RU2249232C2 - Radio-contrast object direction tracking method and device - Google Patents

Abstract

FIELD: methods of tracking.

SUBSTANCE: super-high frequency signals are irradiated and signals reflected from radio-contrast object are received. Received signals after being processed are used for forming errors of direction finding two standardized signals Δ_h/Σ, Δ_v/Σ at horizontal and vertical planes correspondingly. Angles of rotation of aerial φ_ah and φ_av are measured at the planes and the estimation is made to determine whether receiving channels of direction finder are overloaded. If none of channels is overloaded then 1)values of angles of direction finding of radio-contrast object, angular velocities of direction finding observing line are estimated from signals of Δ_h/Σ, Δ_v/Σ φ_ah and φ_av and extrapolated values of angles of bearing of radio-contrast object are formed for any subsequent step of signal processing; 2) values of borders of solid angle are calculated in which angle the radio-contrast object could find its place at any subsequent step in accordance with calculations, then angle is divided to M angular positions φ_mh and φ_mv, where

; for each position the extrapolated value of density function of location of radio-contrast object is calculated at the angular position, in other words, the values of posterior density functions are calculated relatively angular position at which aerial is located at the moment for any angular position of φ_mh and φ_mv of possible direction finding of radio-contrast object, which values are used for calculating values of estimation of bearing of radio-contrast object at corresponding planes; 4) procedures should be done which are described for clause 2. Aerial control signals are formed and the described process of direction tracking of radio-contrast object is repeated. Radio-contrast object direction tracking device has aerial, aerial switch, quadrature converter, signal processing unit, transmitter, synchronizer, memorizing unit, digital-to-analog converter, first calculator, second calculator, device for detecting overload and two commutators. Device provides mode of direction tracking of any radar unit in case the receiving channels are overloaded as well as mode of operation at which angles of bearing of radio-contrast object are estimated on the base of calculation of posterior and extrapolated density functions for one step of signal processing of presence of radio-contrast object inside extrapolated bearing.

EFFECT: improved efficiency of operation; increased reliability.

3 cl, 4 dwg

Description

The invention relates to radar, in particular to radar goniometer systems designed to accompany radio contrast objects (RKO) in the direction and evaluate their bearings in horizontal and vertical planes.

Known methods of tracking RKO in the direction and evaluation of their bearings monopulse radar systems (radar) [1, p.5-39; 2, pp. 5-14, 149-177, 183-196; 3, p. 261-298; 4, p. 216-224; 5]. In these methods and devices that implement them, one of the main elements is a direction finder, consisting of (see Fig. 1) an antenna, a quadrature transducer and a signal processing device that generates signals containing information about the sides and values of the deviation of the equal signal direction (RSN) radiation patterns (BF) of the antenna from the direction to the CSC (see figure 2) in two mutually perpendicular planes. Based on these signals, antenna control signals are generated when tracking the radar detectors in the direction, and also the values of the radar bearing are evaluated.

The most commonly used methods of tracking RKO in the direction and evaluating their bearings using monopulse amplitude total-difference signal processing systems described in the literature [1, p. 5-39; 3, pp. 261-280]. The disadvantages of these methods include: the presence of sufficiently large direction finding errors resulting from the mutual influence of the horizontal and vertical direction finding channels; their inoperability, if the amplitude of the signal reflected from the RKO exceeds the dynamic range of the total or differential channels of the direction finder [2, p. 209]. Overloading the total channel of the direction finder leads to an increase in the steepness of its direction-finding characteristic (PX) and to a decrease in the range of angles in which its linearity is maintained, and with simultaneous overloading of the total and difference channels, the PX becomes a signature (see Fig. 3, a) also called relay [6]. The output signals of the direction finder in this case carry information only about the sign of the angular errors of direction finding of the radar detectors and do not depend on their magnitude. This leads to the fact that the spatial selection of RKO and tracking it in the direction based on the above methods become impossible.

Of the known technical solutions, the closest (prototype) is the monopulse method of tracking RKO in the direction and determining its angular coordinates, described in [5]. In it: ultra-high-frequency (UHF) signals are emitted, signals reflected from the CSC are received, and three signals are generated from them: the total and two differential signals — errors of direction finding of the CSC in horizontal and vertical planes. Based on these signals, two normalized differential error signals of direction finding errors for the planes for these planes are formed. From these signals and the measured values of the angles of the position of the antenna, the values of the angles of the bearing of the RCS are estimated and signals are generated to control the antenna. The values of the estimated angles of the bearing of the cash register provide information to consumers.

The main disadvantage of the prototype is the low stability and low accuracy of tracking the CSC direction in conditions when, for some reason (for example, if the amplitude of the signal reflected from the CSC exceeds the dynamic range of the receiving channels of the direction finder) the direction finder HR acquires a signature character.

Thus, the objective of the invention is to provide high stability and accuracy of tracking the CSC in the direction in situations where the direction finder HR acquires a signature character.

The task is achieved in that they emit microwave signals and receive signals reflected from the RCS, according to which, after processing, they generate three signals: the total, normalized differential signal of direction finding error in the horizontal plane and the normalized difference signal of direction finding error in the vertical plane. Measure the angle of rotation of the antenna in these planes. The receiving channels of the direction finder are overloaded or not.

If none of its receiving channels is congested, then

from the normalized difference signals of direction finding errors and the values of the antenna rotation angles for both planes, the values of the angles of the bearing of the radar detector and the angular velocities of its line of sight are estimated and the extrapolated values of the angles of the bearing of the radar detector for the next signal processing cycle are generated; the extrapolated values of the angles of the bearing of the RCS calculate the values of the boundaries of the solid angle {φ _emaxg , φ _eming , φ _emaxv , φ _eminv } (see Fig. 4, where the boundaries of the solid angle for one plane are given) (hereinafter, subscripts “g” and “C” show that the signal belongs to a horizontal or vertical plane or to the corresponding processing channel), within which, according to the calculations, there will be a CSC at the next signal processing step, break it in each of the mentioned planes into M equally spaced angles O positions bearings RKO _0g φ, φ _1d, ..., φ _N-2r, φ _M and φ _{1d 0V,} φ _1b, ..., φ _N-2c, φ _M-1c (see FIG. 4) and for each of them calculate the value of the extrapolated probability density (PV) P _emg and P _emv (see figure 3, b) finding RKO at this angular position for the corresponding plane;

otherwise

in each of the above-mentioned planes for each possible bearing of the RCS φ _0g , φ _1g , ..., φ _М-2g , φ _М-1g and φ _0в , φ _1в , ..., φ _М-2в , φ _{М -1B} calculate the values of posterior PV; from the measured values of the antenna rotation angles and the calculated values of the a posteriori MF, the values of the angles of the bearing of the magnetic field and the angular velocities of its line of sight are estimated and the extrapolated values of the angles of the bearing of the magnetic field for the next signal processing cycle are generated; using the extrapolated values of the angles of the bearing of the CSC, the values of the boundaries of the solid angle {φ _emaxg , φ _eming , φ _emaxv , φ _eminv } are calculated in which, according to the calculations, the CSC will be on the next clock cycle of the signals, break it in each of the mentioned planes into M equally spaced from each other, the angular positions of the bearings of the RCS φ _0g , φ _1g , ..., φ _M-2g , φ _M-1g and φ _0v , φ _1v , ..., φ _M-2v , φ _M-1v and for each of them calculate the value of the extrapolated PV of the location of the CSC at this angular position for the corresponding plane.

According to the estimated values of the angular velocities of the line of sight of the CSC and the extrapolated values of its bearing angles, antenna control signals are generated.

Next, the process of tracking RKO repeat.

According to the proposed method, input data are entered and stored: α is a constant reflecting the maneuverable properties of the missile defense; M is a constant that specifies the number of discrete angular positions in the solid angle {φ _emax , φ _eming , φ _emaxv , φ _eminv } (see Fig. 4), in which the detection of _RCT is carried out; τ is the interval (cycle) of signal processing; k _y , K _u - the proportionality coefficients of the conversion of the angular errors of the antenna position into voltage; Dφ _g , Dφ _в - variance of error in estimating the angles of the bearing RKO; Dξ _g , Dξ _в are the variances of the angular noise of the bearings of the radial magnetic resonance, specified by the type of radial magnetic resonance that is supposed to be accompanied; Θ _g and Θ _in - the width of the antenna bottom; U _pore is the threshold value of the normalized direction finding error signal, specified by the type of direction finder used.

Then proceed to support the CSC, for which:

1) emit microwave signals for radar viewing of space in a given solid angle {φ _rear , φ _rear } (see figure 4). Receiving reflected from RKO microwave signals and from them formed by three signals: sum Σ, and two difference DF error signal jΔ _g and jΔ _in determining the deviation of the PCH antenna from the direction of CSC in the horizontal and vertical planes, respectively, and shifted in phase by 90 ° relative to the total signal (hereinafter, the symbol j indicates a phase shift of the signal by 90 °);

2) the sum Σ and difference jΔ _g jΔ and signals _in one of the known methods such as those described in [3 str.268-272; 5], amplified, filtered by noise, is digitized and formed thereon two DF normalized error signal Δ _g / Σ and Δ _a / Σ in the horizontal and vertical planes, respectively;

3) measure the rotation angles of the antenna (φ _AH, φ _av in respective planes;

4) the amplitude modules of the normalized direction-finding error signals | Δ _g / ∑ | and | Δ _in / ∑ | alternately comparing with the threshold value of the normalized signal of direction finding error U _pop , determining this: whether the receiving channel of the direction finder is overloaded or not. It is believed that the receiving channel of the direction finder is overloaded if | Δ _g / ∑ |> U _pop or | Δ _in / ∑ |> U _then ;

If none of the receiving channels of the direction finder is overloaded, then perform the actions described in positions 5-7 and 13, otherwise - starting from position 8;

,

, угловых скоростей линии визирования

,

и экстраполированных на следующий такт обработки сигналов значений углов пеленга РКО φ _эг, φ _эв. Значения

,

и

,

выдают потребителям информации, а значения φ _эг, φ _эв,

,

запоминают;5) The normalized error signal DF Δ _g / Σ, Δ _a / Σ, and the antenna rotation angles φ and φ _{av AH} one of the known methods such as those described in [3 str.289-298; 5; 7; 8, p. 35-32, 51-61], evaluate the angles of the bearing RKO

,

angular velocities of the line of sight

,

and extrapolated to the next clock cycle of the signal processing values of the angles of the bearing RKO φ _eg , φ _ev . Values

,

and

,

give consumers information, and the values of φ _eg , φ _ev ,

,

remember;

6) calculate φ _eming , φ _emaxg , φ _eminv , φ _emaxv - extrapolated values of the boundaries of the angles of the bearing RKO according to the formulas:

The physically extrapolated values of the boundaries of the angles of the bearing φ _eming , φ _emaxg , φ _eminv , φ _emaxv (see Fig. 4) mean that the RCS, due to their maneuvering properties, determined by the coefficient α, and angular noise, determined by the variances Dξ _g and Dξ _in , at the next signal processing step, it cannot be outside the limits of the solid angle {φ _eming , φ _emaxg , φ _eminv , φ _emaxv } defined by these boundaries, in the center of which is the extrapolated value of the bearing of the _{radial magnetic field} determined by the angles φ _eg , φ _ev ;

, а черта над символами здесь и ниже означает, что значение переменной m изменяется от 0 до М-1 с шагом 1), для каждой из которой вычисляют Р_эmг и Р_эmв - экстраполированное значение ПВ нахождения РКО в этом направлении по формулам:7) the resulting solid angle {φ _eming , φ _emaxg , φ _eminv , φ _emaxv } in each of the planes is divided into M equally spaced angular positions φ _mg , φ _mв (see Fig. 4) (where

, and the bar above the symbols here and below means that the value of the variable m varies from 0 to M-1 in increments of 1), for each of which P _emg and P _emv are _calculated - the extrapolated value of the PV of finding the RKO in this direction according to the formulas:

The values of the angular positions φ _mg , φ _mv and the extrapolated values of PV R _emg and R _{emv are} remembered and proceed to the execution of the actions described in position 13;

. По результатам сравнения находят угловую позицию пеленга РКО φ _mг, равную углу φ _аг, определяя этим М_аг - номер угловой позиции пеленга РКО φ _mг, соответствующего значению угла поворота антенны φ _aг.8) alternately compare the measured value of the angle of rotation of the antenna φ _ar in the horizontal plane with all the stored angular positions φ _{mg of the} angle {φ _eming , φ _emaxg }, where

. By comparison, the results are the angular position φ bearing RKO _Mg equal to angle φ _{ar, ar} determining these M - Room angular position φ bearing RKO _Mg corresponding to the value of the angle of rotation φ antenna _AH.

Similar actions are performed for the vertical plane, determining the number of the angular position of the bearing RKO M _av corresponding to the value of the angle of rotation of the antenna φ _av ;

9) using the found numbers of the angular positions of the bearing of the RKO bearing M _ag , M _AB calculate the values of the posterior PV _Rmg and Р _amv for each angular position of the bearing RKO φ _mg , φ _mв in the corresponding plane according to the formulas:

10) calculate the angles of the bearing RKO φ _g , φ _in the formulas:

,

, угловых скоростей линии визирования

,

, экстраполированные значения углов пеленга РКО φ _эг, φ _эв на следующий такт обработки сигналов, а также новые значения дисперсий ошибок оценивания углов пеленга РКО Dφ _г, Dφ _в.11) using the values of the bearing angles dispersions estimation errors RKO Dφ _g, Dφ and the variances _in angular bearing noise RKO Dξ _g, Dξ _in at the calculated bearing angles RKO values φ _r, φ _in one of the known methods Kalman [3 str.289- 298; 8, p. 25-32] or adaptive [7; 8, p. 51-61] filtering form the estimated values of the angles of the bearing RKO

,

angular velocities of the line of sight

,

Extrapolated angle values bearing RKO _EH cp, cp _ev next cycle signal processing, as well as the new values of the angle estimation error variances bearing RKO Dφ _g, Dφ _in.

,

и

,

выдают потребителям информации, а значения φ _эг, φ _эв,

,

, Dφ _г, Dφ _в запоминают;Estimated Values

,

and

,

give consumers information, and the values of φ _eg , φ _ev ,

,

, Dφ _g , Dφ _in remember;

12) perform the actions described in positions 6 and 7;

,

одним из известных способов, например, описанным в [3, стр.266, 284-285; 5; 6] формируют сигналы управления антенной u_aг и u_ав.13) according to the extrapolated values of the angles of the bearing RKO φ _eg , φ _ev and the estimated values of the angular velocities of the line of sight

,

one of the known methods, for example, described in [3, p. 266, 284-285; 5; 6] form the antenna control signals u _ag and u _av .

After that, the above-described process of tracking RKO is repeated.

The proposed method in comparison with the prototype has wider capabilities for tracking RSC in the direction and evaluation of its bearings, in particular, it allows you to stably generate estimates of the angles of the bearing of the RSC and the angular velocities of the line of sight of the RSC even in case of overload of the receiving channels of the direction finder.

We turn to the consideration of the device for tracking the cash register in the direction associated with a single inventive concept with the above method of tracking the cash register in the direction.

Of the known technical solutions, the closest to the claimed device in terms of its technical essence is the tracking support device in the direction (Monopolse tracking apparatus) [5].

The main disadvantage of this device is the low stability and low accuracy of tracking RKO in the direction in conditions when the DF of the direction finder acquires a signature character.

Thus, the objective of the invention is to ensure high stability of the tracking device in the direction of the CSC and high accuracy in determining the angular coordinates of the CSC in any application, including in cases where the receiving channels of the device are overloaded.

This object is achieved in that in a device containing an antenna, an antenna switch, a quadrature converter, a signal processing device (SLD), a transmitter, a synchronizer, a digital-to-analog converter (DAC), a first computer, a storage device (memory), a second computer, a device is additionally introduced Overload Detection (OOP) and two switches.

Figure 1 presents the structural diagram of the support device for the CSC in the direction that contains: 1 - an antenna with its constituent monopulse device for total-difference signal processing, a drive and a sensor for the angular position of the antenna; 2 - quadrature transducer; 3 - antenna switch; 4 - SLD; 5 - transmitter; 6 - synchronizer; 7 - OOP; 8 - the first computer; 9 - memory; 10 - DAC; 11 - the first switch; 12 - second calculator; 13 - the second switch. In this figure, the symbol RKO denotes a radio contrast object. Blocks 1, 2 and 4 and their communication for joint functioning form a direction finder.

Figure 2 shows two partial radiation patterns (LH) of the antenna; the points O and RKO indicate the position of the claimed device and radio contrast object; the direct O-RSN determines the equal directional direction (RSN) of the antenna; straight line O-X determines the direction with respect to which all angles are measured; φ _a , φ _pco - the angular position of the antenna and RKO, respectively. For both planes of direction finding, the shapes of DN and its direction-finding characteristics are the same.

Figure 3a shows the DF of the direction finder in the overload state, where u _o are the value of the output signal of the direction finder, and the points φ _a and φ _e determine the current value of the angle of rotation of the antenna and the extrapolated value of the angle of the bearing of the radar detector, respectively; the u _exhaust symbol indicates the limit value of the direction finder output signal.

Figure 3, b shows the dependence of the extrapolated PV R _{e of the} location of the RCS in each of the M angular positions φ ₀ , φ ₁ ..., φ _m-2 , φ _{m-1 of the} possible bearing of the RCS on the value of the angle of the bearing of the RCS φ. The points φ _emin , φ _emax determine the extrapolated values of the boundaries of the bearing of the RCS.

Figure 4 points O and RKO shows the position of the claimed device and a radio-contrast object, respectively; line OX defines the horizon line; angle φ _{back r} defines a given viewing area; the angle φ _eg determines the extrapolated position of the CSC for the next cycle of the device; the angles φ _emaxg and φ _{eming define the} boundaries of the angle {φ _emaxg , φ _eming }, in which, according to the calculations, the RSC will be located at the next cycle of the device; angles φ _0g , φ _1g , ..., φ _M-2g , φ _M-1g define M angular positions within the angle {φ _emaxg , φ _eming };

,

и угловых скоростей линии визирования

,

) выход первого вычислителя 8 соединен с первым входом второго коммутатора 13, первый (сигнала управления антенной u_aг в горизонтальной плоскости) и второй (сигнала управления антенной u_ав в вертикальной плоскости) выходы второго вычислителя 12 соединены соответственно с третьим и четвертым входами первого коммутатора 11, третий (оцененных значений углов пеленга РКО

,

и угловых скоростей линии визирования,

,

) выход второго вычислителя 12 соединен с вторым входом второго коммутатора 13, с выхода которого оцененные значений углов пеленга РКО

,

и угловых скоростей линии визирования

,

выдают потребителям.The RCO tracking device in the direction contains an antenna 1, the first (difference signal of the horizontal channel jΔ _g ) and the second (difference signal of the vertical channel jΔ _c ) whose outputs are connected respectively to the first and second inputs of the quadrature converter 2, the output of which is connected to the first input of the ASL 4, the third (total signal ∑) output of the antenna 1, which is both its first input, is connected to the first input, which is also the first output, of the antenna switch 3, and the fourth (of the angle of rotation signal tenn in the horizontal plane φ _ar ) and fifth (signal of the angle of rotation of the antenna in the vertical plane φ _ав ) the outputs of the antenna 1 are connected respectively to the first and second inputs of the first 8 and second 12 computers, the second input of the ASL 4 is connected to the second output of the antenna switch 3, the second whose input is connected to the output of the transmitter 5, the output of the synchronizer clock terminal 6 is connected to the transmitter 5, the ONU 4, 8 of the first and second calculators 12, the first (horizontal direction finding channel normalized error signal _d Δ / Σ) and second (normalized a signal error DF vertical channel Δ _a / Σ) outputs ONU 4 are connected respectively with the first and second inputs OPS 7, the fourth and fifth inputs of the first calculator 8, the fourth and fifth inputs of the second calculator 12, the output ROP 7 is connected to the control inputs of the first 11 , the second 13 switches and the third inputs of the first 8 and second 12 computers, the first (antenna control signal u _ag in the horizontal plane) and the second (antenna control signal u _ag in the vertical plane) the outputs of the first computer 8 are connected respectively but with the first and second inputs of the first switch 11, the first and second outputs of the memory 9, which are both its first and second inputs, are connected respectively to the sixth inputs, which are simultaneously their outputs, of the first 8 and second 12 computers, the third output of the memory 9 is connected to the third input of the UOP 7, the third input of the memory 9 serves the source data from an external source, the first (antenna control signal u _ag in the horizontal plane) and the second (antenna control signal u a _b in the vertical plane) the outputs of the first computer 8 are connected respectively respectively with the first and second inputs of the first switch 11, a first (antenna u _AH control signal in a horizontal plane) and second (control signal antenna u _aB in a vertical plane), the outputs of which are connected respectively to the first and second inputs of the DAC 10, the first (control signal antenna u _ag in the horizontal plane) and the second (antenna control signal u _av in the vertical plane) whose outputs are connected respectively to the second and third inputs of the antenna 1, the third (of the estimated values of the angles of the bearing RKO

,

and angular velocities of the line of sight

,

) Output of the first calculator 8 is connected to a first input of the second switch 13, a first (control signal antenna u _AH in the horizontal plane) and second (antenna u control signal _aB in a vertical plane) outputs the second calculator 12 are connected respectively to the third and fourth first switch inputs 11 , third (estimated values of the angles of the bearing RKO

,

and angular velocities of the line of sight,

,

) the output of the second computer 12 is connected to the second input of the second switch 13, from the output of which the estimated values of the angles of the bearing RKO

,

and angular velocities of the line of sight

,

give out to consumers.

Antenna 1 with its constituent device of total-difference signal processing, antenna drive and sensors of its angular position in horizontal and vertical planes is constructed in a known manner [5]. She carries out:

- the conversion of powerful microwave (microwave) pulses supplied to its first input into radio signals and emitting them into space;

- reception of radio signals reflected from the RKO, their amplification, spatial selection and the formation of three signals: the differential signal of the horizontal channel jΔ _g (first output of the antenna), the difference signal of the vertical channel jΔ _in (second output) and the total signal ∑ (third output),

- providing support for the CSC at the angles of the bearing by turning the antenna mirror in the direction of the CSC with the antenna drive according to the antenna control signals u _ag in the horizontal and u _av in the vertical planes supplied to its second and third inputs, respectively;

- measurement of the angle of rotation of the antenna φ _ag (fourth output), φ _AB (fifth output) in the respective planes by angular position sensors located on the antenna drive.

The quadrature transducer 2 is constructed in a known manner [5]. It performs the following transformations of the differential signals of direction finding errors jΔ _g , jΔ _in :

- shifts the phase of the differential signal of direction finding error jΔ _g in the horizontal plane by 90 °, forming the difference signal of direction finding error Δ _g ;

- summarizes the differential signal of direction finding error Δ _g in the horizontal plane with the difference signal of direction finding error jΔ _in the vertical plane, forming a combined signal of direction finding error Δ = Δ _g + jΔ _c .

Antenna switch 3 is also known [5]. It transmits powerful microwave signals of the transmitter 5 to the input of the antenna 1, without passing them to the input of the ASL 4, and transfers the total signal ∑ from the output of the antenna 1 to the input of the ASL 4, without passing it to the input of the transmitter 5.

SLD 4 is built in a known manner (see prototype [5]). It performs the following actions on the signals given to it:

- converts the combined signal of direction finding errors Δ and the total signal ∑ from the microwave to the intermediate frequency (IF), at which, by adding and subtracting, it generates two signals Σ + Δ and Σ -Δ (thereby temporarily compressing the signals);

- the received signals Σ + Δ and Σ -Δ during the first time interval equal to half the interval of the signal processing amplifies, respectively, in the first (A) and second (B) amplification channels, forming respectively the signals [Σ + Δ] _A and [Σ - Δ] _in , and then, during the second time interval equal in duration to the first, on the contrary, in the second (B) and first (A) amplification channels, forming respectively [Σ + Δ] signals _in and [Σ + Δ] _A ;

- the received signals [Σ + Δ] _A, [Σ + Δ] _B, [Σ -Δ] _B and [Σ -Δ] _A heterodyning converts at video IF and then it generates two video [Σ + Δ] ₁ = [Σ + Δ] _A + [Σ + Δ] _V and [Σ -Δ] ₂ = [Σ -Δ] _B + [Σ -Δ] _A;

- the received video signals [Σ + Δ] ₁ and [Σ -Δ] _{2 are} digitized and subjected to narrow-band filtering by fast Fourier transform and then they are divided into a total signal сигнал and a combined difference signal of direction finding errors Δ;

- dividing the combined differential signal of direction finding errors Δ by the total signal ∑ generates a normalized signal of direction finding errors Δ / ∑;

- comparing the phases obtained DF normalized error signal Δ / Σ from the phase of the sum signal Σ, and then the total signal phase shifted by 90 °, divides it into two normalized DF error signal Δ _g / Σ and Δ _a / Σ in the horizontal and vertical planes respectively.

Since during the described conversions of the mentioned signals from microwave to frequency converter, video frequency and digitizing them with their information components (phase, sign, etc.), no transformations are performed, their designations are not changed.

The signal from the synchronizer 6 provides in OOS 4 the synchronism of the described algorithm.

The transmitter 5 is known [5]. It generates powerful microwave signals of a given duration at the time of arrival of video pulses from synchronizer 6 at its input.

The synchronizer 6 is built in a known manner [5]. It produces video pulses, which are sync pulses for all blocks of the claimed device.

UOP 7 is a combination of two similar comparison devices, at one input of each of which a constant threshold voltage of the normalized direction-finding error signal _{Uop is applied} , the value of which is set based on the type of direction finder used, and the second inputs are the amplitude modules of normalized signals | Δ _g / ∑ | and | Δ _in / ∑ | direction finding errors of the cash register. The outputs of both comparison devices are interconnected, therefore, when the amplitude exceeds any of the normalized signals | Δ _g / ∑ | and | Δ _in / ∑ | the amplitude of the threshold voltage U _pop , a control signal u _{cp is generated} , which is fed to the output of the UOP 7.

Each of the computers - the first 8 and second 12 is a typical general-purpose electronic computer, which is currently part of any radar station. The difference between the computers is that in the absence of a control signal u _{upr, the} first computer 8 turns on (that is, it performs the functions assigned to it), and the second computer 12 turns off (that is, it does not perform the functions assigned to it), and vice versa: if there is a control signal u _upr second calculator 12 is turned on, and the first calculator 8 is turned off. The signals from the synchronizer 6 ensure the synchronization of the calculations performed in them.

The memory 9 is a standard random access memory associated in the usual way with the first 8 and second computers 12.

DAC 10 is a standard digital-to-analog converter.

The first switch 11 is a typical switching device, which in the absence of the control signal u _upp switches the signals from its first and second inputs to first and second outputs, respectively, and in the presence of a control signal u _upp switches the signals from its third and fourth inputs for first and second outputs respectively.

The second switch 13 is a typical switching device, which in the absence of a control signal u _upr commutes the signals from its first input to output, and in the presence of a control signal from its second input to output.

The inventive device operates as follows.

In the memory 9 enter the values of the following constants: α is a constant that reflects the maneuverable properties of the missile defense; M is a constant that specifies the number of discrete angular positions in the solid angle in which the detection of RKO is carried out; τ is the signal processing interval; k _y , k _u - the proportionality coefficients of the conversion of the angular errors of the antenna position to voltage in the horizontal and vertical planes, respectively; Dξ _g , Dξ _в - variances of errors in estimating the angles of the bearing of the radar detector, given based on the type of direction finder used; Dξ _g , Dξ _в are the variances of the angular noise of the bearings of the radial magnetic resonance, specified on the basis of the type of radial magnetic resonance that is supposed to be accompanied; Θ _g and Θ _in - the width of the antenna bottom in the horizontal and vertical plane, respectively; U _pop is the threshold value of the normalized direction-finding error signal, determined based on the type of direction finder used.

The transmitter 5 on the clock signals from the synchronizer 6, generates microwave signals, which through the antenna switch 3 are fed to the antenna 1, which emits them in the direction of the RCS. At the output of antenna 1, after it receives signals reflected from the RKO and their spatial selection, a single-pulse sum-difference processing device generates three signals: the sum (and two difference signals of direction finding errors jΔ _g and jΔ _в , which determine the deviation of the RSN antenna from the direction to the RCS, respectively in the horizontal and vertical planes, and the difference signals of direction finding errors jΔ _g and jΔ _{in are} 90 ° out of phase with respect to the phase of the total signal ∑ (hereinafter, the symbol j indicates a phase shift of the signal by 90 °). of the first and second outputs of the antenna 1, the differential signals of direction finding errors jΔ _g and jΔ _in are supplied respectively to the first and second inputs of the quadrature transducer 2, in which (see prototype [5]) the difference signal of direction finding errors jΔ _{g of the} horizontal channel is phase shifted by 90 ° , summarize it with the difference signal of direction finding error jΔ _in the vertical plane, forming a combined signal of direction finding errors Δ = Δ _g + jΔ _in , which from the output of the quadrature converter 2 is fed to the first input of the ASL 4. The total signal (from the output of antenna 1 through the ant This switch 3 is fed to the second input of the ASL 4. In this device, in the known manner described above, the signals mentioned therein are amplified, filtered out from noise, converted to digital form, and normalized direction-finding error signals Δ _g are generated from them for each of the two planes _. / ∑ and Δ _in / ∑, which from the first and second outputs of the SLD 4 are supplied respectively to the first and second inputs of the SLD 7, the fourth and fifth inputs of the first calculator 8, the fourth and fifth inputs of the second calculator 12.

Using the angular position sensors located in the antenna 1, measure the angle of rotation of the antenna φ _ag and φ _av in the corresponding planes, which through the fourth and fifth outputs of the antenna 1 are fed respectively to the first and second inputs of the first transmitter 8 and the first and second inputs of the second calculator 12.

,

РКО и угловых скоростей линии визирования

,

и, с его третьего выхода через второй коммутатор 13, выдают их потребителям информации.In OOP 7, the amplitude modules of the signals | Δ _g / ∑ | and | Δ _in / ∑ | direction finding errors are compared with the threshold value of the normalized signal of direction finding error U _p0 supplied from memory 9 to the third input of OOP 7. If {| Δ _g / ∑ | ≤ U _pop and | Δ _in / ∑ | ≤ U _pop }, then from OOP 7 The control signal u _{control is} not given. In this case, the first calculator 8 to the difference signals Δ _g / Σ and Δ _a / Σ and values of the angles φ _AH, φ _av, one of the known methods such as those described in [3 str.289-298] evaluated values bearing angles

,

RKO and angular velocities of the line of sight

,

and, from its third exit through the second switch 13, issue them to consumers of information.

Also in the first calculator 8 according to the formulas

determine the extrapolated values of the bearing angles φ _eg , φ _ev RKO for the next clock cycle of the signals, and from them and the measured values of the antenna rotation angles φ _ag and φ _ав in accordance with the formulas

they find the antenna control signals u _ag and u _av , which, respectively, from the first and second outputs of the first transmitter 8 are fed to the first and second inputs of the first switch 11 and then from its first and second outputs to the first and second inputs of the DAC 10, where they are converted into analog form and then, respectively, from its first and second outputs through the second and third inputs of the antenna 1 is fed to the antenna control drive, which rotates the antenna in the direction of the RCS.

In the above formulas: τ is the signal processing interval; k _y , k _u - the proportionality coefficients of the conversion of the angular errors of the antenna position to voltage in the horizontal and vertical planes, respectively, which are supplied to the first computer 8 from the memory 9.

,

и экстраполированные значения углов пеленга φ _эг, φ _эв запоминают в ЗУ 9.Estimated angular velocities of the line of sight

,

and extrapolated values of the angles of the bearing φ _eg , φ _ev stored in the memory 9.

In addition, in the first calculator 8, f _eming , φ _emaxg , φ _eminv , φ _emaxv — extrapolated values of the angles of the bearings of the _{radial bearing element} are calculated by the formulas

defining by this a solid angle {φ _eming , φ _emaxg , φ _eminv , φ _emaxv }, which in each plane is divided into M angularly spaced angular positions of the bearing of the RKO φ _mg , φ _mv , the values of which are determined by the formulas:

,

,

,

,

, для каждой из которой вычисляют Р_эmг и Р_эmв - экстраполированное значение ПВ нахождения РКО в этом направлении по формуламWhere

, for each of which P _emg and P _emv are _calculated - the extrapolated value of the _{PF of} finding the RKO in this direction according to the formulas

In the above formulas: α and M are constants; Dφ _g , Dφ _в - variance of error in estimating the angles of the bearing RKO; Dξ _g , dξ _в - dispersion of the angular noise of the bearings of the CSC; Θ _g and Θ _in - the width of the antenna bottom in the horizontal and vertical plane, respectively, the value of which is fed to the first computer 8 from the memory 9.

The extrapolated values of the PV R _emg , P _emv and angular positions of the bearings of the RKO φ _mg , φ _{mv are} stored in the memory 9.

In the transmitter 5, according to the signals of the synchronizer 6, the microwave signal is again generated, which is emitted in the direction of the CSC using the antenna 1 and the process of tracking the CSC is repeated.

. По результатам сравнения находят угловую позицию пеленгов РКО φ _mг, равную углу поворота антенны φ _aг, определяя этим М_аг - номер угловой позиции пеленга РКО, соответствующего значению угла поворота антенны φ _aг. Здесь также поочередно сравнивают измеренное значение угла поворота антенны φ _ав в вертикальной плоскости со всеми запомненными угловыми позициями пеленгов РКО φ _mв угла {φ _эминв, φ _эмаксв}. По результатам сравнения находят угловую позицию пеленга РКО (φ _mв, равную углу поворота антенны φ _ав, определяя этим М_ав - номер угловой позиции пеленга РКО, соответствующего значению угла поворота антенны φ _ав.If {| Δ _g / ∑ |> U _pop or | Δ _in / ∑ |> U _pop }, then from the UOP 7 to the control inputs of the first 11 and second 13 switches and to the third inputs of the first 8 and second 12 computers calculate the control signal u _ex . This signal in the second calculator 12 alternately compares the measured value of the angle of rotation of the antenna φ _ag in the horizontal plane with all the stored angular positions of the bearings RKO φ _mg angle {φ _eming , φ _emaxg }, where

. According to the results of comparison, the angular position of the bearings of the _{radial magnetic field} φ _{mg is found} , which is equal to the angle of rotation of the antenna φ _ag , determining M _ag is the number of the angular position of the bearing of the _{radial magnetic field} corresponding to the value of the angle of rotation of the antenna φ _ag . Here, one also compares the measured value of the angle of rotation of the antenna φ _AB in the vertical plane with all the stored angular positions of the bearings of the RCS φ _{m in the} angle {φ _eminv , φ _emaxv }. According to the results of comparison are the angular position of the bearing RKO (φ _MW equal to the angle of rotation φ antenna _{av, aw} determining these M - Room angular position bearing RKO corresponding to the value of the angle of rotation φ _av antenna.

After that, here the values of the posterior PW P _amg and P _{amv are calculated} in each plane for each of the possible m-th angles of the bearing of the RCS according to the formulas

and according to them - the values of the angles of the bearing φ _g , φ _in RKO for the corresponding planes according to the formulas

,

РКО, угловых скоростей линии визирования

,

и новые значения дисперсий ошибок оценивания пеленгов Dφ _г, Dφ _в РКО, а также в соответствии с приведенными выше формулами находят экстраполированные значения углов пеленга φ _эг, φ _эв РКО на следующий такт обработки сигналов, и формируют сигналы управления антенной u_aг и u_ав. Сигналы управления антенной u_aг и u_ав соответственно с первого и второго выходов второго вычислителя 12, подают на третий и четвертый входы первого коммутатора 11, который коммутирует их на первый и второй входы ЦАП 10, с соответствующих выходов которого их аналоговые эквиваленты подают через второй и третий входы антенны 1 на ее привод, поворачивающий антенну в направлении на РКО.Then, using the values of the dispersions Dφ _g , Dφ _in and Dξ _r , Dξ _in supplied from the memory 9, one of the known methods of Kalman filtering, for example described in [3, pp. 289-298], based on the calculated values of the bearing angles φ _g , φ _{in the} RCS, as measured by the values of these angles, evaluate: the values of the angles of the bearing

,

RKO, angular velocities of the line of sight

,

and new values of the variance of the estimation errors of bearings Dφ _g , Dφ _{in the} RCS, as well as in accordance with the above formulas, find the extrapolated values of the bearing angles φ _eg , φ _ev RCO for the next signal processing cycle, and form the antenna control signals u _ag and u _av . The antenna control signals u _ag and u _av, respectively, from the first and second outputs of the second computer 12, are fed to the third and fourth inputs of the first switch 11, which commutes them to the first and second inputs of the DAC 10, from the corresponding outputs of which their analog equivalents are fed through the second and the third inputs of the antenna 1 to its drive, which rotates the antenna in the direction of RKO.

,

РКО и угловых скоростей линии визирования

,

с третьего выхода второго вычислителя 12 подают на второй вход второго коммутатора 13 и далее потребителям информации.Estimated Bearing Angles

,

RKO and angular velocities of the line of sight

,

from the third output of the second computer 12 is fed to the second input of the second switch 13 and further to information consumers.

The extrapolated values of the angles of the bearing φ _eg , φ _{ev of the} RCS and the calculated values of the variances of the error in estimating the bearings Dφ _g , Dφ _{in the} RCS are stored in memory 9.

In addition, in the second calculator 12, for the next measurement step, according to formulas (1), φ _eming , φ _emaxg , φ _eminv , φ _emaxv are extrapolated values of the angles of the bearings of the RCS, forming the solid angle {φ _eming , φ _emaxg , φ _eminv , φ _emaxv }, which in each plane is divided into M angular positions of the bearings of the RCS φ _mg , φ _mv , for each of which, by formulas (2), the extrapolated value of the PW P _emg and P _{emv of} finding the CSC in this direction is calculated. The values of P _emg and P _{emv are} stored in memory 9.

After that, the above-described process of tracking RKO is repeated. The claimed device has, in comparison with the prototype, wider capabilities when accompanying the CSC in the direction, in particular, it functions stably even when the receiving channels of the direction finder are overloaded, in which the prototype cannot perform its functions.

The use of the invention will allow for the implementation of stable tracking of DSCs in the direction and to ensure the formation of estimates of DSC bearings with high accuracy in any conditions, even with overloads in the receiving channels of the direction finder.

The implementation of the claimed method does not impose special requirements on the antenna and its drive, receiving channels of the direction finder, meters, and also on the principles of constructing computers, their speed and memory size of the memory.

Literature

1. Dudnik P.I. Monopulse radar devices, radio engineering (Results of science and technology). - M.: VINITI, vol. 3, 1972.

2. Leonov A.I., Fomichev K.I. Monopulse radar. - M.: Radio and Communications, 1984.

3. Merkulov V.I., Lepin V.N. Aircraft radio control systems. Part 1, 2. - M .: Radio and communications, 1996.

4. Maksimov M.V., Gorgonov G.I. Electronic homing systems. - M .: Radio and communication.

5. US Patent No. 5014064, cl. G 01 S 13/00 or 342-152, 05/07/1991.

6. Merkulov V.I., Vikulov O.V., Minkin F.Yu. Evaluation of random processes using signature observations. - M .: IPRZhRT, Scientific and technical series. Radar and Radio Telemetry, 1999, issue 1.

7. RF patent №2148836, cl. 7 G 01 S 13/66, 12.23.1998.

8. Merkulov V.I., Perov A.I., Sablin V.N. and others. Radar distance and speed meters. T.1 - M .: Radio and communications, 1999.

Claims (2)

1. A method for tracking a radio-contrast object (CSC) in the direction, which consists in the fact that before starting the maintenance of the CSC, the values of the following constants are entered and stored: α — constant of the maneuverable properties of the CSC; M is a constant that determines the number of discrete angular positions in the solid angle in which the detection of RKO is carried out; τ is the interval (cycle) of signal processing; k _yg , k _uv are the proportionality coefficients of the conversion of the angular errors of the antenna position to voltage (hereinafter, subscripts “g” and “c” indicate that the signal belongs to a horizontal or vertical plane or to the corresponding signal processing channel); Dφ _g , Dφ _in - variance of error estimation bearings DSC; Dξ _g , Dξ _в - dispersion of the angular noise of bearings of the radial magnetic resonance; Θ _g and Θ _in - the width of the radiation pattern (DN) of the antenna of the direction finder; U _then - the threshold value of the normalized signal of the direction finding error, then follow the RKO, for which 1) radiate microwave (SHF) signals, receiving reflected from RKO microwave signals and the three signals formed thereon: the sum Σ and two difference jΔ _g and jΔ _in determining the deviation of the PCH antenna from the direction of CSC in the horizontal and vertical planes, respectively, and shifted phase by 90 ° relative to the total signal (hereinafter, the symbol j indicates a phase shift of the signal by 90 °), 2) according to the total ∑ and the difference jΔ _g and jΔ _{in the} signals, two normalized direction finding error signals Δ _g / ∑ and Δ _in / ∑ are formed in the horizontal and vertical planes, respectively, 3) measure the angle of rotation of the antenna φ _ar , φ _av in the respective planes, 4) DF error signal amplitude normalized Δ _g / Σ and Δ _a / Σ alternately compared with a threshold value of the normalized error signal DF U and _then, if none of them exceeds it, then perform the actions described in positions 5-8, otherwise - starting from position 9, 5) The normalized error signal DF Δ _g / Σ and Δ _a / Σ and antenna rotation angles φ φ _AH and _Av value estimate bearing angles RKO

line of sight velocity

and extrapolated to the next clock cycle of the signal processing values of the angles of the bearing RKO φ _eg , φ _ev , estimated values of the angles of the bearing RKO

,

and angular velocities of the line of sight

provide consumers with information, and the values of the extrapolated angles of the bearing of the RKO φ _eg , φ _ev and angular velocities of the line of sight

remember 6) calculate f _eming , f _emaxg , f _eminv , f _emaxv - extrapolated values of the boundaries of the angles of the bearing RKO according to the formulas:

forming a solid angle at these boundaries {φ _eming , φ _emaxg , φ _eminv , φ _emaxv }, in the center of which is the extrapolated value of the bearing of the RCS determined by the angles φ _eg, φ _ev , 7) the resulting solid angle {φ _eming , φ _emaxg , φ _eminv , φ _emaxv } in each of the planes is divided into M equally spaced angular positions of the possible bearing of the _RCF φ _mg , φ _mв (where

m = 0, M-1 is the number of the angular position, and a dash over the symbols means that the value of the variable m changes from 0 to M-1 in steps 1), for each of which P _emg and P _emv are _calculated - the extrapolated probability density value ( PV) finding RKO in this direction according to the formulas:

the values of the angular positions of the possible bearing of the RKO φ _mg , φ _mv and the extrapolated values of the PV R _emg and P _{emv are} remembered, 8) proceed to the implementation of the actions described in position 14, 9) alternately compare the measured value of the angle of rotation of the antenna φ _ag in the horizontal plane with all the stored angular positions of the possible bearing of the _RCF φ _{mg of the} angle {φ _eming , φ _emaxg } and from the results of the comparison, find the angular position of the possible bearing of the _RCF φ _mg equal to φ _ag , determining this M _ag - the number of the angular position of the possible bearing RKO corresponding to the value of the angle of rotation of the antenna φ _ag , similar actions are performed for the vertical plane, determining the number of the angular position of the possible bearing RKO M _av corresponding to the value of the angle of rotation of the antenna φ _av , 10) using the found numbers of the angular positions of the possible bearing of the RKO M _ag , M _av , calculate the values of the a posteriori PV R _amg and R _amv for each angular position of the possible bearing RKO φ _mg , φ _mv in the corresponding plane according to the formulas:

11) calculate the angles of the bearing RKO φ _g , φ _in the formulas:

12) using the values of the variances of the errors in estimating the angles of the bearings of the DSC Dφ _g , Dφ _in and the variances of the angular noise Dξ _g , Dξ _in , from the calculated values of the angles of the bearings of the bearings ϕ φ _g , φ _in form the estimated angles of the bearings of the DSC

line of sight velocity

the extrapolated values of the angles of the bearing of the RKO φ _eg , φ _eV for the next clock cycle of the signal processing, as well as the new values of the variances of the errors in estimating the bearings of the RKO Dφ _g , Dφ _in , estimated values of the angles of the bearing RKO

and angular velocities of the line of sight

they give information to consumers, and the extrapolated values of the angles of the bearing of the radial magnetic _field φ _eg , φ _ev , the values of the angular velocities of the line of sight

,

and the values of the variances of the errors of estimation of bearings of the RKO Dφ _g , Dφ _in remember 13) perform the actions described in positions 6 and 7, 14) according to the extrapolated values of the angles of the bearing RKO φ _eg , φ _ev and the estimated values of the angular velocities of the line of sight

,

form antenna signals u u _AH and _Av control after that, the above-described process of tracking RKO is repeated. 2. The RCO tracking device in the direction containing the antenna, the first (differential signal of the horizontal channel jΔ _g ) and second (differential signal of the vertical channel jΔ _c ) outputs of which are connected respectively to the first and second inputs of the quadrature converter, the output of which is connected to the first input of the processing device signals (SLD), the third (total signal ∑) output of the antenna, which is both its first input, is connected to the first input, which is also the first output, of the antenna switch, four rty (signal the rotation angle of the antenna in the horizontal plane φ _ar) and fifth (signal the rotation angle of the antenna in the vertical plane φ _av) outputs antennas are connected respectively to a first and a second input of the first calculator, a second input SLD is connected to the second output of the antenna switch, the second input of which connected to the output of the transmitter, the output of the synchronizer is connected to the synchro inputs of the transmitter, SLD and the first computer, the first (normalized signal of direction finding errors of the horizontal channel Δ _g / ∑) and the second (normalized signal of errors of direction finding of the vertical channel Δ _in / ∑) the outputs of the SLD are connected respectively to the fourth and fifth inputs of the first computer, the first output of the memory, which is also its first input, is connected to the sixth input, which is also its output, of the first computer, the first (control signal the antenna u a _g in the horizontal plane) and the second (antenna control signal u a _b in the vertical plane) the outputs of the digital-to-analog converter (DAC) are connected respectively to the second and third inputs of the antenna, characterized in the fourth (signal the rotation angle of the antenna in the horizontal plane φ _AH) and fifth (signal the rotation angle of the antenna in the vertical plane φ _av) outputs antennas are also connected respectively with the first and second input inputted second calculator, the output of the synchronizer is also connected to the clock terminal of the second calculator, the first (normalized error signal DF horizontal channel Δ _g / Σ) and a second (vertical direction finding channel normalized error signal Δ _in / Σ) outputs of the ONU are also connected respectively with the fourth and n the clear inputs of the second computer and the first and second inputs of the input device for determining the overload (OOP), the output of which is connected to the control inputs of the input of the first and second switches and the third inputs of the first and second computers, the first (antenna control signal u _ag in the horizontal plane) and the second ( antenna control signal u _aB in a vertical plane) of the first calculator outputs respectively connected to first and second inputs of the first switch, the second output of the memory, which is simultaneously its second Rin house is connected to a sixth input being simultaneously and its output, the second calculator, a third memory output is connected to the third input of ROP, wherein the third memory is input source data from an external source, first (control signal antenna u _AH in the horizontal plane) and the second (antenna control signal u _av in the vertical plane) the outputs of the first switch are connected respectively to the first and second inputs of the DAC, the third (of the estimated values of the angles of the bearing

,

and angular velocities of the line of sight

,

) Output of the first calculator connected to the first input of the second switch, the first (antenna u _AH control signal in a horizontal plane) and second (control signal antenna u _aB in a vertical plane) outputs a second calculator connected respectively to the third and fourth first switch input, a third (estimated the values of the angles of the bearing RKO

,

and angular velocities of the line of sight

,

) the output of the second computer is connected to the second input of the second switch, from the output of which the estimated values of the angles of the bearing RKO

,

and angular velocities of the line of sight

,

give out to consumers.

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