RU2195783C2 - Method fixing position of mobile object - Google Patents

Abstract

FIELD: radio navigation, location of mobile objects. SUBSTANCE: in correspondence with proposed method base stations with identification number assigned for each base station are placed in conventional cells which present equal regular hexagons densely covering serviced territory. Radii of coverage of these base stations are set equal to length of side of each regular hexagon. Call radio signals are emitted on assigned working frequency from positioned mobile object which is one of mobile objects located within limits of serviced territory. Base stations are positioned in vertexes of regular hexagons. EFFECT: increased precision of fixing positions of mobile objects, widened capabilities of method based on rational location of base stations of serviced territory. 7 dwg

Description

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

 There is a known goniometer-range measuring 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, 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 when propagating 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 predetermined 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 by the received optical information signals determine m 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 you to determine the identification numbers of the base stations, in the areas of action of which the positioned movable 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 mobile 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 the 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 information about the identification numbers of these base stations from the base stations in the areas of operation of which the positioned mobile object is located, 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 on them the location of the positioned movable object that without the use of a switching center, which, as indicated, significantly limits the capabilities of the method.

 The technical task 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 conventional cells, which are equal regular hexagons, densely covering the served territory, base stations are placed with a unique identification number assigned to each base station, the radii of the coverage areas of the base stations are set equal to the length of the side of each regular hexagon, with a positioned moving object, which is one of the moving objects that are in the limit Axis of the served territory, they carry out the call sign radio signals at a given operating frequency, these call signs are received at the base stations in the areas of which the positioned moving object is located, information signals containing the identification numbers of the indicated base stations are transmitted from these base stations, these information signals determine the location of the positioned movable object is achieved by the fact that the placement of base stations is carried out at the vertices of these rules hexagons, the transmitted information signals containing the identification numbers of the base stations in the operating areas of which the positioned movable object is located, are the corresponding information radio signals, the transmission of information radio signals from these base stations is carried out to mobile objects located within the served territory, six different operating frequencies of the radio signals are set radiated from all base stations from six preset operating frequencies at each base station The AI located at the top of the regular hexagons specify one operating frequency of the radio signals emitted from this base station, different from the operating frequencies of the radio signals emitted from neighboring base stations, which are base stations located at the neighboring vertices of these regular hexagons, out of six specified operating frequencies at each mobile object is assigned five different operating frequencies of the information radio signals received at this mobile object, at each of the base stations and at mobile objects, finding located within the served territory, they additionally specify the coordinates of the 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 radio information signals from the base stations in whose areas the positioned moving object is located, to moving objects located within the serviced territory, consists in the fact that initially, from one of these base stations, informational radio signals are emitted at a given eye frequency, at all base stations that are adjacent to the specified base station, receive information radio signals emitted from the last base station and their emission at the corresponding specified operating frequencies, then at all other base stations that are adjacent to the specified base stations receive radio signals from the indicated base stations and receive them at the corresponding predetermined operating frequencies, then in the same way follow flaxly, in all directions from the indicated base station, in the range 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, information radio signals transmitted from previous base stations and their radiation at the corresponding predetermined operating frequencies, then, in a similar manner, transmit information radio signals from all other base stations in a similar manner In the areas where the positioned movable object is located, to mobile objects located within the service area, the radiation of information radio signals at a given operating frequency from each base station, except for the base station, the identification number of which is contained in the transmitted information radio signals, is carried out at reception at this base station of information radio signals of one of the operating frequencies set at this base station, on moving objects that are within the limit Axis of the served territory, receive information radio signals transmitted from each of the base stations at the specified operating frequencies, in the areas of which the positioned movable object is located, the location of the positioned movable object is determined at the moving objects located within the served territory and at the base stations identification numbers of base stations in the areas of operation of which a positioned moving object is located, as well as according to an additional preset the coordinates of the location and the radius of the zones of operation of these base stations, at each base station they measure the power of information radio signals received from neighboring base stations, then from each base station they emit official radio signals containing information about the measured power values, as well as information about the power of information the radio signals emitted from this base station, at each of the neighboring base stations receive the specified service radio signals and adjust the sensitivities of the radiated information radio signals from the measured values of the power of the information radio signals received at base stations that are adjacent to the specified neighboring base station, and radiated from this base station, at each of these neighboring base stations from the received service radio signals also determine the relationship of the measured values the power of information radio signals received at this base station to the corresponding power values of information rad of the signals emitted from base stations that are adjacent to the indicated neighboring base station, at each of the indicated neighboring base stations, the sensitivity of the reception channel of the callsign radio signals emitted from the positioned moving object is adjusted according to the received ratios of power values.

 The term "moving object" is generally accepted. (See, for example, Solovyov Yu. A. Satellite navigation systems. - M.: Eco-Trends, 2000, p. 47.) Mobile vehicles include, for example, various vehicles equipped with radio reception 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.

 In FIG. 1 shows conditionally base stations located in 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 specified operating frequencies of the radio signals emitted from each of these base stations, for the case in which the number of base stations is fifty-four; the number of mobile objects is five.

 Figures 2 and 3 show conditionally base stations located on the served territory and mobile objects located within the served territory, indicating the specified operating frequencies of the radio signals emitted from each of these base stations, as well as with a conventional 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 stations is fifty four, the number of moving objects is five.

 Figure 4 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. 5 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 twelve, and the number of second transceivers placed one on each of the moving objects is three, and the moving objects in FIG. .5 not shown.

 Figure 6 shows the first transceiver included in each of the base stations, and the base station of figure 6 is not shown.

 In FIG. 7 shows a second transceiver located on each of the moving objects, and the moving object in FIG. 7 is not shown.

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, ..., M are positive integers; 3 _n - zone 3 of the action of the base station 1 _n ; f _q is the working frequency of the radio signals emitted from base station 1, where q = 1, 2, ..., Q are positive integers; f _p - the working frequency of the call signs of the radio signals emitted from the positioned moving 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.

In the serviced territory, at the vertices of the conditional cells, which are equal regular hexagons, densely covering the serviced territory, base stations 1 (base stations l ₁ -1 ₅₄ ) are placed, as shown in FIG. 1, the radii of the action zones 3 of which are set equal to the side length each regular hexagon, and with a unique identification number specified on each base station 1 (numbers 1 ₁ -1 ₁₉ ).

 With this arrangement of base stations 1 on the served territory, no more than three 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.

Thus under the zone 3 acts in the emission of radio signals from each base station 1 to recognize an area, within which at the omnidirectional radiation with the base station 1, the radio power P _{q rad} at the operating frequency f _q capacity of these radio signals at their omnidirectional reception at other base stations 1 and on moving objects 2 not less than a certain threshold value P _prmin 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 ignalov at each base station 1 to recognize an area, within which at the omnidirectional radiation from other base stations 1, radio signals of the same power P _{q rad} at the same operating frequency f _q, and when the omnidirectional radiation with the positioned moving object 2 radio power _{Pn out} at the operating frequency f _{p the} power of these radio signals during non-directional reception at this base station 1 is not less than the same value P _av.min .

где с - скорость света в вакууме.In this regard, assuming that the propagation of radio waves occurs in free space, and the served territory is a plane, the zone 3 of action of each base station 1 with undirected radiation from base stations 1 and from a positioned moving object 2 and with undirected 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 at the vertices of conditional cells, which are equal regular hexagons, densely covering 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 the points of placement of neighboring base stations 1. In Fig.1, the boundaries of the zones 3 of the action of base stations 1 are shown conditionally by circles.

В способе при излучении с базовых станций 1 применяют информационные и служебные радиосигналы. Если в настоящем описании вид радиосигналов, излучаемых с базовых станций 1, не уточняется, то ими могут являться и информационные и служебные радиосигналы.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 according to the formula (see, for example, A.M. Trakhtman. Introduction to the generalized spectral theory of signals . - M .: Soviet Radio, 1972, p. 14):

In the method, when radiation from base stations 1, information and service radio signals are used. If in the present description the type of radio signals emitted from base stations 1 is not specified, then they can be information and service radio signals.

 Six different operating frequencies (Q = 6) of the radio signals emitted from all base stations 1 are set. Of the six preset operating frequencies at each base station 1, one, as shown in FIG. 1, is set to one operating frequency of radio signals emitted from this base station 1, different from the specified operating frequencies of the radio signals emitted from neighboring base stations 1. Thus, at base stations 1 that are not adjacent, the repeating operating frequencies of the radio signals emitted from these base stations 1 are set.

 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 callsign of the radio signals is emitted at a given operating frequency. These callsigns of radio signals are received at base stations 1, in the action zones 3 of which there is a positioned movable object 2.

 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 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, 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 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 Six preset operating frequencies at each base station 1 define the operating frequencies of the information radio signals received at this base station 1, at which the information radio signals are emitted from this base station 1 a predetermined operating frequency. At the same time, at each base station 1, these operating frequencies are set for any other base station 1, in the action zone 3 of which there can be a positionable movable object 2, depending on the relative position of these base stations 1 and the values of the specified operating frequencies of information radio signals emitted from the base stations 1 being adjacent to the first base station 1.

2 and 3, 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 l ₁₉ and 1 ₂₄ ), respectively, in the action zones 3 of which there is a positioned moving object 2 (moving object 2 ₂ ) , to other base stations 1.

So, for example, as shown in figure 2, when transmitting informational radio signals from the base station l ₁₉ containing the identification number of this base station 1, radiation from the base station 1 ₃₁ informational radio signals at a given operating frequency f _{3 is} carried out when receiving at the base station 1 ₃₁ information radio signals specified at this base station 1 operating frequency f ₂ , which is the operating frequency of information radio signals emitted from the base station 1 ₂₅ . At the same time, from the base station 1 _{19, 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 given example the transmitted information radio signals contain the identification number of the base station l ₁₉ , 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, when transmitting informational radio signals from a base station 1 _24, radiation from a base station 1 ₃₁ informational radio signals at a given operating frequency f _{3 is} carried out when receiving ₃₁ informational radio signals specified at that base station at a base station 1 1 operating frequencies f ₂ and f ₄ , which are operating frequencies of information radio signals emitted from base stations 1 ₂₅ and 1 _36, respectively.

The transmission of information radio signals from base stations 1 ₁₉ and 1 ₂₄ , in the 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 ₁₉ carry out the emission of information radio signals containing the identification number of this base station 1, at a given operating frequency. At the same time, at all base stations 1 (base stations 1 ₁₄ , 1 ₂₅ , 1 ₂₄ ), which are adjacent to base station l ₁₉ , information radio signals emitted from the last base station 1 are received and emitted at the corresponding given operating frequencies. Then, at all other base stations 1 (base stations 1 ₁₀ , 1 ₂₀ , 1 ₃₁ , 1 ₃₀ , 1 ₁₈ , 1 ₉ ), which are adjacent to the indicated base stations 1 (base stations 1 ₁₄ , 1 ₂₅ , 1 ₂₄ ) receive radio signals from the indicated base stations 1 and receive them at the corresponding predetermined operating frequencies. Then, in the same way, sequentially, in all directions from the base station 1 ₁₉ , in the zone 3 of which the positioned movable object 2 _{19 is located} , to the boundaries of the served territory at all other subsequent base stations 1 (first, at the base stations 1 ₆ , 1 ₁₅ , 1 ₂₆ , 1 ₃₇ , 1 ₃₆ , 1 ₃₅ , 1 ₂₃ , 1 ₁₃ , 1 ₅ , then at base stations 1 ₂ , 1 ₃ , 1 ₁₁ , 1 ₂₁ , 1 ₃₂ , 1 ₄₂ , l ₄₁ , 1 ₄₀ , 1 ₂₉ , 1 ₁₇ , 1 ₈ , 1 ₁ , then at base stations 1 ₇ , l ₁₆ , 1 ₂₇ , 1 ₃₈ , 1 ₄₇ , 1 ₄₆ , 1 ₄₅ , 1 ₄₄ , 1 ₃₄ , 1 ₂₂ , 1 ₁₂ , l ₄ , then at the base stations 1 _33, 1 _43, 1 _51, 1 _50, 1 _49, 1 _48, 1 _39, 1 ₂₈ and finally to the base stations 1 _54, 1 _53, 1 _52), YaV yayuschihsya adjacent with respect 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, in a similar way, the transmission of information radio signals from the base station 1 ₂₄ , in the zone 3 of the action of which is positioned movable object 2 ₂ to the movable objects 2 located within the boundaries of the served territory. (With a larger number of base stations 1, in the zones of action 3 of which there is a positioned movable object 2, from each of these base stations 1 similarly alternately transmit information radio signals to mobile objects 2 located within the served territory).

 The schemes shown in figures 1 to 3 are examples of the placement of base stations 1 in the service area with the radius of the action zones 3 equal to the length of the sides of each regular hexagon, and the task at each base station 1 of the working frequency of the 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 from this base station 1 emit information radio signals at a given operating frequency.

With the indicated placement parameters on the served territory of base stations 1 with the specified radii of action zones 3 at each point of the served territory, at least two action zones 3 of neighboring base stations 1 overlap. Since the emission of information radio signals from neighboring base stations 1 is carried out at different operating frequencies, each the receiving point receives information radio signals of at least two different specified operating frequencies. (So, for example, as shown in Fig. 1, a moving object 2 ₁ is located in zones 3 of two base stations 1 ₉ and 1 ₁₄ , from which radiation of information radio signals is carried out at operating frequencies f ₅ and f _4, respectively.) Therefore, to ensure guaranteed reception of informational radio signals on moving objects 2 when they move within the service area, it is sufficient to receive informational radio signals on each moving object 2 only at five different out of six 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 six 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 movable object 2 is carried out on the movable objects 2 located within the service area, and at the base stations 1 by the identification numbers of the base stations 1, in the action zones 3 of which the positioned movable object 2 is located, as well as according to additionally specified placement coordinates and radii zones 3 of the action of these base stations 1.

где (x_n1, у_n1 ), (x_n2, у_n2),..., (х_nk, у_nk ),..., (x_nk, у_nk) - координаты размещения базовых станций 1 с идентификационными номерами n₁, n₂,..., n_k, . .., n_k, в зонах 3 действия которых находится позиционируемый подвижный объект 2, где К - число этих базовых станций 1; причем 1≤k≤K; 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 location coordinates of 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 (3) is the set of coordinates (x, y) of the points forming the area of the served area 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 parameters of the placement of base stations 1 on the served territory, the area of the region defined by formula (3) is not more than one third of the area of the zone 3 of action of each base station 1, which significantly increases by comparison iju Prototype location accuracy positioned movable objects 2 located at the 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 two zones 3 of the activity of neighboring base stations 1. So, for example, the border of the served territory shown in Fig. 1 can be a closed polygonal line passing through all the extreme base stations 1 (base stations 1 ₁ , 1 ₅ , l ₂ , 1 ₆ , 1 ₃ , 1 ₇ , 1 ₁₁ , 1 ₁₆ , l ₂₁ , 1 ₂₇ , 1 ₃₃ , 1 ₃₈ , 1 ₄₃ , 1 ₄₇ , 1 ₅₁ , 1 ₅₄ , 1 ₅₀ , 1 ₅₃ , 1 ₄₉ , 1 ₅₂ , 1 ₄₈ , 1 ₄₄ , 1 ₃₉ , 1 ₃₄ , 1 ₂₈ , 1 ₂₂ , 1 ₁₇ , 1 ₁₂ , l ₈ , 1 ₄ ).

When transmitting information to moving objects 2 in the conditions of propagation of radio waves in free space, in order to ensure a given value of the radius R of the zone 3 of action of each base station 1 at known values of the operating frequency f _q and sensitivity P _{pr.m. of the} channels for receiving radio signals, it is necessary in accordance with the formula ) to provide the required value of power R _p.izl emitted information radio signals. However, when the propagation conditions of radio waves deteriorate, which arise, for example, when the base stations 1 are shaded and when the radio waves attenuate in the atmosphere, the radii of the zones of action 3 of the base stations 1 decrease, which leads to a decrease in the quality of information reception at moving objects 2, and therefore, to a decrease the probability of operability of the method. (The term "probability of operability" is generally accepted - see, for example, Soloviev Yu.A. Satellite navigation systems. - M .: Eco-trends, 2000, p. 10.) Therefore, to ensure the required probability of operability of the method at each base station 1 it is necessary to adjust the power of the emitted information radio signals.

When determining the location of a moving object 2 in the conditions of propagation of radio waves in free space, in order to ensure a given value of the radius R of the zone 3 of action of each base station 1 with known values of the operating frequency f _p and power R _{p of the} callsign radio signals emitted from the positioned moving object 2, it is necessary in accordance with formula (1) to provide the required value of the sensitivity of the reception channel of the callsign radio signals P _av.min . However, when the propagation conditions of radio waves worsen, for example, when the base stations 1 are shaded and when the radio waves attenuate in the atmosphere, the radii of the zones 3 of the base stations 1 decrease, which leads to a decrease in the accuracy of determining the position of positioned moving objects 2 located in the central parts of the zones 3 actions of base stations 1. Therefore, to ensure the required accuracy of determining the location of a moving object 2 at each base station 1, it is necessary to adjust the channel strength of the reception of callsign radio signals.

 In the method, at each base station 1, the power of information radio signals received from neighboring base stations 1 is measured. Then, from each base station 1, radio service signals are emitted containing information about the measured power values, as well as information about the power of information radio signals emitted from this base stations 1. At each of these neighboring base stations 1 receive the specified service radio signals and adjust the power of the emitted information radio signal based on the measured power values of the information radio signals received at base stations 1, which are adjacent to the specified neighboring base station 1, and emitted from this base station 1. At each of these neighboring base stations 1, the received measured radio signals are also determined power values of information radio signals received at this base station 1 to the corresponding power values of information radio signals emitted from base stations 1, which are adjacent to the indicated neighboring base station 1. At each of the indicated neighboring base stations 1, the sensitivity of the reception channel of the callsign radio signals emitted from the positioned moving object 2 is adjusted according to the received power ratios.

In accordance with the scheme shown in figure 1, at each base station 1 (for example, at base stations 1 ₆ , 1 ₁₅ , 1 ₁₄ ) measure the power of information radio signals received from neighboring base stations 1 (from base station 1 ₁₀ and from other base stations 1 that are adjacent to base stations 1 ₆ , 1 ₁₅ , 1 _14. (Base stations 1 ₂ , 1 ₃ , 1 ₁₀ are adjacent to base station 1 ₆ ; base stations 1 ₁₀ , 1 ₁₁ , 1 ₂₀ are adjacent to the base station l ₁₅ ; base stations 1 ₉ , 1 ₁₀ , l ₁₉ are neighboring in relation to the base station l ₁₄ ). Then, from each base station 1 (from base stations 1 ₆ , 1 ₁₅ , 1 ₁₄ ), the service radio signals are emitted containing information about the measured power values, as well as information about the power of information radio signals emitted from the base station 1. at each of said adjacent base stations 1 (e.g., at the base station 1 ₁₀₎ carry said service receiving radio signals and power control information of radio signals emitted from the measured power Inf tional radio signals received at the base stations 1, which are adjacent to said adjacent base station 1 (the base stations 1, which are adjacent to said adjacent base stations 1 ₁₀ are base stations 1 ₆ 1 ₁₅ 1 _14), and radiated from this base station 1 (from base station 1 ₁₀ ). At each of the indicated neighboring base stations 1 (for example, at base station 1 ₁₀ ), the ratios of the measured power values of the information radio signals received at this base station 1 (at base station 1 ₁₀ ) to the corresponding information power values are also determined by received radio signals radio signals emitted from base stations 1, which are adjacent to the specified neighboring base station 1.

где Р_{изм.пр. мин} - минимальное значение мощности из соответствующих измеренных значений мощности информационных радиосигналов; Р'_{q изл} - значение мощности излучаемых информационных радиосигналов, которое устанавливают на базовой станции 1 в процессе регулировки по результатам измерений; К_зап > 1 - коэффициент, определяющий запас по чувствительности и диапазон регулировки мощности излучаемых информационных радиосигналов.The power control of the radiated information radio signals at each of these neighboring base stations 1 is carried out, for example, according to the minimum power value from the measured power values of the information radio signals received at the base stations 1, which are adjacent to the specified neighboring base station 1, and radiated from this base station 1 using the formula

where P _{rev. min} - the minimum power value from the corresponding measured power values of the information radio signals; R _{'q rad} - power value information of the emitted radio signals, which is mounted on the base 1 in the process of adjusting measurements; To _zap > 1 - coefficient determining the margin of sensitivity and the range of adjustment of the power of the emitted information radio signals.

Регулировку чувствительности канала приема позывных радиосигналов на каждой из указанных соседних базовых станций 1 осуществляют, например, по полученному среднему арифметическому значению измеренных отношений значений мощности с помощью формулы

где Р_п.изл - мощность позывных радиосигналов, излучаемых с позиционируемого подвижного объекта 2; Р_{q пр.изм} - измеренное на указанной соседней базовой станции 1 значение мощности информационных радиосигналов рабочей частоты f_q, принимаемых с одной из базовых станций 1, являющихся соседними по отношению к указанной соседней базовой станции 1; Р_{q изл} - мощность информационных радиосигналов рабочей частоты f_q, излучаемых с указанной одной из базовых станций 1, являющихся соседними по отношению к указанной соседней базовой станции 1; P'_пр.мин - значение чувствительности канала приема позывных радиосигналов, которое устанавливают на базовой станции 1 в процессе регулировки по результатам измерений.Formula (4) shows that at each base station 1, in the process of adjusting the power of the radiated information radio signals, it is necessary to set the power value P ' _{q rad} , at which the equality P _{meas. pr. min} = P _pr.min. At the same time, the power of the emitted information radio signals is adjusted when the condition

The sensitivity adjustment of the channel for receiving callsign radio signals at each of these neighboring base stations 1 is carried out, for example, according to the obtained arithmetic average of the measured ratios of power values using the formula

where R _p.izl is the power of the callsign of the radio signals emitted from the positioned moving object 2; P _{q prism.} Is the measured at the indicated neighboring base station 1 value of the power of information radio signals of the working frequency f _q received from one of the base stations 1, which are adjacent to the specified neighboring base station 1; P _{q rad} - power information radio operating frequency f _q, emitted from said one of the base stations 1, which are adjacent to said adjacent base station 1; P ' _pr.min - the sensitivity value of the channel for receiving callsign radio signals, which is set at base station 1 in the process of adjustment according to the measurement results.

Formula (5) shows that at each base station 1, in the process of adjusting the sensitivity of the channel for receiving callsign radio signals at a constant power _{P.sub. of the} emitted callsign radio signals, it is necessary to set the sensitivity value P ' _min.min , at which the radius of zone 3 of this base station 1 when receiving callsigns, it reaches the desired value.

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 ₁₉ ), in the zones 3 of which the positioned movable object 2 is located, are conventionally shown in Fig. 4 to the boundaries of the served territory. Here, IS1, IS2 and IS3 are informational radio signals; SS - service radio 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.

 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 coordinates of the location and the radii of the zones 3 actions of these base stations 1, the method allows to determine the area of the served territory formed by fragments of the boundaries of zones 3 of the action of base stations 1, in which the positioned mobile object 2, which significantly increases the accuracy of determining the location 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 in the centers of conditional cells, which are equal regular hexagons that densely cover the served territory, but at the vertices of these regular hexagons, and the radii of zones 3 of action of all base stations 1 are equal 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 the action zones 3 of base stations 1. Moreover, due to the rational placement of base stations 1 on the served territory 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.

 A system for implementing the method is presented in figure 5. 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, located within the service area. In FIG. 5, as an example, a system is shown containing twelve 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 the 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 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 two zones 3 of activity of neighboring base stations 1 overlap.

 The transmission frequency of base station 1 is the corresponding operating frequency of the 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 reception frequency of the second transceiver 5 is the corresponding operating frequency of the information radio signals received at the corresponding moving object 2. The receiving frequency of the base station 1 is the corresponding operating frequency according to call signals emitted from a positioned moving object 2.

 The terms “transmission frequency” and “reception frequency” of a device are generally accepted. (See, for example, Gromakov, Yu.A. Standards and systems for mobile radio communications. - M.: Eco-Trends, 2000, p.22.).

 Of the six preset different operating frequencies at each base station 1, the transmission frequency of this base station 1 is set, which is different from the preset transmission frequencies of neighboring base stations 1. Of these six preset operating 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 six specified working parts t. 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, located at each base station 1, shown in Fig.6, contains a first receiving antenna 6, three channels for receiving information and service radio signals, each of which contains a first bandpass filter 7, a first low-noise amplifier 8, a first amplitude limiter 9, a first frequency detector 10, a first squaring unit 11, a first integrator 12, an analog-to-digital converter (ADC) 13. The first transceiver 4 also contains one channel for receiving callsign radio signals, which contains a second an axial filter 14, an adjustable low-noise amplifier 15, a second amplitude limiter 16, a second frequency detector 17, a second squaring unit 18, a second integrator 19, a second ADC 20. The first transceiver 4 also includes a first controlled generator 21, an adjustable 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 and service radio signals emitted from neighboring base stations 1, and call signs of radio signals emitted from a positioned moving object 2, is connected to the inputs of all first bandpass filters 7. Information and service radio signals are high-frequency -manipulated electromagnetic oscillations of the corresponding identical operating frequencies. In this regard, at equal speeds of information transmission, the values of the bandwidth of information and service radio signals can be considered equal. The first band-pass filters 7 are used to select radio signals in frequency. Moreover, each of them is tuned to a predetermined transmission frequency of one of the respective neighboring base stations 1. The bandwidth of each first band-pass filter 7 is not less than the bandwidth of the radio signals of the corresponding operating frequency. In each channel for receiving information and service 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 received information and service 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 an adjustable low-noise amplifier 15, designed to amplify the received callsign radio signals. The output of the adjustable 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 adjustable 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 of the movable object 2 positioned to form a binary sequence modulating pulses corresponding to the service information transmitted in the neighbor base station 1, to adjust the gain controlled LNA 15 as well as to adjust the gain of the power amplifier 22 power controlled. The outputs of the first microcontroller 24 are connected to the control input of the adjustable low-noise amplifier 15, to the control input of the adjustable power amplifier 22, as well as to the control input of the first controlled generator 21, tuned to the given transmission frequency of this base station 1. The first controlled generator 21 is used to generate high-frequency -manipulated signals corresponding to the transmitted information. The output of the first controlled generator 21 is connected to the input of an adjustable power amplifier 22, the output of which is connected to the first transmitting antenna 23, designed for non-directional radiation into the space of information and service radio signals. The inputs of the first microcontroller 24 are connected to the outputs of the first task unit 26, which serves to set at each base station 1 the coordinates of the placement of all base stations 1, the corresponding identification numbers and radiuses of the 3 zones of all basic
stations 1, and for setting at each base station 1 for any other base stations 1, in zones 3 of which there may be a positioned movable object 2, the operating frequencies of the information radio signals received at this base station 1, at which from this base station 1 emit 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.7, contains a second receiving antenna 27, five channels of information radio signals, each of which contains a third band-pass filter 28, a second low-noise amplifier 29, a third amplitude limiter 30, a third frequency detector 31, third squaring unit 32, third integrator 33, third ADC 34. The second transceiver 5 also includes a second controlled generator 35, a power amplifier 36, a second transmitting antenna 37, and a second microcontrol ep 38, second indicator 39, the second block 40 the task.

 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 second low-noise amplifier 29, intended to amplify the received informational radio signals. The output of the second 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 received information radio signals. The output of the second 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 are connected in series to generate signals proportional to the power of the received 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 power amplifier 36. The output of the second controlled generator 35 is connected to the input of the power amplifier 36, which serves to amplify the signals by power. The output of the power amplifier 36 is connected to a second transmitting antenna 37, designed for non-directional radiation into the space of the call sign of the radio signals. The second microcontroller 38 is designed to generate binary sequences of pulses corresponding to the operating frequency codes 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 oscillators 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 enlarged. - M.: Mir, 1993 , p. 308.) By the tuning frequency of 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).

 On all moving objects 2, the same second transceivers 5 are placed, and the operating frequencies, which are tuned by 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 amplification factors of the first low-noise amplifiers 8, adjustable low-noise amplifiers 15 are set (the values of the gain of adjustable low-noise amplifiers 15 are set initially and during the operation of the system can be changed) and second low-noise amplifiers 29, with which the sensitivity of the reception channels of information and service radio signals at base stations 1 and on mobile objects 2, as well as the sensitivity of the reception channels of call signs p diosignalov at the base stations 1 is P _pr.min. At the base stations 1 (depending on the set values of working frequency f _q of 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) are given accordingly, such values of power gains of adjustable power amplifiers 22 (the values of power gains of adjustable power amplifiers 22 are set initially and during the operation of the system t be changed) and power amplifiers 36, in which respectively the power values of the emitted radio signals and overhead information are equal to P _{q rad,} and the value of the power radiated by the radio call sign is P _p.izl. In this case, the values of P _{q izl} and the values of P _p.izl and P _av.min are selected based on the set 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, service and call signs radio signals are narrow-band; 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 radio signals emitted from all base stations 1 are respectively 12, 13, 14, 15, 16 and 17 MHz; the operating 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.5.

 At each base station 1, the identification number of this base station 1, as well as the coordinates of the location of all base stations 1 and the corresponding identification numbers and radiuses of the 3 action zones of all base stations 1, are entered in 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 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 radiation of the callsign radio signals is carried out only from the positioned moving object 2. In this regard, on the positioned moving object 2, the second microcontroller 38 generates a control signal at the control input of the power amplifier 36, according to which the power gain of the power amplifier 36 takes a predetermined value. On each of the movable objects 2, which are not positioned, the second microcontroller 38 generates a control signal at the control input of the power amplifier 36, by which the power amplifier 36 goes into off state (power gain is zero), and the radiation of radio signals from this moving object 2 impossible.

 When determining the location of a moving object 2, the system operates alternately in two modes: the mode "Transmission of informational radio signals to moving objects 2" (main mode) and the mode "Adjusting the sensitivity of the reception channels of the callsign radio signals and the radiation power of base stations 1" (service mode).

 At each base station 1, the first microcontroller 24 sets the first transceiver 4 to the mode "Transmission of information radio signals to moving objects 2".

 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 six 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 input to a 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 six specified operating frequencies.

At each of the base stations 1, in the zones of action 3 of which there is a positioned movable object 2, they receive the call sign of the radio signal emitted from the positioned movable object 2. 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 six specified operating frequencies. The received callsign radio signal is fed to the input of the second band-pass filter 14. The output signal of the second band-pass filter 14 tuned to the operating frequency of the callsign radio signals emitted from the positioned movable object 2 is acted upon by the high-frequency manipulated signal corresponding to the received callsign radio signal. This signal is fed to the input of an adjustable 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 performs frequency detection of the received radio call sign and generates a binary pulse sequence corresponding to the code of the first of six 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 adjustable low-noise amplifier 15 is fed to the input of the second squaring unit 18, the output signal 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. (If the propagation conditions of radio waves deteriorate, the decrease in the power of the received callsign radio signals is compensated by an increase in the sensitivity of the reception channels of the callsign radio signals, which is carried out in the "Adjustment of the sensitivity of the reception channels of the callsign radio signals and radiation power of base stations 1"). 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 six preset operating frequencies, the code of which is contained in the call sign of the radio signal, coincides, 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 radio callsigns.) The first controlled oscillator 21, tuned to the first of six preset operating frequencies, generates a high-frequency frequency-manipulated signal that is transmitted to input of an adjustable power amplifier 22. From the output of the adjustable power amplifier 22, a power-amplified signal is supplied 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 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 six 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 there is no alternating radiation from base stations 1, in the zones of action 3 of which a positioned movable object 2 is located, informational radio signals containing information about the identification numbers of these base stations 1 do 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 in them. The first receiving antenna 6, which is part of each of these first transceivers 4, receives an information radio signal emitted from the first of the base stations 1, in the zones of action 3 of which there is a positioned movable object 2. Received information 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, the 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 of first base station 1, 3 in the zones of action which is positioned a movable object 2.

где К_зап= 1,2, и в случае его выполнения принимает решение о наличии на входе первого приемопередатчика 4 информационного радиосигнала соответствующей рабочей частоты, в противном случае первый микроконтроллер 24 принимает противоположное решение. (Коэффициент К_зап=1,2 обеспечивает запас по чувствительности, необходимый для измерения мощности принимаемых информационных радиосигналов при ухудшении условий распространения радиоволн и недостаточный для приема радиосигналов с удаленных базовых станций 1). Затем первый микроконтроллер 24 запоминает измеренное значение мощности принимаемого информационного радиосигнала и считывает из первого блока 26 задания, заданные на этой базовой станции 1 для идентификационного номера первой из базовых станций 1, в зонах 3 действия которых находится позиционируемый подвижный объект 2, значения рабочих частот информационных радиосигналов, излучаемых с этой базовой станции 1, при которых с этой базовой станции 1 осуществляют излучение информационных радиосигналов на заданной рабочей частоте. (На каждой базовой станции 1, являющейся соседней по отношению к первой из базовых станций 1, в зонах 3 действия которых находится позиционируемый подвижный объект 2, единственной из указанных заданных рабочих частот является рабочая частота информационных радиосигналов, излучаемых с первой из базовых станций 1, в зонах 3 действия которых находится позиционируемый подвижный объект 2). Если рабочая частота принимаемого информационного радиосигнала совпадает с одной из указанных заданных рабочих частот, то первый микроконтроллер 24 формирует на управляющем входе первого управляемого генератора 21 двоичную последовательность импульсов, соответствующую идентификационному номеру первой из базовых станций 1, в зонах 3 действия которых находится позиционируемый подвижный объект 2. Первый управляемый генератор 21 формирует высокочастотный частотно-манипулированный сигнал на заданной рабочей частоте, который поступает на вход регулируемого усилителя 22 мощности. С выхода регулируемого усилителя 22 мощности усиленный по мощности сигнал поступает на вход первой передающей антенны 23, которая излучает в пространство информационный радиосигнал, содержащий идентификационный номер первой из базовых станций 1, в зонах 3 действия которых находится позиционируемый подвижный объект 2. Затем первый микроконтроллер 24 запоминает этот идентификационный номер.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 information and service radio signals, the power value of the received information radio signal P _pr The first microcontroller 24 checks the condition

where K _zap = 1.2, and in case of its execution, it makes a decision on the presence of an information radio signal of the corresponding operating frequency at the input of the first transceiver 4, otherwise the first microcontroller 24 takes the opposite decision. (The coefficient K _app = 1.2 provides a margin of sensitivity necessary for measuring the power of received information radio signals when the propagation conditions of the radio waves are worsened and insufficient for receiving radio signals from remote base stations 1). Then, the first microcontroller 24 stores the measured value of the received informational radio signal power and reads from the first block 26 the tasks set on this base station 1 for 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, the values of the operating frequencies of the information radio signals radiated from 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 stroke adjustable amplifier 22 power. From the output of the adjustable 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 the positioned movable object 2 is located, 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 in 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.

где К_зап= 1,2, и в случае его выполнения принимает решение о наличии на входе первого приемопередатчика 4 информационного радиосигнала соответствующей рабочей частоты, в противном случае первый микроконтроллер 24 принимает противоположное решение. Затем первый микроконтроллер 24 запоминает измеренные значения мощности принимаемых информационных радиосигналов и считывает из первого блока 26 задания? заданные на этой базовой станции 1 для идентификационного номера первой из базовых станций 1, в зонах 3 действия которых находится позиционируемый подвижный объект 2, значения рабочих частот информационных радиосигналов, излучаемых с этой базовой станции 1, при которых с этой базовой станции 1 осуществляют излучение информационных радиосигналов на заданной рабочей частоте. Если рабочая частота одного из принимаемых информационных радиосигналов совпадает с одной из указанных заданных рабочих частот, то первый микроконтроллер 24 формирует на управляющем входе первого управляемого генератора 21 двоичную последовательность импульсов, соответствующую идентификационному номеру первой из базовых станций 1, в зонах 3 действия которых находится позиционируемый подвижный объект 2. Первый управляемый генератор 21 формирует высокочастотный частотно-манипулированный сигнал на заданной рабочей частоте, который поступает на вход регулируемого усилителя 22 мощности. С выхода регулируемого усилителя 22 мощности усиленный по мощности сигнал поступает на вход первой передающей антенны 23, которая излучает в пространство информационный радиосигнал, содержащий идентификационный номер первой из базовых станций 1, в зонах 3 действия которых находится позиционируемый подвижный объект 2. Затем первый микроконтроллер 24 запоминает этот идентификационный номер.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 supplied to 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 gains of the corresponding channels for receiving information and service radio signals, the power values R _{pr of the} received information radio signals. For each of the channels for receiving information and service radio signals, the first microcontroller 24 checks the conditions

where K _zap = 1.2, and in case of its execution, it makes a decision on the presence of an information radio signal of the corresponding operating frequency at the input of the first transceiver 4, otherwise the first microcontroller 24 takes the opposite decision. Then, the first microcontroller 24 stores the measured power values of the received information radio signals and reads from the first block 26 of the job? 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 positionable movable object 2, the operating frequencies of the information radio signals emitted from this base station 1, at which information radio signals are emitted from this base station 1 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 adjustable amplifier 22 output. From the output of the adjustable 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 information about 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. At the same time, at each base station 1, the power of the information radio signals emitted from neighboring base stations 1 is measured and the measured power values are stored in the first microcontroller 24.

 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 the 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 p bochih 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. 7, receives information radio signals emitted from base stations 1, in the zones 3 of which this 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 second 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 the 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 second 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 acting on the outputs of the third ADCs 34 and the known values of the gain factors of the respective 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 second microcontroller 38 checks the condition P _pr ≥P _pr.min and, if it is satisfied, 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. (If the propagation conditions of the radio waves deteriorate, the decrease in the power of the received information radio signals is compensated by an increase in the power of the information radio signals emitted from neighboring base stations 1, which is carried out in the "Adjusting the sensitivity of the reception channels of the callsign radio signals and radiation power of base stations 1"). 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 positioned movable object 2.

 At each base station 1, at the end of the formation of an informational radio signal containing the 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 microcontroller 24 sets the first transceiver 4 into the "Adjustment of the sensitivity of the reception channels of the callsign radio signals and base radiation power stations 1 ".

 After a fixed time interval significantly exceeding the duration of the information radio signal containing the number of the first of the base stations 1, in the action zones 3 of which a positioned movable object 2 is contained, the first microcontroller 24 forms a binary pulse train containing the control information about the measured and the values of power stored during the previous mode "Transmission of information radio signals to moving objects 2" are accepted x informational radio signals, as well as information about the power of informational radio signals emitted from this base station 1. (Determining the power of informational radio signals emitted from this base station 1, the first microcontroller 24 carries out the known current value of the gain in the power of the adjustable power amplifier 22 and in known and fixed values of all other parameters of the transmitting path of the first transceiver 4). The first controlled generator 21 generates a high-frequency frequency-manipulated signal at a given operating frequency, which is input to an adjustable power amplifier 22. From the output of the adjustable power amplifier 22, a power-amplified signal is fed to the input of the first transmitting antenna 23, which emits a service radio signal into the space containing information about the measured values of the power of information radio signals received from neighboring base stations 1, as well as information about the power of information radio signals emitted from this base station 1.

где К_зап= 1,2. На каждой из указанных соседних базовых станций 1 первый микроконтроллер 24 сравнивает между собой измеренные значения мощности информационных радиосигналов, принимаемых на базовых станциях 1, являющихся соседними по отношению к указанной соседней базовой станции 1, и излучаемых с этой базовой станции 1 (с базовой станции 1, содержащей первый приемопередатчик 4, в состав которого входит указанный первый микроконтроллер 24), и определяет среди них минимальное значение мощности Р_{изм. пр.мин}. (Регистрация информационных радиосигналов происходит при выполнении условия

где К_зап.=1,2, следовательно, значение

и отлично от нуля. ) Затем первый микроконтроллер 24 определят с помощью формулы (4) требуемое значение мощности Р'_{q изл} излучаемых информационных радиосигналов и формирует на управляющем входе регулируемого усилителя 22 мощности управляющий сигнал, в соответствии с которым мощность излучаемых информационных радиосигналов принимает значение P'_{q изл}.At each of the neighboring base stations 1, the first receiving antenna 6 receives the service radio signals emitted from the base stations 1, which are adjacent to the indicated neighboring base stations 1. The received service radio signals are fed to the inputs of the first band-pass filters 7, which select them by frequency. At each indicated neighboring base station 1, at the output of the first band-pass filters 7, high-frequency frequency-manipulated signals corresponding to the received service radio signals operate. 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 service radio signals and generate binary pulse sequences corresponding to information about the measured power values of the information radio signals received at base stations 1, which are adjacent in relation to the indicated neighboring base stations 1, as well as relevant information about the power of the information radio signal radiated from base stations 1, which are adjacent to the indicated neighboring base stations 1. These binary pulse sequences are fed to the inputs of the first microcontroller 24. Similarly to the above, the first microcontroller 24 makes a decision about the presence or absence at the input of the first transceiver 4 of the service radio signals corresponding operating frequencies by comparing the value of their power with a threshold value

where K _app = 1.2. At each of these neighboring base stations 1, the first microcontroller 24 compares with each other the measured power values of the information radio signals received at base stations 1, which are adjacent to the indicated neighboring base station 1, and emitted from this base station 1 (from base station 1, containing the first transceiver 4, which includes the specified first microcontroller 24), and determines among them the minimum value of power P _{ISM. min} (Registration of informational radio signals occurs when the condition

where K _app. = 1,2, therefore, the value

and nonzero. ) Then, the first microcontroller 24 will determine by the formula (4) the desired power value P _{'q rad} emitted radio signals and generates information on power control input 22 of the adjustable amplifier control signal in accordance with which the power radiated by the radio information takes a value P' _{q rad.}

Then, the first microcontroller 24 determines the ratio of the measured power values of the information radio signals received at this base station 1 to the corresponding power values of the information radio signals emitted from the base stations 1, which are adjacent to the specified neighboring base station 1, and determines the arithmetic mean value of the obtained relations power values. The first microcontroller 24 determines, using the formula (5), from the arithmetic mean value obtained, the required sensitivity value P ' _{pr.m. of the} channel for receiving call signs of radio signals. Then, the first microcontroller 24 generates a control signal at the control input of the adjustable low-noise amplifier 15, in accordance with which the gain of the adjustable low-noise amplifier 15 takes a value at which the sensitivity of the reception channel of the callsign radio signals is P ' _min.
By analogy with the "Transmission of informational radio signals to mobile objects 2" mode described above in the "Adjusting the sensitivity of the reception channels of callsign radio signals and radiation power of base stations 1" second transceivers 5 located on mobile objects 2 receive radio service signals emitted from base stations 1 , in zones 3 of which they are located. Moreover, in every second transceiver 5, the second microcontroller 38, based on the analysis of the received service radio signals, blocks the display of service information on the second indicator 39.

 The mode "Adjusting the sensitivity of the reception channels of call signs of radio signals and the radiation power of base stations 1" has a fixed duration that is the same at all base stations 1. At each base station 1, at the end of the "Adjusting the sensitivity of the reception channels of the callsign radio signals and radiation power of base stations 1" mode, the first microcontroller 24 sets the first transceiver 4 to the mode "Transmission of informational radio signals to moving objects 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 the six specified 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 six specified operating frequencies. The duration of the indicated binary pulse sequence is fixed. The duration of the indicated 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 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 six 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 six 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 of 3 of which the positioned movable object 2) is located.

 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. The reception of these information radio signals and the storage of the specified identification number is carried out similarly to that described above using the second when 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 sixth of six predetermined operating frequencies with a time interval of a specified 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 two to six.

 When transmitting informational radio signals from each of the base stations 1, in the zones 3 of which the moving object 2 is located, to the mobile objects 2 located within the service area, they function similarly to the above described in the "Adjusting the sensitivity of the reception channels of the callsign radio signals and radiation power of the base stations 1 "the first transceivers 4 included in each base station 1.

 We assume that the change in the position of the positioned movable object 2 that occurs during one radiation cycle of the callsign 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 action zones 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 (3) 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 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 (3) 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.

 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 or a 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 areas 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 a 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)

 The method of determining the location of a moving object, which consists in the fact that in conventional cells, which are equal regular hexagons, densely covering the served territory, base stations are placed with a unique identification number assigned to each base station, the radii of the base station coverage zones are set equal to the side length of each a regular hexagon from a positioned moving object, which is one of the moving objects within the boundaries of the served territory, o there is radiation of callsign radio signals at a given operating frequency, these callsign radio signals 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 of the positioned movable object is determined from these information signals characterized in that the placement of base stations is carried out at the vertices of the indicated regular hexagons, transmitting The available information signals containing the identification numbers of the base stations in the areas of which the positioned movable object is located are the corresponding information radio signals, the transmission of information radio signals from these base stations is carried out on mobile objects located within the service area, six different operating frequencies of the radio signals emitted from all base stations, from six preset operating frequencies at each base station located at the top of of strong hexagons, specify one operating frequency of the radio signals emitted from this base station, different from the operating frequencies of the radio signals emitted from neighboring base stations, which are base stations located at the neighboring vertices of these regular hexagons, out of six specified operating frequencies on each moving object, five different operating frequencies of the information radio signals received at this mobile object, at each of the base stations and at mobile objects that are within the range served th territory, additionally specify the coordinates of the placement 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 base stations in whose areas the positioned moving object is located, to mobile objects located within the range of the serviced territory, consists in the fact that at first from one of these base stations carry out the emission of information radio signals at a given operating frequency, at all base stations that are adjacent to the specified base station, receive information signals emitted from the last base station and emit them at the corresponding specified operating frequencies, then at all other base stations that are adjacent to the specified base stations, receive signals from base stations of information radio signals and their radiation at the corresponding given operating frequencies, then in the same way sequentially, in all directions from of the indicated base station, in the range 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 information radio signals emitted from previous base stations and emit them at the corresponding given operating frequencies , then, in a similar manner, the informational radio signals are transmitted alternately from all other base stations in whose areas of operation the positioned movable object is located on movable objects located within the service area, while the emission of information radio signals at a given operating frequency from each base station, except for the base station, the identification number of which is contained in the transmitted information radio signals, is carried out when receiving information at this base station radio signals of one of the operating frequencies set at this base station, at mobile objects located within the service area, there is a reception of information radio signals transmitted from each of the base stations at the specified operating frequencies, in the areas of which the positioned movable object is located, the location of the positioned movable object is determined on mobile objects located within the served territory and at base stations by the identification numbers of base stations , in the areas of action of which a positioned movable object is located, as well as according to additionally specified placement coordinates and p the diameters of the coverage areas of these base stations, at each base station they measure the power of information radio signals received from neighboring base stations, then from each base station they emit official radio signals containing information about the measured power values, as well as information about the power of information radio signals emitted from this base station, at each of the neighboring base stations receive the specified service radio signals and adjust the power of the emitted information radio signals from the measured values of the power of information radio signals received at base stations that are adjacent to the specified neighboring base station, and emitted from this base station, at each of these neighboring base stations from the received service radio signals also determine the relations of the measured values of information power the radio signals received at this base station to the corresponding power values of the information radio signals emitted from the base 's stations, which are adjacent to said adjacent base station, each of said adjacent base station on received power ratio value is performed sensitivity adjustment of call reception channel radio signals emitted from the positioned mobile unit.

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