RU2223514C2 - Method and device for measurement of coordinates - Google Patents

Abstract

FIELD: flight vehicle control systems, applicable for measurement of coordinates (in printing and heading) formed by pulse bursts in radio lines or optical lines in TV guidance systems. SUBSTANCE: the method for measurement of coordinates in the TV guidance system consists in the fact that a control field is formed by scanning of the directional pattern of electromagnetic radiation in turn in two mutually perpendicular directions in heading and itching relative to the origin of coordinates coinciding with the center of the control field, changing the parameters of the electromagnetic field, the electromagnetic radiation is transformed in pulse bursts from pulse-time modulation or pulse-code modulation, the values of coordinates in pitching and heading are separated in time and measured similarly, the first value of each coordinate corresponding at scanning to the beginning of the moment of irradiation of the coordinate measurement device is fixed, and then each current value of the coordinate is fixed with replacement of it with the subsequent one up to the end of the pulse burst, and the arithmetical mean of each coordinate for the first and each subsequent values of coordinates is determined. The device for realization of the method is submitted. EFFECT: enhanced precision of measurement of coordinates due to the fact that the duration of the code pulse burst is taken into account. 2 cl, 2 dwg

Description

 The invention relates to a method and control systems for aircraft and can be used to measure coordinates (pitch and heading) generated by packets (packets) of pulses in radio links with time-pulse modulation of a subcarrier oscillation and amplitude modulation of the carrier oscillation (VIM-AM) or code -pulse modulation of the subcarrier oscillation and amplitude modulation of the carrier oscillation (KIM-AM) or in optical lines with VIM or KIM in television guidance systems (beam control).

 In television guidance systems, the spatial structure of the electromagnetic field is created, created by the transmitting device from the control point, while the parameters of the control field are functionally related to the coordinates of the corresponding points [1], for example, in the Cartesian coordinate system Z0Y, where Z is the coordinate value along the course, Y is the coordinate value in pitch, 0 is the origin, which coincides with the center of the control field and is the aiming (pointing) point. The formation of the control field is carried out by scanning the radiation pattern of electromagnetic radiation in two mutually perpendicular directions (in Y and Z, respectively), and the magnitude of the commands is proportional to the scanning angle. Thus, in the Z0Y plane, the field has unit (with different signs respectively) command values along the edges, and in the center it has zero values. The on-board equipment located on the projectile measures the parameters of the electromagnetic field, which can be changed according to the law of VIM or KIM and determines its position relative to 0.

 A known method of allocating commands and a device that implements it [1]. The method of command extraction is that they receive a VIM-AM radio signal, convert it into an electrical signal, maintain a constant amplitude of the signal, demodulate it, normalize pulses in amplitude and duration, distribute the signal over two channels, and then decode it.

 A device for allocating commands that implements this method, containing serially connected electromagnetic radiation receiver and equipment for channel separation and decoding, which is designed as a two-channel.

 These well-known methods of command extraction and a device based on it are intended for the separation of projectile control commands by pitch and course (in the command radio link) transmitted from the control point and can be used for their intended purpose in the television guidance system, i.e. as a method of measuring coordinates and a device for measuring coordinates in a projectile located in the control field.

 Since the control field is formed by the radiation pattern of electromagnetic radiation, then when scanning the radiation pattern at the moment it crosses the antenna of the receiver of electromagnetic radiation, converting this radiation into electrical pulses, packets (packets) of pulses are formed. The duration of these packs is determined by the radiation pattern of the transmitter, the linear scanning speed, the geometric dimensions of the control field at the location of the receiver (its antenna), the propagation medium, etc.

 Thus, it is impossible to predict in advance the duration of packets (packets) of pulses carrying the magnitude of the Z and Y coordinates, while the packet itself, namely its beginning, carries information about the coordinate value corresponding to the beginning of irradiation, and the end to the end of irradiation, and since Since the coordinates change, the last final coordinate value recorded during decoding does not correspond to the actual (middle of the pack) position of the projectile in the control field.

 Therefore, the disadvantage of the known method and device is their low accuracy when measuring the coordinates of the location of the projectile in the control field due to changes in the duration of the received code packet.

 The objective of the present invention (method and device) is to increase the accuracy of measuring coordinates by taking into account changes in the duration of the code burst of pulses.

 The problem is solved due to the fact that in the method of measuring the coordinates in the television guidance system, the radiation pattern of the electromagnetic radiation relative to the aiming point is scanned, changing the parameters of the electromagnetic field, receive and convert electromagnetic radiation into an electrical signal and decode it, while fixing the initial value of the decoded coordinate corresponding to when scanning the beginning of the moment of exposure of the coordinate measuring device, and then record each current value, VP pour until the end of irradiation, and determine the arithmetic mean value of the coordinates for the initial and each current value.

 The claimed method is implemented as follows. Electromagnetic radiation is received in the receiving path, for example, VIM-AM or KIM-AM transmitted via a radio link, or VIM or KIM transmitted through an optical communication line and convert this signal into electrical pulses with a VIM or KIM and decode them, yielding values according to pitch Y and heading Z. Since electromagnetic radiation is scanned relative to the aiming point alternately vertically (pitch) and horizontally (heading), the coordinate values (the corresponding stress values) are spaced in time (time division of the channels scarlet).

 Upon receipt of one code burst of pulses, depending on its duration during decoding, from one coordinate value to several tens of coordinate values linearly varying in value is formed. Therefore, each coordinate value is further processed in order to clarify the location of the receiver (its antenna) of the coordinate measuring device, and hence the projectile in the control field. For this, the coordinate value is averaged, i.e., the first coordinate value is fixed, and then each current value is fixed with its replacement to the next until the end of the pulse train and the arithmetic mean value of the coordinate is determined for the initial and current (final) values. Moreover, for a short burst of pulses carrying only one coordinate value, it is both the initial and final coordinate values.

 When the second and subsequent code packets of pulses of the same channel appear, the signal processing process is completely repeated, and the "old" previous arithmetic mean value of the coordinate will be stored before it begins. Similarly measure the value of the coordinate in the channel of the course Z.

 A coordinate measuring device in a tele-targeting system that implements the indicated method contains a series-connected electromagnetic radiation receiver and channel separation equipment for course and pitch, as well as two-channel decoding equipment, a synchronizer and an initialization scheme are introduced into it, and the decoding equipment is made in the form of two identical channels, each of which contains a time-code converter, a recording signal shaper, two registers and an adder, while the synchronizer is connected with the clock inputs of the channel separation equipment, the time-code converter and the recording signal generator, the initialization circuit is connected to the initial inputs of the channel separation equipment, the time-code converter, the first and second registers, while the first and second outputs of the separation equipment the channels are connected to the inputs of the time-code converter, respectively, from the first and second channels, the signal output of the time-code converter is connected to the zero input of the signal shaper ishi and the input of the first register recording, the recording signal generator output connected to an input of the second write register, data output time code converter is connected to information inputs of the first and second registers, the outputs of which are connected to the adder.

 The proposed device is illustrated by drawings (figures 1 and 2).

 Figure 1 shows the structural electrical diagram of the coordinate measurement device, which presents: 1 - a receiver of electromagnetic radiation, 2 - a time-code converter, 3 - a recording signal shaper. 4a, 4b - the first and second delay circuits, 5 - the timer, 6 - the first RS trigger, 7 - channel separation equipment according to the course and pitch, 8a, 8b - the first and second logic circuits I, 9a, 9b - the second and third RS triggers , 10 - shift register. 11a, 11b - the first and second logic circuits OR, 12a, 12b - the first and second registers, 13 - the adder, 14a, 14b - the first and second counters of pulses, 15a, 15b - the third and fourth logic circuits I, 16 - the installation circuit in initial state, 17 - synchronizer.

 Figure 2 shows the diagrams of the signals where: a) is the signal at the output of the electromagnetic radiation receiver 1, b) is the signal at the output of the first logic circuit And 8a, c) is the signal at the output of the second delay circuit 4b, d) is the signal at the output of the second RS trigger 9a, e) the signal at the output of the third logic circuit And 15a, e) the signal at the output of the first delay circuit 4a, g) the signal at the output of the third RS trigger 9b, h) the signal at the output of the second pulse counter 14b (the pulse count is shown in analog form), and) is the signal at the output of the shaper of the write signal 3, k ) - the signal at the output of the second register 12b, l) - the signal at the output of the first register 12a, m) - the signal at the output of the adder 13.

 The output of the electromagnetic radiation receiver 1 is connected to the input of the channel separation equipment 7, the first output of which is connected to the time-code converter 2 of the first channel (channel Y). The synchronizer 17 is connected to the clock inputs of the channel separation equipment 7, the time-code converter 2 and the recording signal shaper 3. The initialization circuit 16 is connected to the initialization inputs of the channel separation equipment 7, the first and second registers 12a and 12b, and to the input of the installation to the initial state of the converter time-code 2. The signal output of the converter time-code 2 is connected to the input of zeroing the shaper of the write signal 3 and the write input of the first register 12a. The output of the shaper of the recording signal 3 is connected to the recording input of the second register 12b. The information output of the time-code 2 converter is connected to the information inputs of the first 12a and second 12b registers, the outputs of which are connected to the adder 13. The second output of the channel separation equipment 7 is connected to the time-code 2 converter from the second channel (channel Z), which is performed similarly in first channel (channel Y).

 The electromagnetic radiation receiver 1 can be performed as in the prototype. The channel separation equipment 7 can be made in the form of a shift register 10 and two logic circuits And 8a and 8b with their connections, which are shown as an example in figure 1. The time-code converter 2 can be made in the form of the first and second delay circuits 4a, 4b (for example, two sequentially connected waiting multivibrators), RS triggers 9a and 9b, two OR gates 11a and 11b, two pulse counters 14a and 14b and two logical schemes And 15A and 15B with their connections, which are shown as an example in figure 1.

 The recording signal generator 3 can be made in the form of a timer 5 (pulse counter) and RS trigger 6 with their connections, which are shown as an example in FIG. 1. Registers 12a and 12b, as well as an adder 13, for example, microcircuits of the same name of the 564 series. The initialization circuit 16 can be performed, for example, as a differentiating chain. Synchronizer 17 - quartz oscillator pulses.

 The coordinate measurement device operates as follows. At the initial moment of time, when the on-board power supply enters the operating mode, a one-time pulse is generated by the initialization circuit 16, which sets all bits of the register 10 in the channel separation equipment 7 to the zero state at the input R. Similarly, the same one-time pulse is supplied to the time-code converter 2, where, through the logic circuit OR 11b, the RS input of trigger 9b is supplied to the R input. The output of this trigger is set to a zero logic level, which prohibits the passage of pulses from the output of the synchronizer 17 through the logic circuit And 15b to the counting input (input C) of the pulse counter 146. At the same time, the same one-time pulse sets all bits at the output of registers 12a at the input R to the initial state and 12b.

 The electromagnetic radiation receiver 1, being in the control field, receives electromagnetic radiation, for example, BIM-AM, transmitted via a radio link, or VIM, transmitted via an optical communication line, and converts this radiation into electrical pulses with a VIM. The signal from the output of the receiver 1, shown in the diagram a) of figure 2, is, for example, a pair of pulses. The distance between pulses in pairs is a sign of belonging of a given signal to pitch channel Y, or to channel of Z course, and the distance between adjacent pairs is the value of coordinates (commands). Shown on the plot a) the first packet of pulses contains only three pairs of pulses. Typically, a packet may contain (at the output of receiver 1) from two pairs of pulses to several tens.

 Next, the signal from the output of the receiver 1 is fed to the input of the channel separation equipment 7: input D of the shift register 10 and the first inputs of the logic circuits And 8a and 8b. These pulses are shifted in the register 10 by the pulses of the synchronizer 17, which are fed to the clock input (input C) of the shift register 10. Thus, at the first and second outputs of the register 10 there will be pulses that are shifted (delayed in time) by an amount equal to the value between two pulses in pairs (channel sign). These pulses arrive, respectively, at the second inputs of the logic circuits And 8a and 8b. When this delayed (the first of the pair) pulse coincides with the second pulse (at the outputs of the logic circuits And 8a and 8b), single pulses are formed that carry the value of the coordinate, for example, along the pitch Y, which are shown in diagram b) of Fig. 2 and, respectively, along the channel course Z.

 From the moment the supply voltage appears on the coordinate allocation device and until the projectile hits the control field, i.e. until the first pulse appears at the output of the logic circuit And 8a, and hence at the zero input (input R) of the pulse counter 14a, the counter is in an arbitrary state and counts pulses at the input C from synchronizer 17. When a single logic level appears the output of the pulse counter 14a, through the OR logic 11a, it sets the logic level zero at the output R RS of the trigger 9a at its output.

 When the first pulse appears at the input of the time-code converter 2 from the output of the channel separation equipment 7 (plot b) of FIG. 2), the delay circuit 4b generates a delay of this pulse in time by an amount shorter than the minimum time interval between the second pulses from pairs (plot in ) in FIG. 2). This delayed pulse then goes to the S input RS of the trigger 9a and sets a single logic level (plot d) of FIG. 2) at its output. This level goes to the input of the logic circuit And 15a and allows the passage of the second, third, etc. pulses from the same packet (plot b) of Fig.2) to the output of the logic circuit And 15a (plot d) of Fig.2). The pulse from the output of the logic circuit And 15a through the logic circuit OR 11a at the input R sets the RS output of the trigger 9a to the zero logic level (plot d) of Fig. 2) until the next pulse (plot c) in Fig. 2), after which the process repeated again.

 At the same time, the pulses from the output of the channel separation equipment 7 are supplied to a delay circuit 4a, which delays the pulses in time (plot e) of FIG. 2), which then reset the second pulse counter 14b (diagram h) of FIG. 2), set the S logic input at the output of the third RS trigger 9b to a single logic level (diagram g) of FIG. 2), which allows the passage of pulses from synchronizer 17 to the output the second logical circuit And 15b, and hence the counting input (input C) of the pulse counter 14b. The pulse counter 14b begins to count in binary parallel code the duration of the pulses shown in plot g) in FIG. 2. As follows from diagram g), the distance between pulses (zero logic level) corresponds to the storage time of the binary number corresponding to the value of the Y coordinate in the pulse counter 14b, after which it is reset and the process is repeated again.

 During the storage of information in the pulse counter 14b, the pulses from the output of the logic circuit And 15a go to the input C of the register 12a and write (overwrite) the value of the binary number from the pulse counter 14b.

 The write signal generator 3 (for the second register 12b), before the arrival of the first pulse from the code packet, counts the number of pulses arriving at the counting input of timer 5, and when a single logical level appears at its output, it sets the logic input 6 at the output of trigger RS 6 level. When the first pulse appears at the output of the logic circuit And 15a (diagram e) of FIG. 2), it will set zero logic levels at all bits of timer 5 and a zero logic level at the output of RS trigger 6, which has its trailing edge (diagram and) of FIG. 2 ) will write information from the output of the pulse counter 14b in the register 12b.

 Thus, the shaper of the write signal 3 generates one pulse at the beginning of the packet when the first two pairs of pulses appear that carry information about the coordinate value, and the logic circuit 15A generates write pulses for every two pairs of pulses that carry information about the coordinate values contained in the entire packet . Therefore, in register 12a, during the process of following the pulse train, each current coordinate value is written (overwritten), up to the final one, and only one initial value is recorded in register 12b, while both the initial and final values are stored in the registers until a new packet appears, after whereby the process of recording (dubbing) is repeated.

 As follows from the above, the shaper of the recording signal 3 generates recording signals at a sufficiently large time distance between the packets, i.e., for example, between the end of the first and the beginning of the second, at least two pairs of pulses with a maximum time distance between them, while pulse counts in timer 5 should be not less than this value.

 Thus, the timer 5, as well as the pulse counters 14a and 14b in the absence of an information signal (pairs of pulses), and hence the zeroing signals (at the input R), continue to read pulses from synchronizer 17, overflow and again (first) start the pulse count (plot h) figure 2 for the pulse counter 14b). This operation of the timer 5, as well as the pulse counters 14a and 14b, does not have any effect on the operability of the device.

 Information in binary parallel code from the outputs of the first and second registers 12a and 12b is fed to the corresponding inputs of the adder 13, where it is bitwise summed. At the input of the adder 13, a coordinate value is formed equal to twice the arithmetic mean value, which is shown in diagram m) of Fig. 2 (in analog form). This value corresponds to the coordinate value in the middle of the pulse train, i.e. the center of the radiation pattern, which forms the spatial structure of the electromagnetic field, and this coordinate value is formed upon the arrival of each current value of information up to the final value contained in the pulse train, which means without a time delay. The double arithmetic mean value of the coordinate is taken into account by the transmission coefficient of the device, for example, equal to 0.5.

 In the inventive device for measuring coordinates, you can enter the third register (in figure 1 it is not shown). At the same time, the information inputs of this register are connected bitwise to the output of the adder 13, and the recording input (input C) is connected to the output of the pulse counter 14a (for example, to its highest level, the pulse signal of which forms the trailing edge of the pulse at the RS output of trigger 9a (on diagram d) figure 2 he is depicted by a dotted line).

 Thus, information in the third register will be recorded (copied) only once after passing through the entire burst of pulses. This information will correspond to twice the arithmetic mean value of the initial and final values (without current values) of the coordinate values.

 A coordinate measuring device can be performed in another way, with a different signal structure, for example, not pairs, but triples of pulses, with a different type of modulation, etc.

 Thus, in the method of measuring coordinates by fixing the coordinate values corresponding to the initial and current (final) moments of irradiation of the coordinate measuring device (electromagnetic radiation receiver), as well as determining the arithmetic mean value of the coordinates, the change in the duration of the code packet, and therefore the amount of information, is taken into account about the location of the projectile in the control field formed by scanning the radiation pattern of electromagnetic radiation relative to the aiming point, which creases coordinate measurement accuracy, because the error of coordinate measurement is excluded, which is directly proportional to the duration of the code pulse train, i.e. the initial and final moments of exposure of the coordinate measurement device.

 Introduction to the device for measuring the coordinates of the synchronizer and the installation scheme in the initial state, as well as the implementation of decoding equipment in the form of two identical channels, each of which contains a time-code converter, a shaper of the recording signal, two registers and an adder, eliminated the error of measuring the coordinates in the channels of the course Z and pitch Y by accounting for changes in the duration of the code packet.

Sources of information
1. The basics of radio control, under. Editors Weizel V.A. and Tipugina V.N. M .: Soviet Radio, 1973, p. 272-278, 246-251, Fig. 4.28.

Claims (2)

1. A method of measuring coordinates in a tele-pointing system, which consists in forming a control field by scanning the radiation pattern of electromagnetic radiation alternately in two mutually perpendicular directions along the course and pitch, respectively, relative to the origin, which coincides with the center of the control field, changing the parameters of the electromagnetic field, transform electromagnetic radiation into bursts of pulses with VIM or KIM and decode them, yielding coordinate values along the pitch and heading, while the coordinates along the course and pitch are spaced in time and measured in the same way, characterized in that they fix the first value of each coordinate that corresponds when scanning the beginning of the moment of exposure of the coordinate measuring device, and then fix each current coordinate value with replacing it with the next one until the end of the pulse train and determine the arithmetic mean value of each coordinate for the first and each subsequent coordinate values. 2. A device for measuring the coordinates of a television guidance system along the beam, containing serially connected electromagnetic radiation receiver and channel separation equipment, as well as decoding equipment made in the form of identical channels in the course and pitch, characterized in that a synchronizer and an initialization scheme are introduced into it and each of the channels of the decoding equipment contains a time converter - code, a shaper of the recording signal, two registers and an adder, while the synchronizer is connected to the clock input the channel separation equipment, as well as the clock inputs of the time-code converter and the signal shaper of the recording of each channel of the decoding equipment, the initialization circuit is connected to the installation input to the initial state of the channel separation equipment, as well as the time-code setting inputs of the converter , the first and second registers of each channel of the decoding equipment, while the first and second outputs of the channel separation equipment are connected to the inputs of the time-code converters according to the channel according to the course and the channel according to the pitch of the decoding equipment, the signal output of the time-code converter is connected to the input of zeroing the shaper of the recording signal and the recording input of the first register, the output of the shaper of the recording signal is connected to the recording input of the second register, the information output of the time-code converter is connected to the information inputs of the first and second registers, the outputs of which are connected to the adder.

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