting antenna, PRD - transmitter, BUT - directional coupler;
2 - reception channel comprising LVSCHR _prm - reception antenna, _PfP - position control switch aperture receiving antenna Rx - receiver;
ROS - the regulator of the reference signal of the receiver, made in the form of an attenuator;
C - synchronizer;
BOI - information processing unit;
BI - display unit, made in the form of interconnected sound annunciator (AP) and the pilot display (DP);
BEVM - on-board electronic computer.

Figure 2 introduced the following notation:
1 - transmitting antenna (transmitting HFRS),
2 - switch control the position of the aperture of the transmitting antenna,
3 - directional coupler,
4 - reference signal regulator, made in the form of an attenuator,
5 - linear frequency-modulated (LFM) generator,
6 - modulator
7 - receiving antenna (receiving lhvshchr),
8 - switch control the position of the opening of the receiving antenna,
9 - mixer
10 - intermediate frequency amplifier (UPCH),
11 is a quadratic detector,
12 - block noise automatic gain control (BALL),
13 - synchronizer
14 - amplitude-time quantizer (AVK),
15 - random access memory (RAM),
16 - adder
17 is a digital comparator,
18 - goal counter,
19 - angle counter
20 - block data retrieval,
21 - block distribution and data shift,
22 - adapter,
23 - analog-to-digital Converter (ADC),
24 - on-board electronic computer (BEVM),
25 is a display unit, made in water interconnected audible alarm 27 and the display of the pilot 26.

Figure 3 introduced the following notation:
1 and 2 - receiving and transmitting (HFRS) antennas of one half-set of equipment of the left sector of the review,
3 and 4 - receiving and transmitting (LVSP) antennas of another half-set of equipment of the right sector of the review,
And - the focus point of the antenna rays,
R is the distance to the obstacle in the coordinate system of the aircraft,
ρ ₁ , ρ ₂ are the radii of movement of the focus points of the antenna rays,
XY - aircraft coordinate system,
xy is the coordinate system of the transmitting and receiving antennas for each of the corresponding half-sets of equipment,
β is the angular position of the obstacle in the coordinate system of the aircraft.

In figure 4, the following notation is used:
1 - receiving (HFRS) antenna,
2 - transmitting (HFRS) antenna,
3 and 3 '- the switchable part of the receiving and transmitting antenna LVSPR,
A and A 'are the positions of two consecutive focus points of the scanning antenna beams,
2L ₁ - the minimum base distance between the transmitting and receiving LSTF of one viewing sector located in one half-plane (m),
2L ₂ - the maximum base distance between the transmitting and receiving LHBR of one viewing sector, located in one half-plane,
γ is the angle of deviation of the radius vector (direction in range) from the normal to the baseline,
α is the angle between the normal to the LCF and the leading edge of the wing of the aircraft,
Δφ is the angle of deviation of the beam HFRS from the normal,
ρ ₁ , ρ ₂ are the radii of movement of the focus points.

In figure 5, the following notation is used:
1 - standard waveguide flange,
2 - snake waveguide,
3 - radiation-reception slits,
4 - switching (switching off) diodes.

Figure 6 gives the following notation:
1 - waveguide,
4 - gap
5 - cover
6 - dielectric fairing.

Each of the two sets of equipment, according to figure 1, consists of a transmission channel 1 and a reception channel 2, while the transmission channel of each half-set of equipment contains a series-connected transmitter PRD, a directional coupler BUT and a transmitting antenna (LVRR _prd ), as well as a switch K _prd the transmitting antenna’s opening position control, the output of which is connected to the transmitting antenna’s opening position control input, the receiving channel of each half-set of equipment contains a receiving antenna in series (L Qp _CSTR) and RX receiver and switch _PfP controlling the position of the aperture of the receiving antenna, the output of which is connected to the input of the position control of the aperture of the receiving antenna, furthermore, the second output of the directional coupler but the transmission channel is connected to a corresponding input (second input of the mixer) RX receiver receive channel.

 Each set of equipment also contains a synchronizer C and a BOI information processing unit, while the corresponding synchronizer outputs are connected to the inputs of the control switches for the opening position of the transmitting and receiving antennas, as well as to the inputs of the corresponding elements of the transmitter, receiver, and information processing unit.

An example of one of two similar half-sets of equipment and communication between the elements of the transmission channel, reception channel, synchronizer, information processing unit, display unit and computer is shown in the functional diagram shown in figure 2. According to this scheme, in each half-set of equipment, the transmission channel contains a transmitter made in the form of series-connected modulator 6, a linear frequency-modulated (LFM) generator 5, a directional coupler 3, a transmitting antenna ( _HFPR ) 1, and also contains a position control switch transmit antenna aperture (LVSCHR _TX) 2, which output is coupled to transmit antenna position control input receiving aperture 1. The channel according to Figure 2 comprises a series-connected receiving antenna _(Rx LVSCHR) 7, the receiver, made in the form of a series-connected mixer 9, an intermediate frequency amplifier (IFA) 10, a quadratic detector 11, a noise automatic gain control unit (BALL) 12, while the first input of the mixer 9 is the input of the receiver and connected to the output of the receiving antenna 7 , the second input of the mixer 9 is connected to the second output of the directional coupler 3 of the transmission channel through the attenuator 4, which is the regulator of the reference signal of the receiver, in addition, the output of the BALL 12 is connected to the input of the gain control of the amplifier 10, and the output Dratic detector 11 is the output of the information signal of the receiver of the reception channel.

 Further, in accordance with FIG. 2, the BOI information processing unit contains an amplitude-time quantizer (AVK) 14, random access memory (RAM) 15, adder 16, digital comparator 17, target counter 18, angle meter 19, data acquisition unit 20, a data distribution and shifting unit 21, an adapter 22, an analog-to-digital converter ADC 23, while the first input of the AVK 14 is connected to the output of the quadratic detector 11, which is the output of the information signal of the PFP receiver, the first input of the AVK 14 is also the fourth input of the BOI information processing unit,the second input of AVK 14 is the input of the quantization threshold, the output of AVK 14 is connected to the input of RAM 15, the output of which is connected to the input of the adder 16, the output of which is connected to the first input of the digital comparator 17, the second input of which is the input of the threshold, the output of the digital comparator 17 is connected to the input of the target counter 18, the first input of the data pickup unit 20 and the first input of the adapter 22, the output of the target counter 18 is connected to the second input of the adapter 22 and the first input of the data distribution and shift unit 21, the output of the angle meter 19 is connected to the second input of the unit a data pickup 20, the output of which is connected to the second input of the data distribution and shift unit 21, the output of which, in turn, is connected to the third input of the adapter 22, the fourth input of which is connected to the output of the ADC 23, the input of which is connected to the output of the modulator 6 of the transmitter and is the fifth input of the BOI information processing unit.

 In addition, in the BOI information processing unit, the first synchronization counter input of the angle meter 19 is combined with the first synchronization input of the adapter 22 and is the first input of the BOI information processing unit, to which from the first output of the synchronizer 13 in each half-set of equipment the signal sets the scanning period of the rays transmitting 1 and receiving 7 antennas, respectively, of the transmission channel and the reception channel, the first synchronization input of random access memory RAM 15 is combined with the synchronization input of the target counter 18 and the second input ohm of adapter synchronization 22 and is the second input of the BOI information processing unit, namely, the input of the signal for setting the exposure time of the viewing sector with a periodic linear frequency-modulated (LFM) signal of the transmitter of the PRD coming from the second output of the synchronizer 13, the second synchronization input of the angle meter 19 is combined with the synchronization input of the data acquisition unit 20, the synchronization input of the AVK 14, the second synchronization input of the RAM 15, the synchronization input of the adder 16, the synchronization input of the digital comparator 17 and the third synchronization input of the adapter 22 is the third input of the BOI information processing unit, to which from the third output of the synchronizer 13 a signal is supplied for setting the exposure time of the resolution element of the viewing sector resolution corresponding to the sampling time.

 In this case, the synchronization input of the modulator 6 is connected to the first output of the synchronizer 13, which is also connected to the synchronization input of the noise automatic gain control unit 12 of the PFP receiver, the second output of the synchronizer 13 is also connected to the inputs of the position control switches 2 and 8, respectively, of the transmitting 1 and receiving 7 antennas transmission and reception channels, and the outputs of the switches 2 and 8 are connected respectively to the inputs of the position control of the aperture of the transmitting 1 and receiving 7 antennas. Moreover, in each half-set of equipment, the output of the adapter 22 is the output of the BOI information processing unit, which is interconnected with the corresponding inputs of the on-board electronic computer (BEM) 24 and the indicating unit 25, made in the form of a pilot display 26 and an audible warning device 27.

 The invention consists in the following. The claimed short-range radar system measures the angular coordinates of obstacles using linear waveguide-slot antenna arrays (LVRShR). The principle of measuring the angular coordinates of obstacles falling into the LVSPR scanning zone is based on the method of coupled focusing during bistatic location of inhomogeneities. Its essence lies in the fact that the frequency control of the spatial position of the concentration field of the electromagnetic field formed in the near zone by the intersection of the rays of the transmitting 1 and receiving 7 antennas (HFRS) spaced by some basic distance (Figs. 3, 4) is carried out in a synchronously-connected manner so that at a certain fixed distance from these antennas a coincident region of the concentration of electromagnetic fields is formed.

 If in the process of scanning the resulting region of the concentration of electromagnetic fields falls on some inhomogeneity in the form of an obstacle, then at the same time in the receiving channel at the output of the quadratic detector 11 (figure 2) there is a sharp surge in the level of the received signal. The angular position of the obstacle, for example, the polar coordinates of point A (R, β, Fig. 1), is determined from the known angle-frequency dependence for the region of concentration of electromagnetic fields and the base distance between the transmitting and receiving antenna arrays. When the aircraft moves with the declared radar system located on it, the quickly scanning zone of the radar system’s overview moves along the route of movement, ensuring its sequential viewing. In this case, information about the location of obstacles at a predetermined distance (or a fixed distance) and the dynamics of their movement in the form of a mutual velocity vector is displayed on the pilot display screen 26, associated with both sets of equipment, which are part of the collision avoidance radar system (RPSA), this, both sets of equipment are similar in structure (figure 1, 2).

 As already noted above, the operation of each half-set of RPSS equipment is based on the principle of a bistatic location with transmitting and receiving antennas spaced apart relative to each other, respectively, of transmission channel 1 and reception channel 2. Moreover, each half-set of equipment contains, among other things, a transmitter and a receiver of a continuous periodic LFM signal with the parameters specified by the synchronizer 13 and the frequency modulator 6 of the transmitter of the transmission channel of the same set of equipment. Radiation and reception of radar signals in each half-set of equipment occur simultaneously. The necessary isolation between the transmitting 1 and receiving 7 antennas is achieved due to their spatial separation and structural measures. The PfP receiver is constructed according to the superheterodyne circuit (Fig. 2), where the transmitter signal is used as a local oscillator, weakened by the POC reference signal regulator, made in the form of an attenuator 4. When an obstacle appears in the viewing area, a reflected signal appears in the receiver. In this case, the signal extracted after mixer 9 with a beat frequency proportional to the distance to the obstacle is transmitted through the corresponding intermediate frequency amplifier 10, in which the gain of the received signal is adjusted in the required frequency band by using the SHARU 12 unit, and, after detection in the quadratic detector 11, -time quantizer 14 of the BOI information processing unit.

 The task of the information processing unit, in the case of detecting a signal from an obstacle, is to assign a number (marker, number) to the detected obstacle that corresponds to the currently resolved resolution element of the viewing span and generate a signal represented (expressed) as a marker (number) that uniquely identifies the number of the detected obstacle with the current angular position of the scanning beams of the transmitting and receiving antenna arrays (the concentration field of the electromagnetic field generated and i) to provide information on the angular position of the detected obstacle to a fixed range of motion in the direction of the aircraft. The output information about the angular position of the obstacle from the outputs of the information processing units of both half-sets of equipment is fed for further processing to the on-board electronic computer (BEM), which is part of the RCSP, and then, as was said, it is displayed on the pilot display 26 and is fixed with an audible warning device 27 display unit 25.

 The antenna device of each of the two sets of RPSS equipment consists of a transmitting and receiving antennas made in the form of linear waveguide-slot antenna arrays (HFRS) installed on the leading edges of the wings of the aircraft closer to their ends (Fig. 3). Moreover, the transmitting and receiving LVRShR in each half-set of equipment are offset at a certain angle to each other, spaced apart in space and configured to frequency scan the rays and electronically control the position of the aperture of each lattice, in which the switching of the extreme slots in both lattices is provided by control switches 2 and 8 the position of the aperture, respectively, of the transmitting and receiving HDRs, is made in such a way that, while maintaining the general directivity of the rays, the size of the base between the HDRs periodically changing tsya a constant value δ. This leads to the fact that the area of the concentration of the electromagnetic field that quickly scans at a fixed distance (distance) from the HFSR periodically approaches or moves away at a distance of about 1.5 meters. This interval is used to determine the velocity vector of the target (obstacle) relative to the aircraft during processing of the measurements.

 Thus, at each moment in time in one or another half-set of equipment (or both at the same time), both antenna arrays (HFRS) simultaneously operate - one for transmission and the other for reception.

Using the first half-set of equipment, a review is carried out in the left part of the space relative to the longitudinal axis of the aircraft (Fig. 3), the second half-set of equipment reviews the right side of the space. At a distance of ρ ₁ = 65 m from the center of the baseline connecting the centers of the receiving and transmitting gratings of each wing (Fig. 4), the trajectory of moving the concentration region of the generated electromagnetic field is due to a sawtooth change in the carrier frequency of the emitted signal at the maximum value of the switched base distance between the HFRS . For the minimum value of the base distance, a similar trajectory runs at a distance ρ ₂ = 63.5 m. When an airplane moves, the coordinates of the obstacle at a distance of 65 m are first determined, and after a time interval greater than or equal to 0.2 seconds, the coordinates of the same obstacle at a distance 63.5 m.

This makes it possible to determine the relative displacement velocity of the obstacle and extrapolate the direction of movement of the obstacle. The period for switching the size of the base (base distance) between the gratings (LVRS) is ~ 25 ms, and the period of frequency scanning is 0.25 ms. Frequency-scan LCRDs are designed to operate at a medium frequency and their dispersion characteristic is checked over the entire frequency-scan band. Without special measures, the dispersion of a standard 5.2 x 2.6 mm waveguide in the 38 GHz band is insufficient to obtain the necessary phase shift in the carrier frequency scanning band. Therefore, firstly, a waveguide with a critical wavelength λ _cr ~ 9.2 mm (b = 4.35 mm) is selected, and secondly, to increase the steepness of the dispersion characteristic, a zigzag exciting waveguide is used (Fig. 5), which allows to obtain the waveguide-decelerating structure of the LCFG. In addition, the synchronous inclusion and deactivation of the extreme slots of the transmitting and receiving LVRShR is ensured by the use of counter-switched switched diodes (shown in Fig. 5), switched on and off by pulse from the second output of the synchronizer 13.

With a period of switching the size of the base between the gratings of ~ 25 ms, a period of frequency scanning of 0.25 ms and a deviation of the carrier frequency from 38 to 39 GHz, the beam of each antenna array moves in space in the azimuthal plane in the sector Δφ = (- 15 ^o - + 15 ^o ). The width of the radiation pattern (BF) in azimuth is ~ 0.5 ^o , in elevation ~ 25 ^o (due to the dielectric fairing). A general view of a linear waveguide slot antenna array (HFRS) is shown in Fig.6.

или в параметрической форме

,
где α - угол между нормалью к линейной волноводно-щелевой решетке и передней кромкой крыла самолета,
l - половина базового расстояния, соединяющего центры решеток,
Δφ - угол отклонения луча решетки от нормали,
δ - величина приращения базы.The equation of the curve along which the joint concentration region of the formed electromagnetic field moves from two (transmitting and receiving) linear linear waveguide-slot antenna arrays (Fig. 4) spaced a certain base distance is written in the coordinate system (xy) of the antenna system in the form

or in parametric form

,
where α is the angle between the normal to the linear waveguide-slotted grating and the leading edge of the wing of the aircraft,
l is half the base distance connecting the centers of the gratings,
Δφ is the angle of deviation of the beam from the normal,
δ is the increment value of the base.

В соответствии с принципом измерения угловых координат препятствий, попадающих в зону сканирования линейной волноводно-щелевой антенной решетки, структурная схема каждого полукомплекта аппаратуры РСПС по существу может быть построена на основе непрерывного многоканального (по углам) цифрового бинарного обнаружителя-измерителя, выполненного с использованием алгоритма "m из п" и схемы "скользящего окна", охватывающего заданное число периодов сканирования лучей ЛВЩР в разрешаемой области, с параметрами, определяемыми из анализа требуемых тактико-технических характеристик заявленной системы. С учетом изложенных принципов построения предлагаемой радиолокационной системы предупреждения столкновений ее функционирование осуществляется при обеспечении следующих тактико-технических характеристик:
- максимальная скорость движения самолета на аэродроме V (км/час) - 36 (или 10 м/с);
- фиксированная дальность измерения углового положения препятствия ρ (м) - 63,5;
- фиксированное приращение дальности измерения углового положения Δρ (м) - 1,5;
- ширина линейной зоны обзора в правой и левой полуплоскости по азимуту (м) - 32;
- разрешающая способность по фокусируемой области (м) - 0,5•0,5;
- длина излучаемой радиоволны λ (см) - 0,86;
- диапазон перестройки по частоте излучения Δf_с (ГГц) - 1;
- величина максимального базового расстояния между ЛВЩР одной полуплоскости (одного полукомплекта аппаратуры) 2L₂ (м) - 10;
- максимальная длина активной зоны каждой ЛВЩР d (м) - 1;
- количество антенных решеток n на полукомплект - 2;
- ширина лучей ДНА в азимутальной плоскости (град.) - 0,5;
- ширина лучей ДНА в угломестной плоскости (град.) - 25;
- управление перемещением активных зон решеток (ЛВЩР) - электронное;
- средняя удельная ЭПР (эффективная поверхность рассеяния) поверхности аэродрома

- минус 20 дБ;
- минимальное значение ЭПР препятствия σ_ц (м²) - 0,1;
- необходимая величина развязки передающего и приемного каналов каждого из полукомплектов аппаратуры (дБ) - 80.If we introduce a polar coordinate system with the origin in the center of the antenna array base of one or another half-set of equipment, then the radius vector (range) ρ and the angle of its deviation from the normal to the baseline γ can be found from the expressions

In accordance with the principle of measuring the angular coordinates of obstacles falling into the scanning area of a linear waveguide-slot antenna array, the structural diagram of each half-set of RPSS equipment can essentially be built on the basis of a continuous multichannel (at the corners) digital binary detector-meter, made using the algorithm " m from n "and the scheme of the" sliding window ", covering a given number of periods of scanning of the rays of the LCSP in the resolvable region, with the parameters determined from the analysis, we require x performance characteristics of the claimed system. Given the principles of construction of the proposed radar collision avoidance system, its operation is carried out while providing the following tactical and technical characteristics:
- the maximum speed of the aircraft at airfield V (km / h) - 36 (or 10 m / s);
- a fixed range of measurement of the angular position of the obstacle ρ (m) - 63.5;
- a fixed increment of the measuring range of the angular position Δρ (m) - 1.5;
- the width of the linear viewing zone in the right and left half-plane in azimuth (m) - 32;
- resolution on the focused area (m) - 0.5 • 0.5;
- the length of the emitted radio wave λ (cm) - 0.86;
- tuning range in terms of radiation frequency Δf _s (GHz) - 1;
- the magnitude of the maximum base distance between the LVRShR of one half-plane (one half-set of equipment) 2L ₂ (m) - 10;
- the maximum length of the active zone of each HFRS d (m) - 1;
- the number of antenna arrays n per half-set - 2;
- the width of the rays of the bottom in the azimuthal plane (deg.) - 0.5;
- the width of the rays of the DND in the elevation plane (grad.) - 25;
- control of the movement of the active zones of the gratings (LVSChR) - electronic;
- average specific EPR (effective scattering surface) of the aerodrome surface

- minus 20 dB;
- the minimum value of the EPR of the obstacle σ _C (m ² ) - 0.1;
- the necessary value of the isolation of the transmitting and receiving channels of each of the half-sets of equipment (dB) - 80.

By limiting the accumulation time of a periodic linear-frequency-modulated signal (the time of irradiation of the field of view with a periodic LFM signal from the transmitter) T _{N by} shifting the spatial position of the concentration field of the electromagnetic field inside the analyzed space when the aircraft moves by an amount equal to its half, i.e. by 0.25 m, we obtain for the maximum speed of the aircraft, equal to V _max = 10 m / s, the value of the exposure time (accumulation) T _N = 25 ms.

Choosing the number of scans during the exposure of the viewing sector with a periodic LFM signal (its accumulation time T _N ) m = 100, we obtain for the scanning period T _P = 250 μs.

Considering that to create the necessary angular range of beam sway, a linear tuning of the carrier frequency in the range Δf = 1 GHz is required, for the required tuning slope we get K = Δf / T _P = 4 MHz / μs.

 With this steepness, the error in measuring the range due to the maximum Doppler frequency shift of the reflected signal at the operating wavelength λ = 0.86 cm when the aircraft moves at a maximum speed of 10 m / s will be δρ = 0.87 m.

 In general, the structure of the receiving channel implements the method of processing the frequency-modulated (FM) signal in the continuous mode of radiation known in long-range measurement (Figs. 1, 2).

The values of the center frequencies of the gain channel of the receive channel after the mixer of the received and probing (emitted) signals for two fixed ranges ρ ₁ = 65 m and ρ ₂ = 63.5 m are f _ρ1 = 1.73 MHz and f _ρ2 = 1.69 MHz.

The bandwidth of the IFA is determined by the lifetime of the concentration region in each analyzed space element. Then, with a linear width of the field of view of 32 m, a resolution of 0.5 m, a scanning period of the carrier frequency T _P = 250 μs for the IF bandwidth, we obtain
ΔF = 1 / T _reg = 256 kHz,
where T _region = T _P / 32 / 0.5 = 250 • 0.5 / 32 = 3.9 μs.

The selected wavelength λ = 0.86 cm provides several advantages:
- low attenuation in the presence of precipitation, fog, etc. (transparency window);
- small dimensions and weights;
- the ability to consider when receiving only the diffuse scattering component.

 Therefore, the output part of the receiver of the receiving channel is constructed according to an incoherent scheme for receiving a fluctuating signal. The diffuse scattering component creates a significant reflected background from the surface on which the aircraft may be obstructed. This background is far superior to the noise floor of the PFP receiver.

So, for the receiver's own noise at T _W = 2000 K, ΔF = Δf _prm = 256 kHz, the noise power reduced to the PFP input will be
P _W = kT _W • ΔF ≅ 7 • 10 ^-15 W,
and the power of reflections from the background
P _f = P _TX • λ ² G G _{TX prm} σ _f / 64π ² ρ ⁴
where R _prd - the radiation power of the transmitter,
λ is the radiation wavelength,
G _{prd (prm)} - gain of the transmitter (receiver) annen,
σ _f - EPR background
ρ - fixed target detection range (63.5 or 65 m).

When R _prd = 50 mW, G _prd = G _prm = 33 dB,
σ _f = σ ₀ • ΔS = 10 ^-2 × 0.5 × 0.5 = 0.25 • 10 ^-2 m ² ,
ρ = 63,5 m power reflection from the background such that the ratio F _F / F _W ≅2 • ¹⁰ February.

That is, the reception of signals from an obstacle proceeds against the background of significant reflections from the surface and the conditions for detecting the signal will be determined by the ratio of the EPR of the target and the background. For the values of σ ₀ and the minimum σ _c from the TTX, the signal / background ratio at the input of the information processing device (block) will be 40, which will ensure reliable detection of obstacles.

 As mentioned above, figure 1 presents a General view of one of the half-sets of equipment.

 Figure 2 shows an example of a more detailed implementation of a half-set of equipment.

 The operation of the half-set of RPSS equipment shown in Fig. 2 is controlled by a synchronizer 13 made, for example, in the form of series-connected shaper of triggering pulses, a counter of clocks and a decoder, the first, second and third outputs of which are pulse outputs with the corresponding repetition rate, which are: the first output - the output of the signal for setting the scanning period of the rays of the transmitting and receiving antennas, the second output is the output of the signal for setting the exposure time of the viewing sector with a periodic linear hour Totally modulated transmitter signal, i.e. the accumulation time of the LFM signal, the third output is the output of the signal for setting the exposure time of the resolution element of the viewing area resolution.

The signals generated in the synchronizer at its three outputs are received, taking into account the above-described connections, to the corresponding blocks in each half-set of equipment, ensuring their functioning in the required mode, namely, generated using the series-connected modulator 6, controlled by the signal from the first output of the synchronizer 13, and LFM generator 5, as well as using a switch 2 for controlling the position of the aperture of the transmitting antenna 1, connected to the input for controlling its position of the aperture, a periodic LFM signal it is uniform with the interval Т _Н = 25 ms, which is set from the second output of the synchronizer 13 through the switch 2, is emitted by two active regions of the transmitting antenna array (HFRS) 1, covering two field-of-view fixed (as was said above). Synchronously with the transmitting HFSR 1, the receiving antenna array (HFRS) 7 is turned on, also controlled by the signal from the second output of the synchronizer 13, but through the switch 8, which, by its construction principle, is synchronously connected with the transmitting HFSR 1. The receiving HFSR has a common concentration field of electromagnetic fields with transmitting at fixed distances (ranges) ρ _1.2 , which allows you to continuously receive the signal reflected from this area during its scanning in two viewing bands.

At the same time, the radiated LFM signal through the attenuator 4 enters the mixer 9 of the receiver, ensuring the formation of two intermediate frequencies corresponding to two fixed values of the distance ρ _1.2 to the obstacle. Obtained at each scanning period T _P, temporary realizations of the reflected signals from fixed viewing bands can contain either only fluctuations of the surface background or reflections from some obstacles along with background fluctuations falling within the analyzed viewing band.

 The task of the information processing unit (BOI) is to make a decision on detecting signals from obstacles against the background of fluctuating signals from the surface in each analyzed element (discrete) of the viewing band, uniquely identified, as already mentioned above, with the current angular position of the scanning region of the concentration of the electromagnetic field, that provides measurement of the angular position of the obstacle.

The fluctuating random signal received at each scanning period T _P from the output of each of the two amplifiers 10 (according to the number of hardware bundles) is detected by the corresponding quadratic detector 11, then from the output of the quadratic detector 10 it is supplied to the first input of the AVK 14, where it is sampled in time with an interval T _D (sampling period), set from the third output of the synchronizer 13 and equal to the exposure time of the resolution element of the review sector, i.e.
T _D = T _region = 4 μs,
binary quantized and in the form of a sequence of "0" and "1" goes to RAM 15 of the information processing unit. In this case, the quantization threshold U ₀ ABK 14 is set depending on the noise level of the PFP receiver. RAM 15 can be made in the form of multi-bit registers (n-bit registers, where n = 100), the number of bits of which is equal to the number of resolution elements (discrete) of the viewing sector. The length of the line in RAM 15 is equal to the number of analyzed discretes n during one Tp review, namely n = 32 / 0.5 = 64, and the number of lines is determined by the ratio T _N / T _P = 100. Recording from line to line goes according to the principle " stack "memory, as a result, information from each analyzed discrete in the form of a set of" 0 "and" 1 ", recorded for the current 100 scan periods, must be read from the output column of the RAM matrix and in parallel with the outputs of n bits of the registers go to the adder 16, in which counts the number of "1" that appears from the outputs of the registers, the amount received estimating translates digital threshold K ₀ for a time equal to the sampling time T _D, Q to form in each feature detection element analyzed (discrete) span - exceeds the threshold indicates the presence of target (obstacle). The digital threshold K _{0 is} set in advance at a given probability of false alarm.

In this case, the second input of RAM 15, the second input of the adder 16 and the third input of the digital comparator 17 receives a clock signal (sampling T _D ) from the third output of the synchronizer 13, and the third input of the RAM receives a signal from the second output of the synchronizer 13 (T _N ), which For RAM, a zeroing signal. Further, from the output of the digital comparator 17, the signal enters the target counter 18, made in the form of a binary counter, working on the signal of the detected obstacles in this discrete. From the output of the target counter 18, a signal in the form of a number corresponding to the target number is sent to the data distribution and shift unit 21 and to the adapter 22. At the same time, with each successive scanning period T _P , the angle counter 19 is started by the signal from the first output of the synchronizer 13 with a clock frequency of 1 / T _D , so that the current value of the number in the counter will determine the number of the next resolution discrete in the field of view, and taking into account the frequency modulation of the spatio-temporal relationship between the angular position of the beam and the frequency teachings are the angular position of this discrete. The latter is achieved by turning on the analog-to-digital converter (ADC) 23 between the output of the modulator 6 and the fourth input of the adapter 22. Thus, in the counter of the angle 19, the current angular position of the beams is fixed, which corresponds to its number, marker (number recorded in the counter), signal corresponding to this number, enters the data acquisition unit 20 (made in the form of a multi-input register controlled by a signal from the third output of the synchronizer 13).

According to the signal from the output of the digital comparator 17, indicating the detection of an obstacle and fed to the other input of the data acquisition unit 20, from the output of the data acquisition unit, the signal in the form of a number corresponding to the detected obstacle at a given current angular position of the rays enters the data distribution and shift unit 21 (made in the form of a multi-input register), in which the number corresponding to the number of obstacles (goals), arriving in the form of a signal from the output of the goal counter 18, is assigned (assigned) to the number of the angular position Nia rays, ie, the current angular position of the rays (in the form of a number), in which an obstacle was detected, on the basis of which the resulting signal is generated at the output of block 21, which goes to adapter 22, in which, taking into account the signals from the first and second outputs of the synchronizer 13, the corresponding value T _P and T _N, as well as modulator 6 via the ADC 23 (which allows for counting increment numbers in the beam deflection angle), the signal output from the digital comparator 17 there is an association and alignment of the information received and one image signal input to the common bus and further to BEVM 24 and display unit 25.

 For example, if one of the 64 discrete samples in the field of view produces a sign of detection of Q target, then it causes the removal of the current value of the angle in the data processing unit. The presence of a counter of targets simultaneously working simultaneously with each scanning period according to the detection signals Q of the target counter allows the angle reading to be accompanied by a marker in the form of the target number and thus the identification of targets (obstacles). Information received from both sets of equipment is fed to the computer and display unit. In a computer based on the separation of angular information for each detected target (obstacle) with a rigidly fixed distance between two scanning zones, it is possible to calculate the direction and modulus of the angular velocity vector of each target. In the on-board electronic computer system of each type of aircraft, information on the angular position of obstacles obtained in the information processing units of both half-sets of RPSS equipment in the x, y coordinates associated with the leading edge of the aircraft wing is brought to the X, Y coordinate system (Fig. 3), associated with the direction of the main, main axes of the aircraft.

 The final information is displayed on the pilot display 26, where the Y axis coincides with the vertical axis of symmetry of the display and with the longitudinal axis of the aircraft. The wingspan is illuminated along the X axis by a horizontal segment of a certain length at the bottom of the screen. The fixed measurement range is highlighted by a dashed horizontal line at the top of the screen at the same scale. The appearance of obstacles at a fixed range at a certain angle is noted in the form of a corresponding brightness mark on the dashed line of the pilot display 26 and an audible alarm in the audible warning device 27.

 After measuring the magnitude and direction of the obstacle speed vector at the detection point (more precisely, on a fixed distance segment Δρ = 1.5 m between the two scanning viewing lines), its coordinates are extrapolated on the display screen in the form of an extended straight line in the direction of the velocity vector in real time.

 The simultaneous presence on the screen of a brightness mark corresponding to the wingspan of this aircraft, located at a fixed detection distance ρ = 65 m from the obstacle, allows the pilot to make the right decision. Having received an audible alarm, the pilot estimates the direction and speed of the aircraft approaching the obstacle on the screen and makes a decision to stop the aircraft, turn on emergency floodlights, television cameras, etc. - to analyze the situation or to continue the movement of the aircraft in order to avoid collision with an obstacle. Thus, this invention leads to an increase in reliability, efficiency, reliability of detecting obstacles at that stage, which helps to prevent a collision of an aircraft (aircraft) during its maneuvering, movement at the airfield.

Sources of information
1. RU N 94037470 A1, cl. G 01 C 13/34, 09/10/1996.

 2. RU N 2083998 C1, cl. G 01 C 13/92, 07/10/1997.

 3. EP N 0322005 A1, cl. G 01 C 13/34, 06/28/1989.

 4. EP N 1076244 A1, cl. G 01 C 13/34, 02/14/2002.

 5. TIIER, 1976, N 6, v. 62, p. 185-209.

 6. RU N 2150752 C1, cl. G 08 G 5/04 (prototype).

Claims (2)

 1. Short-range radar system for preventing collision with obstacles maneuvering aircraft at the aerodrome (LA), containing two similar in structure half-sets of equipment located on the aircraft, each of which includes transmit and receive antennas spaced apart from each other in space, respectively, of the transmission channel and channel receiving, while the transmission channel of each half-set of equipment also contains a series-connected transmitter and a directional coupler, the first the first output of which is connected to the specified transmitting antenna, as well as the switch for controlling the position of the opening of the transmitting antenna, the output of which is connected to the input for controlling the position of the opening of the transmitting antenna, the reception channel of each half-set of equipment also contains a receiver, the input of which is connected to the output of the specified receiving antenna, as well as a switch control the position of the opening of the receiving antenna, the output of which is connected to the input control the position of the opening of the receiving antenna, while the second output of the directional response the transmission channel holder is connected to the second input of the mixer of the receiver of the reception channel through a reference signal regulator made in the form of an attenuator, also containing in each half-set of equipment a synchronizer and an information processing unit, in addition, containing an indication unit, characterized in that the transmitting and receiving antennas of the transmission channels and receiving each set of equipment are installed respectively on the leading edges of the wings of the aircraft, closer to their ends, spaced relative to each other at a certain base distance e and each is made in the form of linear waveguide-slot gratings (HFRS), while the rays of the radiation pattern of the transmitting and receiving HFRSs in each half-set of equipment are oriented to a pre-selected fixed anticipatory point in space in the direction of flight of the aircraft, in addition, the control switches for the position of the opening of the transmit the receiving HDR in each half-set of equipment is made with the possibility of periodic changes with a given time interval of the size of the base distance between the transmitting and receiving HDR n and a constant value δ by simultaneously turning on and off their extreme slots and the possibility of forming two fixed viewing bands in the field of view, while controlling the beams of the transmitting and receiving LCR in each set of equipment according to fixed curves, ensuring their synchronous frequency-related angular scanning in the field of view are carried out according to a single angular dependence by ensuring equality of the angle of rotation of the beam of the transmitting LVRShR, relative to the normal to its middle, similar to the angle of rotation of the beam pr homing HFRS, relative to the normal to its middle, and also due to the use of a continuous linear frequency-modulated (LFM) signal as a probe, due to the use of the waveguide-decelerating structure of the HFSR transmitting and receiving antennas and the angular displacement of the transmitting and receiving HFSR relative to each other in each half-set of equipment at a certain angle, with the first output of the synchronizer of each half-set of equipment, which is the output of the signal for setting the scanning period of the rays of the transmitting and receiving L VSCR, connected to the synchronization input of the transmitter modulator, the synchronization input of the noise automatic gain control unit of the receiver and the first input of the information processing unit, the second output of the synchronizer, which is the output of the signal for setting the exposure time of the field of view with a periodic LFM signal of the transmitter, is connected to the inputs of the control switches of the transmitter the receiving LVSPR, as well as with the second input of the information processing unit, the third output of the synchronizer, which is the output of the time reference signal neither the irradiation element of the resolution block of the viewing sector is connected to the third input of the information processing unit, the fourth input of which is connected to the output of the information signal of the receiver, and the fifth to the output of the transmitter modulator, in addition, in each half-set of equipment, the information processing unit is configured to form at its output a signal that uniquely identifies the current angular position of the scanning region in each analyzed resolution element of the corresponding viewing band, presented in the form the existing marker with the assigned number of the obstacle review band resolution found in the analyzed element, in addition, containing the on-board electronic computer (BEM), while the outputs of the information processing units of both sets of equipment are connected with the corresponding inputs of the BEM, and in the BEM, information about the angular position obstacles if they are detected, obtained from the outputs of the information processing units of both sets of equipment when an obstacle gets in the process of moving the aircraft the data at a fixed range in the direction of the aircraft’s movement of the field of view, separated by each obstruction detected, lead to a single coordinate system corresponding to the direction of the main axes of the aircraft, and transmit to the display unit, which is an audible warning device and a pilot’s display, by which an audible signal and the type of information displayed on the display received from the computer, the pilot of the aircraft decides on the presence or absence of an obstacle at a fixed range in the direction of movement of the aircraft and, if available, evaluates There is a danger of the situation with respect to the angular position of the obstacle relative to the direction of the main axes of the aircraft and the velocity vector of the mutual movement of the aircraft and the detected obstacle.  2. The radar system according to claim 1, characterized in that the information processing unit in each half-set of equipment contains an amplitude-time quantizer (AVK), the first input of which is the fourth input of the information processing unit, random access memory (RAM), adder, digital comparator , a goal counter, an angle counter, a data acquisition unit, a data distribution and shift unit, an adapter, an analog-to-digital converter (ADC), while the second AVK input is an input of the quantization threshold, the AVK output is connected to the RAM input, you the path of which is connected to the input of the adder, the output of which is connected to the first input of the digital comparator, the second input of which is the input of the threshold setting, the output of the digital comparator is connected to the input of the target counter, the first input of the data acquisition unit and the first input of the adapter, the output of the target counter is connected to the second input adapter and the first input of the data distribution and shift unit, while the output of the angle counter is connected to the second input of the data acquisition unit, the output of which is connected to the second input of the data distribution and shift unit, the output which, in turn, is connected to the third input of the adapter, the fourth input of which is connected to the ADC output, the input of which is the fifth input of the information processing unit, in addition, the first input of the angle counter synchronization is combined with the first input of the adapter synchronization and is the first input of the information processing unit , the first RAM synchronization input is combined with the target counter synchronization input and the second adapter synchronization input and is the second input of the information processing unit, the second angle counter synchronization input bedinen synchronization with the input data pickup unit, an input sync AVC, the second input of the RAM timing synchronization input of the adder, input synchronization digital comparator and the third input synchronization adapter and a third input of the information processing unit, wherein the adapter output is the output of the information processing unit.

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