RU2195776C2 - Method fixing position of mobile object - Google Patents

Abstract

FIELD: radio navigation, location of mobile objects. SUBSTANCE: method fixing position of mobile object consists in positioning of base stations with coverage equal to length of side of each regular hexagon in centers of conventional cells presenting equal regular hexagons densely covering serviced territory. Each base station is assigned with unique identification number. Call radio signals are emitted on specified working frequency to one of mobile objets located within limits of serviced territory. These call radio signals are received at base stations in which coverage positioned mobile object is located. These base stations send information radio signals carrying identification numbers of specified base stations. Location of positioned mobile object is fixed by these information signals. Additional base stations with coverage equal to length of side of each regular hexagon and with unique identification number assigned for each these base station are positioned in vertexes of above-mentioned regular hexagons. Base stations in which coverage mobile objects are located are base stations positioned in centers and vertexes of regular hexagons. Information signals carrying identification numbers of base stations in which coverage positioned mobile object is located are proper information radio signals. Information radio signals from mentioned base stations to mobile objects located within limits of serviced territory are sent. Seven different working frequencies of information radio signals emitted by all base stations are assigned. One working frequency of information radio signals emitted by this base station, different from working frequencies of information radio signals emitted by neighboring base stations, is assigned from seven specified working frequencies at each base station. Five different working frequencies of information radio signals received at this mobile object are allotted at each mobile object from seven specified working frequencies. Additional coordinates of positions of all base stations, identification numbers corresponding to them and coverage radii of all base stations are given to each base station and mobile object located within limits of serviced territory. Transmission of information radio signals from base stations in which coverage positioned mobile object is located to mobile objects located within limits of serviced territory consists in emission from one of these base stations of information radio signals on assigned working frequency, in reception of information radio signals emitted by last base station at all base stations which are adjacent with reference to above-mentioned base station and in their emission on corresponding assigned working frequencies. Then all other base stations which are adjacent with reference to above- mentioned base stations receive information radio signals emitted by mentioned base stations and emit them on proper assigned working frequencies. Later information radio signals emitted from previous base stations are received and emitted on proper assigned working frequencies in the same manner, sequentially, along all directions from mentioned base station in which coverage positioned mobile object is located to boundaries of serviced territory, by all other subsequent base stations which are adjacent with reference to previous base stations. There upon information radio signals are transmitted in similar way, in turn from all other base stations in which coverage mobile object is positioned to mobile objects located within limits of serviced territory. In this case information radio signals are emitted on assigned working frequency by each base station, apart from base station which identification number is included in transmitted information radio signals, and this base station receives information radio signals on one of working frequencies assigned for this base station. Information radio signals transmitted from each base station in which coverage positioned mobile object is located are received on assigned working frequencies at mobile objects located within limits of serviced territory. Location of positioned mobile object is fixed at mobile objects located within limits of serviced territory and at base stations by identification numbers of base stations in which coverage positioned mobile object is located as well as by additionally specified coordinates of positions and coverage of these base stations. EFFECT: increased precision of fixing positions of mobile objects, widened potential of method on basis of more rational location of base stations on serviced territory. 8 dwg

Description

 The invention relates to radio navigation, and in particular to methods for determining the location of moving objects.

 There is a known goniometric-range-finding method for determining target coordinates in radar systems with an active response (see, for example, Theoretical Foundations of Radar. Edited by V.E.Dulevich. - M .: Soviet Radio, 1978, p. 7-11), which consists in in that the radar station carries out non-directional radiation of interrogation radio signals, for the purpose of receiving these interrogation radio signals and emits response radio signals, at the specified radar station provides directional reception of radiofrequency signals, time lags anija and the propagation direction of the received radio response determined range to the target and the angle between the predetermined direction and the direction to the target, on the obtained values to determine said radar target coordinates.

 The specified method allows with high accuracy to measure the coordinates of the targets during the propagation of radio waves in free space. However, when measuring the coordinates of remote targets, the method requires application at radar stations and for the purposes of high-power radio transmitting devices, which greatly complicates the technical implementation of the method.

 A known method for determining the location of a moving object in cellular radio communication systems (see, for example, Ratinsky MV Fundamentals of cellular communications. Edited by D. B. Zimin. - M .: Radio and communications, 2000, p.20-68) consisting in the fact that in the centers of conditional cells, which are equal regular hexagons, densely covering the served territory, base stations with radiuses of coverage equal to the side length of each regular hexagon and with a unique identification number specified on each base station are placed, from one and mobile objects located within the serviced territory emit callsign radio signals at specified operating frequencies, these callsign radio signals are received at base stations in the areas of which the positioned movable object is located, information optical signals are transmitted from these base stations to the switching center via optical fiber communication lines containing the identification numbers of these base stations, in the switching center, m is determined from the received optical information signals stopolozhenie positioned moving object.

 This method allows for a large number of base stations to provide acceptable accuracy in determining the location of moving objects that are within a fairly wide service area, without requiring the use of high-power radio transmitting devices on moving objects.

 However, since the positioning of a positioned moving object is determined only by the identification numbers of the base stations in the coverage areas of which this positioned moving object is located, without using information about the location coordinates and the values of the radii of the coverage areas of these base stations, the method only allows determining the identification numbers of the base stations, in the areas of action of which the positioned moving object is located, without determining the area of the served territory in which It is positioned a mobile unit, which significantly reduces the position accuracy positioned moving object in a coordinate system connected to any point of the service area.

раз больше радиусов зон их действия. В связи с этим зоны действия соседних базовых станций перекрываются лишь в области их границ, что значительно снижает точность определения местоположения подвижных объектов, находящихся на центральных участках зон действия базовых станций.At the same time, since the placement of base stations is carried out in the centers of conditional cells, which are equal regular hexagons, densely covering the served territory, and the radii of the coverage areas of base stations are equal to the length of the side of each regular hexagon, the distance between any two neighboring base stations in

times the radii of their zones of action. In this regard, the coverage areas of neighboring base stations overlap only in the area of their boundaries, which significantly reduces the accuracy of determining the location of moving objects located in the central parts of the coverage areas of base stations.

 In addition, the method provides for determining the location of a moving object only in the switching center and does not allow determining the position of a positioned moving object at other mobile objects within the service area and at base stations without using a switching center, which significantly limits the capabilities of the method.

 Moreover, when transmitting from base stations in the areas of which a positioned movable object is located information about the identification numbers of these base stations, the method provides for the use of fiber-optic communication lines that exclude the possibility of direct transmission of the corresponding information radio signals to mobile objects located within the served territory, and to base stations, and therefore, excluding the possibility of determining the location of a positioned movable object on them that without the use of a switching center, which, as indicated, significantly limits the capabilities of the method.

 The technical problem to be solved is to increase the accuracy of determining the location of moving objects and expand the capabilities of the method based on the rational placement of base stations in the served territory.

 The solution to the technical problem in the method of determining the location of a moving object, which consists in the fact that in the centers of conditional cells, which are equal regular hexagons, densely covering the served territory, base stations with radiuses of action zones equal to the side length of each regular hexagon are placed, and with a given each of these base stations with a unique identification number, from a positioned moving object, which is one of the moving objects within of a habitable territory, they carry out the call sign radio signals at a given operating frequency, these call signs are received at base stations in the areas of which the positioned movable object is located, information signals containing the identification numbers of the indicated base stations are transmitted from these base stations, the location is determined from these information signals positioned moving object, the solution is achieved by the fact that at the vertices of the indicated regular hexagons are placed complement base stations with radiuses of coverage equal to the length of the side of each regular hexagon and with a unique identification number assigned to each of these base stations, the base stations in the areas of operation of which are moving objects are base stations located in the centers and at the vertices of regular hexagons , in the areas of which mobile objects are located, transmitted by information signals containing the identification numbers of base stations, in whose areas of activity the positioned mobile object are the corresponding information radio signals, the transmission of information radio signals from the indicated base stations is carried out on the mobile objects located within the service area, seven different operating frequencies of the information radio signals emitted from all base stations are set, out of seven specified working frequencies at each base station set one operating frequency of information radio signals emitted from this base station, different from the operating frequencies of information of the radio signals emitted from neighboring base stations, from the seven preset operating frequencies on each mobile object, five different operating frequencies of the information radio signals received at this mobile object, at each of the base stations and mobile objects within the service area are set, additional coordinates location of all base stations, as well as the corresponding identification numbers and radiuses of the coverage areas of all base stations, the transmission of information radio signals from the bases of new stations, in the areas of which the positioned movable object is located, to mobile objects located within the service area, consists in the fact that, first, one of these base stations emits information radio signals at a given operating frequency, at all base stations that are adjacent with respect to the indicated base station, receive information radio signals emitted from the last base station and emit them at the corresponding given operating frequencies, then and all other base stations that are adjacent to the indicated base stations receive information signals emitted from the indicated base stations and emit them at the corresponding predetermined operating frequencies, then in the same manner sequentially, in all directions from the specified base station, in the coverage area which is a positioned movable object, to the boundaries of the served territory at all other subsequent base stations that are adjacent to previous bases m stations, receive information radio signals emitted from previous base stations and emit them at the corresponding predetermined operating frequencies, then similarly alternately transmit information radio signals from all other base stations in the areas of which the positioned moving object is located, to moving objects located in the limits of the served territory, while the emission of information radio signals at a given operating frequency from each base station, except for the bases station, the identification number of which is contained in the transmitted information radio signals, is carried out upon receipt at this base station of information radio signals of one of the operating frequencies set at this base station, on mobile objects within the service area, information radio signals are received at predetermined operating frequencies, transmitted from each of the base stations, in the areas of which the positioned movable object is located, positioning of the positioned a movable movable object is carried out on movable objects within the boundaries of the served territory and at base stations by identification numbers of base stations in the areas of operation of which the positioned movable object is located, as well as by additionally specified location coordinates and the radius of the zones of operation of these base stations.

 The term "moving object" is generally accepted (see, for example, Solovyov Yu. A. Satellite navigation systems. - M .: Eko-Trends, 2000, p. 47.) Mobile objects include, for example, various vehicles equipped with a radio receiver equipment. By the terms “neighboring base station” or “base station that is adjacent to a given base station” we mean base stations located at the closest distance from this base station.

 Figure 1 shows conditionally base stations located on the served territory, and mobile objects located within the served territory, with a conditional image of the coverage areas of the base stations and an indication of the set operating frequencies of the information radio signals emitted from each of these base stations, for the case, in which the number of base stations is seventy-two, the number of mobile objects is five.

 In Fig.2, Fig.3 and Fig.4 conventionally depicted base stations located on the served territory, and mobile objects located within the served territory, indicating the specified operating frequencies of the information radio signals emitted from each of these base stations, as well as with a conditional image of the directions of transmission of information radio signals, respectively, from each of the base stations, in the areas of which the positioned movable object is located, to other base stations, for the case in which the number of base Dancing is equal to seventy-two, the number of moving objects is five.

 In FIG. 5 shows conditionally temporary diagrams of sequential transmission of information radio signals from one of the base stations, in the areas of which the positioned movable object is located, to other base stations.

 In FIG. 6 shows a system for implementing the method for the case in which the number of first transceivers that are one each of the base stations is nineteen, and the number of second transceivers placed one on each of the moving objects is three, and the moving objects in FIG. .6 not shown.

 In Fig.7 shows the first transceiver, which is part of each of the base stations, and the base station in Fig.7 is not shown.

 In FIG. 8 shows a second transceiver located on each of the movable objects, wherein the movable object is not shown in FIG.

 In the present description, the following notation is used.

1 _n - base station 1 with a unique identification number n, where n = 1,2, ..., N are positive integers; 2 _m - moving object 2 with number m, where m = 1,2, ..., N - positive integers; 3 _n - zone 3 of the action of the base station 1 _n ; f _q is the working frequency of the information radio signals emitted from the base station 1, where q = 1,2, ..., Q are positive integers; f _q is the working frequency of the call signs of the radio signals emitted from the positioned movable object 2. In cases where this does not lead to an incorrect interpretation, the indices in the above notation are omitted.

 The essence of the method is as follows.

On the served territory, in the centers and at the tops of the conditional cells, which are equal regular hexagons, densely covering the served territory, base stations 1 are placed (as shown in Fig. 1) (base stations 1 ₁ - 1 ₁₉ and base stations 1 ₂₀ - 1 ₇₃ respectively) with radii of action zones 3 equal to the length of the side of each regular hexagon, and with a unique identification number assigned at each base station 1 (numbers 1 ₁ - 1 ₁₉ and numbers 1 ₂₀ - 1 _73, respectively).

 With this arrangement of base stations 1 on the served territory, no more than six base stations 1 are adjacent to each base station 1.

 By zone 3 of action of each base station 1 we mean equal to each other zone 3 of action when radiating radio signals from this base station 1 and zone 3 of action when receiving radio signals of this base station 1.

In this case, by zone 3 of action when radiating radio signals from each base station 1 we mean a part of the territory within which, with non-directional radiation from this base station 1, radio signals of power P _qsl at the operating frequency f _{q the} power of these radio signals when they are non-directionally received at other base stations 1 and on moving objects 2 not less than a certain threshold value P _av.min , characterizing the sensitivity of the channels for receiving radio signals at base stations 1 and on moving objects 2. Under the zone 3 of the action when receiving radio gnalov at each base station 1 we understand the part of the territory within which, with undirected radiation from other base stations 1 of radio signals of the same power P _qsl at the same operating frequency f _q , as well as with undirected radiation from a positioned moving object, 2 radio signals of power R _{ave. rad} at the operating frequency f _n of the power of the radio signals at the omnidirectional reception at the base station 1 is not less than the same quantity F _prmin.

где с - скорость света в вакууме.In this regard, taking the assumption that the propagation of radio waves occurs in free space, and the served area is a plane, the zone 3 of action of each base station 1 in case of non-directional radiation from base stations 1 and from a positioned moving object 2 and with non-directional reception of radio signals to base stations 1 and on moving objects 2 is a circle centered at the location of this base station 1 and the radius determined by the formula (see, for example, Theoretical fundamentals of radar. Under p unit of V.E.Dulevich. - M.: Soviet Radio, 1978, p. 402)

where c is the speed of light in vacuum.

 By the radius of the zone 3 of the action of each base station 1 we understand the radius of the specified circle.

 When placing base stations 1 in the centers and at the tops of conditional cells, which are equal regular hexagons that densely cover the served territory, with radii of zones 3 of action of base stations 1 equal to the length of the side of each regular hexagon, the border of zone 3 of action of each base station 1 passes through points of placement of neighboring base stations 1. In Fig. 1, the boundaries of the zones 3 of action of base stations 1 are shown conditionally by circles.

Задают семь различных рабочих частот (Q=7) информационных радиосигналов, излучаемых со всех базовых станций 1. Из семи заданных рабочих частот на каждой базовой станции 1 задают, как показано на фиг.1, одну рабочую частоту информационных радиосигналов, излучаемых с этой базовой станции 1, отличную от заданных рабочих частот информационных радиосигналов, излучаемых с соседних базовых станций 1. Таким образом, на базовых станциях 1, не являющихся соседними, задают повторяющиеся рабочие частоты информационных радиосигналов, излучаемых с этих базовых станций 1.In the present description, the term "signal power" means the average signal power P signal s (t), determined in the time interval t _a ≤t≤t _b by the formula (see, for example, A. M. Trakhtman. Introduction to the generalized spectral theory of signals . - M .: Soviet Radio, 1972, p. 14)

Seven different operating frequencies (Q = 7) of the information radio signals emitted from all base stations 1 are set. Of the seven preset operating frequencies at each base station 1, one, as shown in FIG. 1, is set to one operating frequency of information radio signals emitted from this base station 1, different from the specified operating frequencies of the information radio signals emitted from neighboring base stations 1. Thus, at base stations 1 that are not adjacent, the repeating operating frequencies of the information radio signals emitted from these ba are set 1 ovyh stations.

 By the term "operating frequency" we mean the value of the frequency of the carrier wave, the central or some other characteristic value of the frequency of the frequency band of radio signals. Moreover, the frequency bands of the radio signals corresponding to different operating frequencies are non-overlapping.

 From a positioned movable object 2, which is one of the movable objects 2 located within the service area, the call signs of the radio signals are emitted at a given operating frequency. These callsigns are received at the base stations 1, in the zones 3 of which the positioned movable object 2 is located.

 From these base stations 1, information signals containing the identification numbers of base stations 1 are transmitted to mobile objects 2 within the service area, and the positioned movable object 2 is located in the action zones 3. In this case, information signals corresponding to information transmitted to mobile objects 2, located within the serviced territory, are the corresponding information radio signals.

 The transmission of information radio signals from base stations 1, in the zones 3 of which the positioned movable object 2 is located, to mobile objects 2 located within the boundaries of the served territory, is as follows. First, one of these base stations 1 carries out the emission of information radio signals at a given operating frequency. At all base stations 1, which are adjacent to the specified base station 1, receive information signals emitted from the last base station 1 and emit them at the corresponding predetermined operating frequencies. Then, at all other base stations 1, which are adjacent to the indicated base stations 1, receive information radio signals emitted from the indicated base stations 1 and their radiation at the corresponding given operating frequencies. Then, in the same way, sequentially, in all directions from the indicated base station 1, in the zone of action 3 of which there is a positioned movable object 2, to the borders of the served territory at all other subsequent base stations 1, which are adjacent to the previous base stations 1, they receive radiated from previous base stations 1 information radio signals and their radiation at the corresponding given operating frequencies. Then, in a similar manner, information radio signals are transmitted alternately from all other base stations 1, in the action zones 3 of which a positioned moving object 2 is located, to mobile objects 2 located within the service area.

 To ensure the transmission of informational radio signals from each of the base stations 1, in the zones 3 of which the positioned movable object 2 is located, to mobile objects 2 located within the service area, and therefore to all other base stations 1, without “looping” from seven preset operating frequencies at each base station 1 set the operating frequencies of the information radio signals received at this base station 1, at which from this base station 1 carry out the emission of information radio signals on set operating frequency. At the same time, at each base station 1, the indicated operating frequencies are set for any other base station 1, in the action zone 3 of which a positioned movable object 2 can be located, depending on the relative position of these base stations 1 and the values of the specified operating frequencies of the information radio signals emitted from the base stations 1 being adjacent to the first base station 1.

In Fig. 2, Fig. 3 and Fig. 4, the arrows conditionally depict the directions of the transmission of information radio signals from each of the base stations 1 (base stations 1 with identification numbers 1 ₁₀ , 1 ₃₈ and 1 ₄₃ ), respectively, in the zones 3 of which the positioned mobile unit 2 (mobile unit 2 ₂ ), to other base stations 1.

So, for example, as shown in figure 2, when transmitting informational radio signals from the base station 1 ₁₀ containing the identification number of this base station 1, radiation from the base station 1 ₄₄ informational radio signals at a given operating frequency f _{7 is} carried out at reception at the base station 1 ₄₄ information radio signals specified at this base station 1 of the operating frequency f ₁ , which is the operating frequency of the information radio signals emitted from the base station 1 ₁₀ . At the same time, from the base station 1 _{10, the} emission of information radio signals at a given operating frequency f _{1 is} carried out regardless of the values of the operating frequencies of the information radio signals emitted from neighboring base stations 1, since in the above example, the transmitted information radio signals contain the identification number of the base station 1 ₁₀ , and therefore it is this base station 1 that is the source of the transmitted information.

By analogy with the above, as shown in figure 3 and figure 4, when transmitting information radio signals in the first case from the base station 1 ₃₈ , and in the second case from the base station 1 ₄₃ , the radiation from the base station 1 ₄₄ information radio signals at a given working frequency f ₇ in the first case is carried out at reception in the base station 1 ₄₄ information on this predetermined radio base station 1 operating frequency f _2, which is the working frequency information radio signals emitted from the base station 1 _38, and the second - at reception on the base hundred tion ₄₄ 1 information radio signals defined on one of the base station 1 operating frequencies f ₁ and f _2, which are operating frequencies of information radio signals emitted from the base stations 1 ₁₀ and 1 ₃₈ respectively.

The transmission of informational radio signals from base stations 1 ₁₀ , 1 ₃₈ and 1 ₄₃ , in zones 3 of which the positioned movable object 2 _{2 is located} , to mobile objects 2 located within the service area, is as follows. First, as shown in figure 2, from the base station 1 to ₁₀ carry out the emission of information radio signals containing the identification number of this base station 1, at a given operating frequency. Moreover, at all base stations 1 (base stations 1 ₃₈ , 1 ₄₄ , 1 ₅₀ , 1 ₅₅ , 1 ₄₉ , 1 ₄₃ ), which are adjacent to the base station 1 ₁₀ , receive information signals transmitted from the last base station 1 and their radiation at the corresponding given operating frequencies. Then, at all other base stations 1 (base stations 1 ₅ , 1 ₃₃ , 1 ₆ , 1 ₃₉ , 1 ₁₁ , 1 ₅₆ , 1 ₁₅ , 1 ₆₀ , l ₁₄ , 1 ₅₄ , 1 ₉ , 1 ₃₇ ), which are adjacent in in relation to the indicated base stations 1 (base stations 1 ₃₈ , 1 ₄₄ , 1 ₅₀ , 1 ₅₅ , 1 ₄₉ , 1 ₄₃ ), information radio signals emitted from the indicated base stations 1 are received and emitted at the corresponding predetermined operating frequencies. Then, in the same way, sequentially, in all directions from the base station 1 ₁₀ , in the zone 3 of which the positioned movable object 2 _{2 is located} , to the boundaries of the served territory at all other subsequent base stations 1 (first at the base stations 1 ₂ , 1 ₂₉ , 1 ₃₄ , 1 ₇ , 1 ₄₅ , 1 ₅₁ , 1 ₁₆ , 1 ₆₁ , 1 ₆₅ , 1 ₁₈ , 1 ₆₄ , 1 ₅₉ , 1 ₁₃ , 1 ₄₈ , 1 ₄₂ , 1 ₄ , 1 ₃₂ , 1 ₂₈ then at the base stations 1 ₂₁ , 1 ₂₅ , 1 ₃ , 1 ₃₀ , 1 ₃₅ , 1 ₄₀ , 1 _l2 , 1 ₅₇ , 1 ₆₂ , 1 ₆₆ , 1 ₁₉ , 1 ₆₉ , 1 ₇₂ , 1 ₆₈ , 1 ₁₇ , 1 ₆₃ , 1 ₅₈ , 1 ₅₃ , 1 ₈ 1 ₃₆ , 1 ₃₁ , 1 ₂₇ , 1 ₁ , 1 ₂₄ and, finally, at base stations 1 ₂₂ , 1 ₂₆ , 1 ₄₆ , 1 ₅₂ , 1 ₇₀ , 1 ₇₃ , 1 ₇₁ , 1 ₆₇ , 1 _47, 1 _41, 1 ₂₃ 1 ₂₀₎ are adjacent E in relation to the previous base station 1, carries out reception emitted from previous base station 1 information and radio radiation at respective predetermined operating frequencies.

Then carry out, as shown in figure 3 and figure 4, in a similar way, alternately transmitting information radio signals from base stations 1 ₃₈ and 1 ₄₃ , in the zones 3 of which there is a positioned movable object 2 ₂ , to the movable objects 2 within the serviced territory.

 The schemes shown in Figs. 1 to 4 are examples of placing base stations 1 in a served area with radiuses of action zones 3 equal to the side length of each regular hexagon, and setting at each base station 1 the operating frequency of information radio signals emitted from this base station 1, as well as tasks at each base station 1, except for base stations 1, in zones 3 of which there is a moving object 2, the operating frequencies of the information radio signals received at this base station 1, at which th base station 1 carry out the emission of information radio signals at a given operating frequency.

где R - радиус зон 3 действия базовых станций 1; с - скорость света в вакууме.Timing diagrams of sequential transmission of informational radio signals in all directions from one of the base stations 1 (base station 1 ₁₀ ), in the zones 3 of which the positioned movable object 2 is located, are conventionally shown in FIG. 5 to the boundaries of the served territory. Here, IP1 and IP2 are radio information signals; T is the duration of the information radio signals; τ is the propagation time of radio signals from each base station 1 to neighboring base stations 1, determined by the formula

where R is the radius of the zones 3 of the action of base stations 1; c is the speed of light in vacuum.

With the indicated placement parameters for the base stations 1 on the served territory with the specified radii of action zones 3, at least three action zones of neighboring base stations 1 overlap at each point of the served territory since the informational radio signals from neighboring base stations 1 are emitted at different operating frequencies, each the receiving point receives information radio signals of at least three different specified operating frequencies. (So, for example, as shown in figure 1, the moving object 2 ₁ is located in zones 3 of the three base stations 1 ₅ , 1 ₂₈ , 1 ₃₃ , from which the radiation of information radio signals is carried out at operating frequencies f ₅ , f ₁ , f ₆ respectively.) Therefore, to ensure the guaranteed reception of informational radio signals at moving objects 2 when they move within the service area, it is sufficient to receive informational radio signals at each moving object 2 at only five different out of seven specified operating frequencies.

 On mobile objects 2, information radio signals emitted from base stations 1 are received, in the zones of action 3 of which these mobile objects 2 are located. At the same time, information radio signals on mobile objects 2 are received at specified operating frequencies, which are five different on each mobile object 2 of seven given operating frequencies.

At each of the base stations 1 and on mobile objects 2 located within the service area, additional coordinates (x _n , y _n ) for the location of all base stations 1, as well as the corresponding identification numbers n and the radii R of zones 3 of the action of all base stations 1. For this, a rectilinear coordinate system on the plane associated with any point of the served territory can be used.

 The positioning of the positioned moving object 2 is carried out on moving objects 2 located within the service area, and at base stations 1 by the identification numbers of base stations 1, in the action zones 3 of which the positioned moving object 2 is located, as well as by additionally specified placement coordinates and radii zones 3 of the action of these base stations 1.

где (x_n1, y_n1), (x_n2, y_n2),..., (x_nk, y_nk),..., (x_nk, y_nk) - координаты размещения базовых станций 1 с идентификационными номерами n₁, n₂,..., n_k... , n_К, в зонах 3 действия которых находится позиционируемый подвижный объект 2, где К - число этих базовых станций 1; причем 1≤k≤К; k, К -положительные целые числа, n₁=1,2,...,N, n₂=1,2,...,N, n_k=1,2,...,N, n_K=1,2...,N.Assuming that the action zones 3 of each base station 1 are a circle of radius R, the coordinates (x, y) of the positioned movable object 2 are determined from the solution of the system of inequalities

where (x _n1 , y _n1 ), (x _n2 , y _n2 ), ..., (x _nk , y _nk ), ..., (x _nk , y _nk ) are the coordinates of the base stations 1 with identification numbers n ₁ , n ₂ , ..., n _k ..., n _K , in the zones of action 3 of which there is a positioned movable object 2, where K is the number of these base stations 1; moreover, 1≤k≤K; k, K are positive integers, n ₁ = 1,2, ..., N, n ₂ = 1,2, ..., N, n _k = 1,2, ..., N, n _K = 1,2 ..., N.

 The solution to system (4) is the set of coordinate values (x, y) of the points forming the area of the served territory limited by fragments of the boundaries of overlapping action zones 3 of neighboring base stations 1, in which the positioned moving object 2 is located. For given radiuses of zones 3 of the action of base stations 1 and the placement parameters of base stations 1 on the served territory, the area of the region defined by formula (4) is not more than one sixth of the area of zone 3 of the action of each base station 1, which significantly increases, compared to iju with the prototype, the accuracy of position determination of movable objects 2 positioned, located at central portions of areas 3 of the base station 1.

To ensure the operability of the method, the placement of base stations 1 near the boundaries of the served territory must be carried out so that at each point of the served territory there is an overlap of at least three zones 3 of the activity of neighboring base stations 1. Thus, for example, the boundary of the served territory shown in Fig. be a closed polygonal line passing through all the extreme base stations 1 (base stations 1 ₂₀ , 1 ₂₄ , 1 ₂₁ , 1 ₂₅ , 1 ₂₂ , 1 ₂₆ , 1 ₃₀ , 1 ₃₅ , 1 ₄₀ , 1 ₄₆ , 1 ₅₂ , 1 ₅₇ , 1 ₆₂ , 1 ₆₆ , 1 ₇₀ , 1 ₇₃ , 1 ₆₉ , 1 ₇₂ , 1 ₆₈ , 1 ₇₁ , 1 ₆₇ , 1 ₆₃ , 1 ₃₈ , 1 ₅₃ , 1 ₄₇ , 1 ₄₁ , 1 ₃₆ , 1 _{3 1} , 1 ₂₇ , 1 ₂₃ ).

 Thus, due to the fact that the location of the positioned movable object 2 is determined, unlike the prototype, not only by the identification numbers of the base stations 1, in the action zones 3 of which the positioned movable object 2 is located, but also on the basis of information about the location coordinates and radii zones 3 of the action of these base stations 1, the method allows you to determine the area of the served territory formed by fragments of the boundaries of the zones 3 of the action of base stations 1, in which the positioned mobile object 2, which significantly improves the accuracy of determining the position of the positioned movable object 2 in the coordinate system associated with any point of the served territory. However, due to the fact that the placement of base stations 1, in contrast to the prototype, is carried out not only in the centers of conditional cells, which are equal regular hexagons that densely cover the served territory, but also at the vertices of these regular hexagons, and the radii of zones 3 are all base stations 1 are equal to the length of the side of each regular hexagon, the distance between any two adjacent base stations 1 is equal to the radii of zones 3 of their action. In this regard, the action zones 3 of neighboring base stations 1 overlap significantly, which significantly increases the accuracy of determining the location of mobile objects 2 located on the central sections of zones 3 of the action of base stations 1. Moreover, due to the rational placement of base stations 1 in the served area during transmission from base stations 1, in zones 3 of which the positioned movable object 2 is located, information on the identification numbers of these base stations 1 does not require the use of a switching center and fiber-optic communication lines and allows using radio transmitting equipment located at base stations 1, by alternately emitting the corresponding information radio signals from base stations 1, in zones 3 of which there is a positioned movable object 2, receiving these information radio signals at neighboring base stations 1, emitting them from the last base stations 1 and further sequential transmission of this information in a similar manner to other base stations 1, transmit these information ionic radio signals to the mobile units 2, which are within the service area, and to all the base stations 1, and determining their locations positioned on a moving object, which greatly extends the capabilities of the method.

 The system for implementing the method is presented in Fig.6. The system comprises first transceivers 4, one each of which is included in each of the base stations 1, and second transceivers 5, placed one at a time on each of the movable objects 2 within the service area. In FIG. 6 illustrates, as an example, a system containing nineteen first transceivers 4 and three second transceivers 5. In this case, a description of the system and operation of this system when implementing the method is given for an arbitrary number of first transceivers 4, one each of base stations 1, and second transceivers 5, placed one at a time on each of the movable objects 2, located within the serviced territory.

 Base stations 1 are located in the centers and at the vertices of the conditional cells, which are equal regular hexagons, densely spaced among themselves, densely covering the served territory. The radius of the zone 3 of action of each base station 1 is set equal to the length of the side of each regular hexagon. At each point of the served territory, at least three zones 3 of action of neighboring base stations 1 overlap.

 The transmission frequency of the base station 1 is the corresponding operating frequency of the information radio signals emitted from this base station 1. The transmission frequency of the second transceiver 5 is the corresponding operating frequency of the callsign radio signals emitted from the positioned moving object 2. The receiving frequency of the second transceiver 5 is the corresponding operating frequency of the information radio signals, received at the respective mobile unit 2. The receiving frequency of the base station 1 is the corresponding ochaya frequency of call radio signals emitted from the positioned moving object 2.

The terms "transmission frequency" and "reception frequency" of any device are generally accepted (see, for example, Gromakov Yu.A. Standards and mobile radio communication systems, - M .: Eco-Trends, 2000, p. 2.)
Of the seven set different operating frequencies at each base station 1, the transmission frequency of this base station 1 is set, which is different from the set transmission frequencies of neighboring base stations 1. Of the seven specified working frequencies on each moving object 2, one transmission frequency and five different reception frequencies of the second a transceiver 5 located on this moving object 2. Moreover, the predetermined transmission frequencies of all the second transceivers 5 are equal to each other and are different from any of the seven specified operating frequencies. At each base station 1, a reception frequency of this base station 1 is also set, which coincides with a predetermined transmission frequency of each second transceiver 5.

 All elements and blocks that make up the system for implementing the method are known and described in the literature.

 The first transceiver 4, which is part of each base station 1, shown in Fig. 7, contains a first receiving antenna 6, six channels for receiving information radio signals, each of which contains a first band-pass filter 7, a first low-noise amplifier 8, a first amplitude limiter 9, the first frequency detector 10, first squaring unit 11, first integrator 12, analog-to-digital converter (ADC) 13. The first transceiver 4 also contains one channel for receiving callsign radio signals, which contains a second band the first filter 14, the second low-noise amplifier 15, the second amplitude limiter 16, the second frequency detector 17, the second squaring unit 18, the second integrator 19, the second ADC 20. The first transceiver 4 also contains the first controlled generator 21, the first power amplifier 22, the first a transmitting antenna 23, a first microcontroller 24, a first indicator 25, a first job unit 26.

 The output of the first receiving antenna 6, designed for non-directional reception of information radio signals emitted from neighboring base stations 1, and the callsign of radio signals emitted from a positioned moving object 2, is connected to the inputs of all first bandpass filters 7. Information radio signals are high-frequency frequency-manipulated electromagnetic waves corresponding operating frequencies. The first band-pass filters 7 are used for the selection of information radio signals in frequency. Moreover, each of them is tuned to a predetermined transmission frequency of one of the corresponding neighboring base stations 1. The bandwidth of each first band-pass filter 7 is not less than the bandwidth of information radio signals of the corresponding operating frequency. In each channel for receiving informational radio signals, the output of the first band-pass filter 7 is connected to the input of the first low-noise amplifier 8, intended to amplify the received radio signals. The output of the first low-noise amplifier 8 is connected to the input of the first amplitude limiter 9, which serves to eliminate spurious amplitude modulation of signals arising from the propagation of radio waves. The output of the first amplitude limiter 9 is connected to the input of the first frequency detector 10, intended for the frequency detection of the received information radio signals. The output of the first low-noise amplifier 8 is also connected to the input of the first squaring block 11, the output of which is connected to the input of the first integrator 12. The first squaring block 11 and the first integrator 12 are connected in series to generate signals proportional to the power of the received radio signals. The output of the first integrator 12 is connected to the input of the first ADC 13. The output of the first receiving antenna 6 is also connected to the input of the second band-pass filter 14, tuned to a given transmission frequency of the second transceivers 5. The passband of the first band-pass filters 7 and the second band-pass filter 14 are non-overlapping. The bandwidth of the second band-pass filter 14 is not less than the bandwidth of the callsign radio signals. Radio callsigns are high-frequency frequency-manipulated electromagnetic oscillations of a given operating frequency. In the channel for receiving callsign radio signals, the output of the second band-pass filter 14 is connected to the input of the second low-noise amplifier 15, designed to amplify the received callsign radio signals. The output of the second low-noise amplifier 15 is connected to the input of the second amplitude limiter 16, designed to eliminate spurious amplitude modulation of signals arising from the propagation of radio waves. The output of the second amplitude limiter 16 is connected to the input of the second frequency detector 17, which serves for the frequency detection of received callsign radio signals. The output of the second low-noise amplifier 15 is also connected to the input of the second squaring unit 18, the output of which is connected to the input of the second integrator 19. The second squaring unit 18 and the second integrator 19 connected in series are used to generate signals proportional to the power of the received radio signals. The output of the second integrator 19 is connected to the input of the second ADC 20. The outputs of all the first frequency detectors 10, the outputs of all the first ADCs 13, the output of the second frequency detector 17 and the output of the second ADC 20 are connected to the corresponding inputs of the first microcontroller 24. The first microcontroller 24 is designed to process the received radio signals , the formation of binary sequences of pulses corresponding to the identification numbers of base stations 1, in the zones 3 of which there is a positioned movable object 2, to determine the places position the positioned mobile unit 2. The outputs of the first microcontroller 24 connected to the control input of the first controlled oscillator 21 tuned to the predetermined frequency of the transmission base station 1. The first controlled oscillator 21 serves to form a high-frequency-manipulated signals corresponding to the transmitted information. The output of the first controlled generator 21 is connected to the input of the first power amplifier 22, the output of which is connected to the first transmitting antenna 23, intended for non-directional radiation into the space of information radio signals. The outputs of the first task unit 26 are connected to the inputs of the first microcontroller 24, which serves to set at each base station 1 the coordinates of the location of all base stations 1, the corresponding identification numbers and radiuses of zones 3 of the action of all base stations 1, and to set at each base station 1 for any other base stations 1, in the zones of action 3 of which there can be a positionable movable object 2, the values of the operating frequencies of the information radio signals received at this base station 1, at which this base station 1 carry out the emission of information radio signals at a given operating frequency. The outputs of the first microcontroller 24 are connected to the inputs of the first indicator 25, which serves to display information about the location of the positioned movable object 2 on the served territory.

 All base stations 1 contain the same type of first transceivers 4, differing only in frequency values, which are tuned to the first band-pass filters 7 and the first controlled oscillators 21.

 The second transceiver 5, located on each movable object 2, shown in Fig. 8, contains a second receiving antenna 27, five channels of information radio signals, each of which contains a third band-pass filter 28, a third low-noise amplifier 29, a third amplitude limiter 30, and a third frequency detector 31, third squaring unit 32, third integrator 33, third ADC 34. The second transceiver 5 also includes a second controllable generator 35, a second power amplifier 36, a second transmit antenna 37, and a second micro Ontroller 38, second indicator 39, second task unit 40.

 The output of the second receiving antenna 27, designed for non-directional reception of information radio signals emitted from base stations 1, is connected to the inputs of all third bandpass filters 28, which serve to select information radio signals in frequency. Each of them is tuned, respectively, to one of the given reception frequencies of this second transceiver 5, the Bandwidth of each third band-pass filter 28 is not less than the bandwidth of the information radio signals of the corresponding operating frequency. The passbands of the third bandpass filters 28 are non-overlapping. In each channel for receiving informational radio signals, the output of the third band-pass filter 28 is connected to the input of the third low-noise amplifier 29, intended to amplify the received informational radio signals. The output of the third low-noise amplifier 29 is connected to the input of the third amplitude limiter 30, which serves to eliminate spurious amplitude modulation of signals arising from the propagation of radio waves. The output of the third amplitude limiter 30 is connected to the input of the third frequency detector 31, designed for frequency detection of the received information radio signals. The output of the third low-noise amplifier 29 is also connected to the input of the third squaring unit 32, the output of which is connected to the input of the third integrator 33. The third squaring unit 32 and the third integrator 33 connected in series are used to generate signals proportional to the power of the received information radio signals. The output of the third integrator 33 is connected to the input of the third ADC 34. The outputs of all third frequency detectors 31 and the outputs of all third ADCs 34 are connected to the corresponding inputs of the second microcontroller 38. One of the outputs of the second microcontroller 38 is connected to the control input of the second controlled generator 35 tuned to a given frequency transmitting the second transceivers 5, the other output of the second microcontroller 38 is connected to the control input of the second power amplifier 36. The output of the second controlled generator 35 is connected to the input of the second power amplifier 36, which serves to amplify the power signals. A second transmitting antenna 37 is connected to the output of the second power amplifier 36, intended for non-directional radiation into the space of the call signs of the radio signals. The second microcontroller 38 is designed to generate binary sequences of pulses corresponding to the codes of the operating frequencies of the emitted information radio signals, to determine the location of the positioned moving object 2 and to display this information on the second indicator 39, the inputs of which are connected to the outputs of the second microcontroller 38. The outputs of the second microcontroller 38 are connected the second block 40 of the job, which is used to set on each moving object 2 coordinates of the placement of all base stations 1, corresponding to them given identification numbers and radii of zones 3 of action of all base stations 1.

 The term "controlled generator" is generally accepted (see, for example, Theoretical Foundations of Radar. Edited by V.E.Dulevich. -M.: Soviet Radio, 1978, p. 358). The frequency of oscillations generated by the controlled generator is determined by the voltage acting on its control input. In this case, the controlled generator is a voltage controlled generator. Voltage-controlled generators are known and described in the literature devices (see, for example, Horowitz P., Hill. W. The Art of Circuit Engineering. In 3 volumes: T.1. Transl. From English - 4th ed. revised and revised-M .: Mir, 1993, p. 308). By the frequency of tuning a controlled generator, we mean the center frequency of the operating range of the controlled generator corresponding to the operating range of control voltages.

 As the first amplitude limiters 9, the second amplitude limiters 16 and the third amplitude limiters 30, for example, nonlinear resonant amplifiers tuned to the corresponding operating frequencies can be used (see, for example, Gonorovsky IS Radio engineering circuits and signals. - M. : Radio and Communications, 1986, p. 235).

 All the moving objects 2 have the same type of second transceivers 5, and the operating frequencies, which are tuned to the third band-pass filters 28, can coincide on different moving objects 2.

At base stations 1 and mobile objects 2, respectively, such values of the gain factors of the first low-noise amplifiers 8, second low-noise amplifiers 15 and third low-noise amplifiers 29 are set, at which the sensitivity of the channels for receiving informational radio signals at base stations 1 and on mobile objects 2, as well as sensitivity channels of receiving callsign radio signals at base stations 1 is equal to P _av.min . At the base stations 1 (depending on the set values of working frequency f _q of information radio signals emitted from these base stations 1) and positioned mobile unit 2 (depending from the set value of the working frequency f _n of call radio signals emitted from the positioned moving object 2) respectively, such values of the power amplification factors of the first power amplifiers 22 and second power amplifiers 36 are set for which, respectively, the power values of the emitted information radio signals are P _qizl , and the value of the power of the emitted callsigns of radio signals is equal to P _p.izl . At the same time, the values of P _qisl and the values of R _p.isl and P _{av. Min} are selected based on a given value of the radius of the zone 3 of action of each base station 1, equal to the length of the side of each of these regular hexagons.

 Information and callsign radio signals are narrowband; the propagation time of radio signals from each base station 1 to neighboring base stations 1 and the time interval for measuring the power of the received radio signals are negligible compared to the duration of any of the pulses of modulating binary pulse sequences corresponding to the transmitted information; the propagation time of signals in the transceiver paths of base stations 1 and mobile objects 2 is negligible.

 Accepted assumptions correspond, for example, to the following system parameters. The radius of zone 3 of action of each base station 1 is 500 m; the working frequencies of the information radio signals emitted from all base stations 1 are respectively 11, 12, 13, 14, 15, 16 and 17 MHz; the working frequency of the call signs of the radio signals emitted from the positioned movable object 2 is 10 MHz; the duration of any of the pulses of modulating binary sequences of pulses corresponding to the transmitted information is not less than 10 ms, the time interval of a single measurement of the power of the received radio signals is not more than 0.1 ms.

 Consider the implementation of the method using the system shown in Fig.6.

 At each base station 1, the identification number of this base station 1, as well as the coordinates of the placement of all base stations 1 and the corresponding identification numbers and radiuses of the 3 zones of action of all base stations 1, are entered into the first job block 26. At each base station 1, in the first block 26 tasks are also introduced for any other base stations 1, in the zones 3 of which the positioned movable object 2 can be located, the values of the operating frequencies of the information radio signals received at this base station 1, at which with the base station 1 is carried out radiation of radio information at a given operating frequency.

 At each movable object 2, located within the boundaries of the served territory, the coordinates of the location of all base stations 1, as well as the corresponding identification numbers and radii of the action zones 3 of all base stations 1, are entered into the second task unit 40.

 In the system, the callsign radio signals are emitted only from the positioned movable object 2. In this regard, on the positioned movable object 2, the second microcontroller 38 generates a control signal at the control input of the second power amplifier 36, according to which the power gain of the second power amplifier 36 takes a predetermined value. On each of the moving objects 2, which are not positioned, the second microcontroller 38 generates a control signal at the control input of the second power amplifier 36, by which the second power amplifier 36 goes into off state (power gain is zero), and the radiation of radio signals from this mobile Object 2 is impossible.

 On the positioned movable object 2, the second microcontroller 38 generates at the control input of the second controlled generator 35 a binary sequence of pulses corresponding to the code of the first of seven specified operating frequencies. The duration of the indicated binary pulse sequence is fixed. The second controlled generator 35 generates a high-frequency frequency-shift key signal corresponding to the specified code. This signal is fed to the input of the second power amplifier 36, the output signal of which is fed to the input of the second transmitting antenna 37. The second transmitting antenna 37 emits a callsign radio signal into the space, which is a high-frequency frequency-manipulated radio signal containing the code of the first of seven specified operating frequencies.

At each of the base stations 1, in the zones of action 3 of which the positioned movable object 2 is located, the callsign of the radio signal emitted from the positioned movable object 2 is received. The first receiving antenna 6, which is part of each of the first transceivers 4, contained in these base stations 1, receives a call sign containing a code of the first of seven specified operating frequencies. The received callsign radio signal is input to the second band-pass filter 14. At the output of the second band-pass filter 14, tuned to the operating frequency of the callsign radio signals emitted from the positioned movable object 2, a high-frequency frequency-manipulated signal corresponding to the received callsign radio signal acts. This signal is fed to the input of the second low-noise amplifier 15, from the output of which the signal is fed to the input of the second amplitude limiter 16. The second amplitude limiter 16 carries out the amplitude limitation of the signal. From the output of the second amplitude limiter 16, the signal is fed to the input of the second frequency detector 17. The second frequency detector 17 carries out frequency detection of the received callsign radio signal and generates a binary pulse sequence corresponding to the code of the first of seven specified operating frequencies. This binary sequence of pulses is fed to the input of the first microcontroller 24. At the same time, the signal from the output of the second low-noise amplifier 15 is fed to the input of the second squaring unit 18, the output of which is fed to the input of the second integrator 19, which forms at the input of the second ADC 20 in accordance with the formula (2) a signal proportional to the strength of the received call sign of the radio signal. The digital code from the outputs of the second ADC 20 is fed to the input of the first microcontroller 24. The first microcontroller 24 determines by the digital code acting on the outputs of the second ADC 20 and the known value of the gain of the reception channel of the callsign radio signals the power value P _{pr of the} received callsign radio signal. The first microcontroller 24 checks the condition P _ave ≥R _pr.min and if it decides to perform a stock inlet 4 of the first transceiver radio call sign of the corresponding working frequency, otherwise the first microcontroller 24 receives the opposite decision. Then, the first microcontroller 24 reads from the first set unit 26 the set value of the operating frequency of the information radio signals emitted from this base station 1, and the set identification number of this base station 1. If the set operating frequency of the information radio signals emitted from this base station 1, and the first of of the seven specified operating frequencies, the code of which is contained in the call sign of the radio signal, match, the first microcontroller 24 forms a binary sequence at the control input of the first controlled generator 21 The number of pulses corresponding to the given identification number of this base station is 1. (Otherwise, the first microcontroller 24 awaits the arrival of the following callsign radio signals.) The first controlled oscillator 21, tuned to the first of seven preset operating frequencies, generates a high-frequency frequency-manipulated signal that is transmitted to the input of the first power amplifier 22. From the output of the first power amplifier 22, a power-amplified signal is fed to the input of the first transmitting antenna 23. The first transmitting antenna 23 emits into the space an informational radio signal thus formed containing the identification number of this base station 1, which we will further consider as the first of the base stations 1, in zones 3 of the action of which the positioned movable object 2 is located. Then, the first microcontroller 24 remembers this identification number.

 The first of the seven preset operating frequencies, the code of which is contained in the call sign of the radio signal, cannot simultaneously coincide with several preset operating frequencies of the information radio signals emitted from base stations 1, in the action zones 3 of which there is a positionable movable object 2, since the preset operating frequency of the information radio signals, radiated from each base station 1, is different from the specified operating frequencies of the information radio signals emitted from neighboring base stations 1. In this regard, simultaneously Radiation from base stations 1, in zones 3 of which there is a positioned movable object 2, information radio signals containing the identification numbers of these base stations 1, does not occur.

 The reception of the information radio signal emitted from the first of the base stations 1, in the zones 3 of which the positioned movable object 2 is located, is carried out at all neighboring base stations 1 using the first transceivers 4 contained therein. In this case, the first receiving antenna 6, which is part of each of these first transceivers 4, receives an informational radio signal emitted from the first of the base stations 1, in the action zones 3 of which there is a positionable movable object 2. Received informational radio cash flows to the inputs of the first band-pass filters 7. At each base station 1, which is adjacent to the first of the base stations 1, in the zones of action 3 of which there is a positioned movable object 2, at the output of one of the first band-pass filters 7, tuned to the operating frequency information radio signals emitted from the first of the base stations 1, in the zones 3 of which the positioned movable object 2 is located, a high-frequency frequency-mode corresponding to the received information radio signal th e signal. This signal is fed to the input of the first low-noise amplifier 8, from the output of which the signal is fed to the input of the first amplitude limiter 9. The first amplitude limiter 9 carries out the amplitude limitation of the signal. From the output of the first amplitude limiter 9, the signal is fed to the input of the first frequency detector 10. The first frequency detector 10 carries out frequency detection of the received information radio signal and generates a binary pulse sequence corresponding to the identification number of the first of the base stations 1, in the action zones 3 of which there is a positioned movable object 2 This binary sequence of pulses is fed to the input of the first microcontroller 24, which determines the identification of first base station 1, 3 in the zones of action which is positioned a movable object 2.

At the same time, the signal from the output of the indicated first low-noise amplifier 8 is fed to the input of the first squaring unit 11, the output signal of which is fed to the input of the first integrator 12, which, at the input of the first ADC 13, generates a signal proportional to the power of the received information radio signal in accordance with formula (2) . The digital code from the outputs of the specified first ADC 13 is supplied to the inputs of the first microcontroller 24. The first microcontroller 24 determines by the digital code acting at the output of the specified first ADC 13 and the known value of the gain of the corresponding channel for receiving informational radio signals the power value of the received informational radio signal R _ave . The first microcontroller 24 checks the condition P _pr ≥P _prmin , and if it is satisfied, it makes a decision on the presence of the corresponding operating frequency information signal at the input of the first transceiver 4, otherwise the first microcontroller 24 takes the opposite decision. Then, the first microcontroller 24 reads from the first block 26 the tasks set at this base station 1 for the identification number of the first of the base stations 1, in the zones of action 3 of which there is a positioned movable object 2, the operating frequencies of the information radio signals received at this base station 1, in which from this base station 1 carry out the emission of information radio signals at a given operating frequency. (At each base station 1, which is adjacent to the first of the base stations 1, in the zones of action 3 of which a positioned movable object 2 is located, the only one of the specified operating frequencies is the operating frequency of the information radio signals emitted from the first of base stations 1, in zones 3 of the action of which a positioned movable object is located 2). If the operating frequency of the received information radio signal coincides with one of the specified operating frequencies, then the first microcontroller 24 generates at the control input of the first controlled generator 21 a binary sequence of pulses corresponding to the identification number of the first of the base stations 1, in the action zones 3 of which there is a positioned movable object 2 The first controlled oscillator 21 generates a high-frequency frequency-manipulated signal at a given operating frequency, which is fed to course of the first amplifier 22 power. From the output of the first power amplifier 22, a power-amplified signal is fed to the input of the first transmitting antenna 23, which emits into the space an information radio signal containing the identification number of the first of the base stations 1, in the action zones 3 of which there is a positionable movable object 2. Then, the first microcontroller 24 remembers this identification number.

 The reception of information radio signals emitted from base stations 1, which are adjacent to the first of the base stations 1, in the zones 3 of which there is a positioned movable object 2, is carried out at all base stations 1, which are adjacent to these neighboring base stations 1, using the first transceivers contained in them 4. The first receiving antenna 6, which is part of each of these first transceivers 4, receives information radio signals emitted from these neighbors of them base stations 1. Received information radio signals are fed to the inputs of the first band-pass filters 7, which select them by frequency. At each base station 1, which is adjacent to the indicated neighboring base stations 1, at the output of the first bandpass filters 7, high-frequency frequency-manipulated signals corresponding to the received information radio signals act. These signals are fed to the inputs of the first low-noise amplifiers 8, from the outputs of which the signals are fed to the inputs of the first amplitude limiters 9. The first amplitude limiters 9 carry out the amplitude limitation of the signals. From the outputs of the first amplitude limiters 9, the signals are fed to the inputs of the first frequency detectors 10. The first frequency detectors 10 carry out frequency detection of the received information radio signals and generate binary pulse sequences corresponding to the identification number of the first of the base stations 1, in the action zones 3 of which there is a positioned movable object 2 These binary sequences of pulses are fed to the inputs of the first microcontroller 24, which determines from them the identifiers the ion number of the first of the base stations 1, in the zones 3 of which the positioned movable object 2 is located.

At the same time, the signals from the outputs of the first low-noise amplifiers 8 are fed to the inputs of the first squaring blocks 11, the output signals of which are fed to the inputs of the first integrators 12, which, at the inputs of the first ADCs 13, generate signals proportional to the power of the received information radio signals in accordance with formula (2). Digital codes from the outputs of the first ADCs 13 are received at the inputs of the first microcontroller 24. The first microcontroller 24 determines by the digital codes acting on the outputs of the first ADCs 13 and the known values of the gain of the corresponding channels for receiving informational radio signals the power values P _{pr of the} received informational radio signals. For each of the channels for receiving informational radio signals, the first microcontroller 24 checks the condition P _pr ≥P _prmin and, if it is satisfied, makes a decision on the presence of the corresponding operating frequency information signal at the input of the first transceiver 4, otherwise the first microcontroller 24 takes the opposite decision. Then, the first microcontroller 24 reads from the first block 26 the tasks set at this base station 1 for the identification number of the first of the base stations 1, in the zones of action 3 of which there is a positioned movable object 2, the operating frequencies of the information radio signals received at this base station 1, in which from this base station 1 carry out the emission of information radio signals at a given operating frequency. If the operating frequency of one of the received information radio signals coincides with one of the specified specified operating frequencies, then the first microcontroller 24 generates at the control input of the first controlled generator 21 a binary pulse sequence corresponding to the identification number of the first of the base stations 1, in the action zones 3 of which there is a positioned movable object 2. The first controlled generator 21 generates a high-frequency frequency-manipulated signal at a given operating frequency, which paet to the input of the first amplifier 22 power. From the output of the first power amplifier 22, a power-amplified signal is fed to the input of the first transmitting antenna 23, which emits into the space an information radio signal containing the identification number of the first of the base stations 1, in the action zones 3 of which there is a positionable movable object 2. Then, the first microcontroller 24 remembers this identification number.

 By analogy with the above, the first transceivers 4, which are part of all other base stations 1, receive and emit information radio signals containing the identification number of the first of the base stations 1, in the action zones 3 of which there is a positioned movable object 2, as well as storing this identification number .

 Information radio signals emitted from each base station 1 penetrate through the first receiving antennas 6 to the inputs of the first transceivers 4, which are part of neighboring base stations 1. However, this does not cause a loop of the system, since the radiation of information radio signals from each base station 1, in addition to base station 1, the identification number of which is contained in the transmitted information radio signals, is carried out only when receiving at this base station 1 information radio signals of one of the preset this base station 1 operating frequencies. In this case, the radiation of information radio signals from the base station 1, the identification number of which is contained in the transmitted information radio signals, is carried out independently of the operation of neighboring base stations 1.

 Thus, the first transceivers 4 included in the base stations 1, in accordance with the information contained in the first blocks of the job 26, sequentially, in all directions from the base station 1, which is the source of the transmitted information, to the boundaries of the served territory on all other subsequent base stations 1, which are adjacent to the previous base stations 1, receive information signals emitted from previous base stations 1 and emit them at the corresponding preset radio stations ochih frequencies.

At each movable object 2 located within the service area, the second receiving antenna 27, which is part of the second transceiver 5 located on it, shown in Fig. 8, receives information radio signals emitted from base stations 1, in the action zones 3 of which movable object 2. These radio information signals contain the identification number of the first of the base stations 1, in the zones 3 of which the positioned movable object 2 is located. Signals from the output of the second receiving antenna 27 pos blunt at the inputs of the third band-pass filters 28, which carry out their selection in frequency. The signals from the outputs of the third bandpass filters 28 are fed to the inputs of the third low-noise amplifiers 29, the signals from the outputs of which are fed to the inputs of the third amplitude limiters 30. The third amplitude limiters 30 carry out the amplitude limitation of the signals. From the outputs of the third amplitude limiters 30, the signals are fed to the inputs of the third frequency detectors 31, which carry out frequency detection of the received information radio signals. The binary pulse sequences generated by the third frequency detectors 31 are fed to the inputs of the second microcontroller 38. At the same time, the signals from the outputs of the third low-noise amplifiers 29 are fed to the inputs of the third squaring units 32, the output signals of which are fed to the inputs of the third integrators 33, which are at the inputs of the third ADCs 34 form in accordance with formula (2) the signals proportional to the power of the received information radio signals. Digital codes from the outputs of the third ADCs 34 are supplied to the inputs of the second microcontroller 38. The second microcontroller 38 determines by the digital codes operating at the outputs of the third ADCs 34 and the known values of the gain of the corresponding channels of the informational reception of radio signals the power values P _{pr of the} received informational radio signals. For each of the channels for receiving informational radio signals, the second microcontroller 38 checks the condition P _pr ≥P _prmin , and if it is satisfied, it makes a decision on the presence of the corresponding operating frequency information signal at the input of the second transceiver 5, otherwise the second microcontroller 38 takes the opposite decision . Then, the second microcontroller 38 processes the binary sequences of pulses acting on the outputs of the respective third frequency detectors 31 and stores the identification number of the first of the base stations 1, in the action zones 3 of which there is a positionable movable object 2.

 At the positioned movable object 2, after the end of the radiation of the call sign of the radio signal containing the code of the first of seven preset operating frequencies, after a predetermined time interval, the second microcontroller 38 forms a binary pulse train at the control input of the second controlled generator 35 corresponding to the code of the second of the seven preset operating frequencies. The duration of the indicated binary pulse sequence is fixed. The duration of the specified time interval is also fixed and many times exceeds the duration of each of the information radio signals. The second controlled generator 35 generates a high-frequency frequency-shift key signal corresponding to the specified code. This signal is fed to the input of the second power amplifier 36, the output signal of which is fed to the input of the second transmitting antenna 37. The second transmitting antenna 37 emits a callsign radio signal into the space, which is a high-frequency frequency-manipulated radio signal containing the code of the second of seven specified operating frequencies.

Then, similarly to that described above at base stations 1, in zones 3 of which the positioned movable object 2 is located, they receive this call sign of the radio signal. If at one of these base stations 1 the predetermined operating frequency of the information radio signals emitted from this base station 1 and the second of the seven specified operating frequencies, the code of which is contained in the call sign of the radio signal, are matched, then this base station 1 emits an information radio signal containing the identification number of this base station 1, and then this identification number is stored in the first microcontroller 24. (As already indicated, this base station 1 cannot be considered above, the first of the base stations 1, in the zones 3 of which there is a positioned movable object 2.)
Then the reception and emission of information radio signals containing the identification number of the second of the base stations 1, in the zones 3 of which there is a movable object 2, as well as storing the specified identification number is carried out similarly as described above using the first transceivers 4, which are part of all base stations 1, except the last base station 1. Reception of these information radio signals and storing the specified identification number is carried out similarly to that described above using the second emitter 5 on moving objects 2, located within the boundaries of the served territory.

 Then, the second transceiver 5, located on the positioned movable object 2, likewise alternately emits callsign radio signals containing, respectively, codes from the third to the seventh of seven predetermined operating frequencies with a time interval of the indicated duration.

 In accordance with this, throughout the entire radiation cycle of call signs of radio signals from all base stations 1, in the zones of action 3 of which a positioned movable object 2 is located, similarly alternate transmission of information radio signals to mobile objects 2 within the served territory is carried out. The number of base stations 1, in the zones 3 of which the positioned movable object 2 is located, lies, as already mentioned, in the range from three to seven.

 We assume that the change in location of the positioned movable object 2 that occurs during one radiation cycle of the call signs of the radio signals is negligible.

 In the first transceiver 4, which is part of each base station 1, at the end of each time interval equal to the duration of one radiation cycle of the callsign radio signals, the first microcontroller 24 is stored on the identification numbers of the base stations 1, in the zones of action 3 of which there is a positioned movable object 2, reads from the first block 26 the job coordinates of the location and the values of the radii of the zones 3 of the action of these base stations 1 and determines using the formula (4) the location of the positioned mobile The object 2. Then, the first microcontroller 24 generates at the inputs of the first indicator signals 25 for displaying information about the location of the mobile object 2 positioned in the service area.

 In the second transceiver 5, located on each movable object 2, at the end of each time interval equal to the duration of one radiation cycle of the callsign radio signals, the second microcontroller 38 is stored on the stored identification numbers of the base stations 1, in the action zones 3 of which the positioned movable object 2 is located from the second block 40 sets the coordinates of the location and the values of the radii of the zones 3 of the action of these base stations 1 and determines using the formula (4) the location of the positioned mobile object 2. Then the second microcontroller 38 generates at the inputs of the second indicator 39 signals to display information about the location of the positioned movable object 2 on the served territory.

 At base stations 1 and on moving objects 2, the first microcontrollers 24 and the second microcontrollers 38, respectively, count the indicated time intervals autonomously, without synchronizing relative to each other the time points of the reference time.

 Thus, the method allows, in contrast to the prototype, to determine the area of the served territory formed by fragments of the boundaries of the zones of action 3 of the base stations 1, in which the positioned moving object 2 is located, which significantly increases the accuracy of determining the location of the positioned moving object 2 in the coordinate system associated with any point of the served territory. However, the method can significantly increase, compared with the prototype, the accuracy of determining the location of moving objects 2 located in the central parts of the zones 3 of the action of base stations 1. Moreover, the method allows, in contrast to the prototype, to determine the location of the positioned moving object 2 on moving objects 2 located within the serviced territory, and at base stations 1 and does not require the use of a switching center and fiber-optic communication lines, which greatly expands the capabilities of the method.

Claims (1)

 A method for determining the location of a moving object, which consists in the fact that in the centers of conditional cells, which are equal regular hexagons, densely covering the served territory, base stations with radiuses of coverage equal to the length of each regular hexagon and with a given on each of these base stations with a unique identification number, from a positioned moving object, which is one of the moving objects located within the served territory, emit radiation of callsign radio signals at a given operating frequency, these callsign radio signals are received at base stations in whose areas the positioned movable object is located, information signals containing the identification numbers of these base stations are transmitted from these base stations, the location of the positioned movable object is determined from these information signals characterized in that at the vertices of said regular hexagons additionally base stations with zone radii are placed actions equal to the length of the side of each regular hexagon and with a unique identification number specified on each of these base stations, the base stations in whose areas of activity are moving objects are the base stations located in the centers and at the vertices of regular hexagons in whose areas of operation are movable objects transmitted by information signals containing identification numbers of base stations, in the areas of which the positioned movable object is located, corresponding information radio signals are generated, information radio signals are transmitted from the indicated base stations to mobile objects located within the service area, seven different operating frequencies of information radio signals emitted from all base stations are set, one working frequency is set from seven given working frequencies at each base station information radio signals emitted from this base station, different from the operating frequencies of information radio signals emitted from neighboring base stations, from the seven preset operating frequencies on each mobile object, five different operating frequencies of the information radio signals received at this mobile object are set, at each of the base stations and on mobile objects located within the served territory, the location coordinates of all base stations are additionally set, as well as the corresponding assigned identification numbers and radii of the coverage areas of all base stations, the transmission of information radio signals from base stations in the coverage areas of which the positioned movable object is located on movable objects located within the service area, it is that first, from one of these base stations, information radio signals are emitted at a given operating frequency, at all base stations that are adjacent to the specified base station, receive information radio signals emitted from the last base station and emit them at the corresponding given operating frequencies, then at all other base stations, I adjacent to the indicated base stations, receive information radio signals emitted from the indicated base stations and emit them at the corresponding predetermined operating frequencies, then in the same manner sequentially in all directions from the indicated base station, in the coverage area of which the positioned movable object is located, to the boundaries of the served territory at all other subsequent base stations that are adjacent to the previous base stations, receive radiation received from previous base stations of informational radio signals and their emission at the corresponding specified operating frequencies, then similarly alternately transmit informational radio signals from all other base stations, in the areas of which the positioned moving object is located, to moving objects located within the specified territory, at this radiation of information radio signals at a given operating frequency from each base station, except the base station, identification number which is contained in the transmitted information radio signals, when receiving at this base station information radio signals of one of the operating frequencies set at this base station, mobile objects located within the service area receive information radio signals transmitted from each of the base frequencies at the set operating frequencies stations in the areas of operation of which the positioned moving object is located, the location of the positioned moving object is carried out yayut on mobile objects that are within the service area, and at the base stations of the ID numbers of base stations in the zones of action of which is positioned moveable object, and to further specify the location coordinates and radii of coverage areas of these base stations.

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