RU2270458C1 - Method for measuring angular coordinates of targets in mono-pulse surveillance radio-location station and a surveillance radio-location station for realization of said method - Google Patents

Abstract

FIELD: engineering of mono-pulse surveillance radio-location station, working on moving carriers, meant for detecting targets and outputting their coordinates into control system, which have increased requirements to receipt of output information during minimal time.

SUBSTANCE: result is achieved due to threshold detection of signals and their following recording into memory, including amplitude of summed channel, range-finding of target and orientation angle of even-signal direction, on which they are received during scanning, after surveillance of given sector of scene during iteration-based recorded data processing angular sector of even-signal direction orientation is determined, within limits of which by method of linear regression approximation is found for a line, describing behavior of target bearing dependently on angular position of even-signal direction, and target coordinate is determined as point of intersection of this line with abscissa axis.

EFFECT: improved precision of measurement of angular coordinates of target by compensating method while observing the scene with high scanning speed.

2 cl, 5 dwg

Description

The present invention relates to a monopulse survey radar operating on mobile carriers designed to detect target signals and provide their coordinates to the control system, which have high requirements for obtaining output information in a minimum time.

There are two approaches to measuring the angular coordinates of targets in monopulse surveillance radars [1, p. 328]. The first is a straightforward measurement of the deviation of the target from the scanning equal signal direction (RSN) within the entire working area of the antenna direction-finding characteristic. Moreover, the measured angle in the coordinate system of the aircraft is equal to the sum of the measured angle of deviation from the RSN with the angle of the RSN relative to the axis of the aircraft. The second is compensatory for the position of the RSN, when the signal of the angular deviation from the RSN is zero.

The disadvantage of the first method is that when measuring outside the RSN, the fluctuation error of the measurement increases sharply with increasing deviation of the measured angle from the RSN [2, p.50]. In addition, if the amplitude and phase characteristics of the total and difference channels are not identical, the steepness of the direction-finding characteristic, even in the total-difference monopulse radar, differs from the calculated one, accordingly, an additional error in the readings appears, increasing with increasing measured angle, which is difficult to take into account. Higher accuracy gives the second - compensation method. The fluctuation error here is the smallest, and the bias error is zero, since the zero position of the direction-finding characteristic in the total-difference monopulse radar is stable. To ensure acceptable accuracy of measuring the angular position of the target in this embodiment of the construction of a monopulse survey radar, it is necessary to provide an angular separation between adjacent measurement sessions (scanning speed by angle), less than part of the permissible angular error of measurement. Obviously, this reduces the scanning speed compared to the first (directly counted) measurement method.

The compensation monopulse method of measuring the angle is known, described in [3], in which, after detecting the signal during scanning and determining that the target is in the area of the main RSN, it switches to the auto tracking mode of the target by the angle at which the measured angle is equal to the angular position of the RSN. The disadvantage of the method [3] when reviewing a scene is the suspension of the survey when it detects a target while measuring its angular coordinate in tracking mode. At the same time, the speed of the scene review is even less than in the variant considered above.

The aim of the invention is to increase the accuracy of measuring the angular coordinates of the target in a compensatory way when viewing the scene at a high scanning speed due to the additional use of estimates of its angular deviation from the RSN on a part of the working section of the main direction-finding characteristic and determining the coordinate of the target by calculation using the linear regression method [ 4, p.114].

в угловом секторе β_м±Δβ, где Δβ - часть ширины главного лепестка суммарной ДНА, вычисление угла РСН, при котором пеленг цели равен нулю (точки пересечения прямой

с осью абсцисс), найденный угол является угловой координатой цели β_ц, который записывают в выходной массив результатов измерения, производится вычисление новой реализации сглаженного суммарного сигнала Z(β_i), свободной от сигнала цели с координатой найденного глобального максимума β_ц, путем вычитания из реализации Р_сгл(β_i) взвешенной нормированной функции суммарной ДНА G(β_i), глобальный максимум которой смещен по углу в положение β_ц, вес вычитаемой функции G(β_i) принимается равным значению найденного глобального максимума Р_м:The stated goal is achieved by the fact that in the method of measuring the angular position in the survey total-differential monopulse radar, including scanning a given angular sector, from initial to final, measuring the angular position of the RSN relative to the axis β _i , the formation of direction-finding samples of the target γ (β _i ) , the amplitude of the sum signal P (β _i), the smooth implementation of the P _SGL (β _i) by adding the samples P (β _i) in the sliding window on the corner, the threshold detection signal exceeding the smoothed signal P _SGL (β _i) threshold is determined th predetermined probability of correct detection and the allowable false alarm probability, selection finding purpose on the main portion of the DF performance of the antenna and determining the angle PCH β _c, wherein the DF count on the main portion DF characteristics is zero, introduced digitization of the total signal amplitude P (β _i), and direction finding counts _{γ i = γ (β i)} , for recording the detected signals is made in memory of the smoothed signal values P _SGL (β _i) and bearing γ (β _i) in conjunction with the angular position of the RDA β _i, n and wherein they are obtained, after the RSN of the results end viewing sector recording iteration are signals targets and their angular position, each iteration involves finding a global maximum of F _m in the smoothed implementation P _SGL (β _i) and its angular position β _m, the finding by linear regression of the equation of a straight line approximating the behavior of the bearing depending on the angle of the RSN

in the angular sector β _m ± Δβ, where Δβ is the part of the width of the main lobe of the total BOTTOM, calculation of the PCN angle at which the bearing of the target is zero (the point of intersection of the line

with the abscissa axis), the angle found is the angular coordinate of the target β _c , which is recorded in the output array of the measurement results, a new implementation of the smoothed total signal Z (β _i ), free of the target signal with the coordinate of the found global maximum β _c , is calculated by subtracting from the implementation of R _CHL (β _i ) of the weighted normalized function of the total BOTTOM G (β _i ), the global maximum of which is shifted in angle to the position β _c , the weight of the subtracted function G (β _i ) is taken equal to the value of the found global maximum P _m :

Z (β _i ) = P _chgl (β _i ) -P _m [G (β _i + β _o -β _c )],

where β _about - the angular position of the global maximum of the support function of the total DNA recorded in the memory,

Z (β _i ) - a new implementation of the accumulated amplitude of the total signal, repeat the iterative procedure with a new implementation of the angular sweep of the amplitude of the smoothed total signal, counting _Pgl (β _i ) = Z (β _i ) until all global maxima are below the second threshold, after that, an array of targets found in the overview sector of the target coordinates is issued to the consumer.

According to this method, a periodic microwave signal is generated that is emitted through the total radiation pattern of the scanning antenna, the angular position of which (β _i ) is measured and issued for registration in the memory. The reflected signal is received in pauses between emissions through the same antenna and, after the total-difference conversion at the carrier frequency, is processed by the signal processor to obtain the amplitude of the total signal (P _i ) and the bearing ratio (γ _i = Δ _i / P _i ) of the signal amplitude difference Δ _i received by the beams of a monopulse antenna, and their sum P _i . The value of γ _i can be both positive and negative and characterizes the deviation of the direction to the target from the RSN. The signals P _i and γ _{i are} digitized with the period of emission of the probe pulses at a delay corresponding to the analyzed range. The digitized total signal P _{i is} smoothed (accumulated) over an angle-sliding interval. As a result of smoothing, an implementation of _Pgl (β _i ) is obtained, the current values of which are compared with the detection threshold. When the threshold is exceeded, a signal detection mark is generated. According to this mark, in each radiation period, the digitized signals _Pgl (β _i ), γ (β _i ) and the value of the angle β _i at which they are obtained are recorded. After the scene review cycle in the specified scanning sector is completed, the recording results are processed with the determination of the angular positions of all targets in the scanning sector. The processing process is iterative. Each iteration involves finding an angular sector in which at least one target is present in the main lobe of the total BOTTOM, and a PCH orientation angle β _c , at which it coincides with the direction to the target (direction finding γ _c = 0). To do this, find the global maximum P _m on the implementation of the R _swl (β _i ) and its angular coordinate β _m . On the plot β _m ± Δβ (where Δβ is the part of the width of the main lobe of the total BOTTOM, within which γ _i samples are used to calculate the measured angular coordinate of the target). On the plot β _m ± Δβ, N is found - the number of recorded samples of the signal γ _i , A ₁ = Σγ _i , A ₂ = Σβ _i , A ₃ = Σβ _i Σγ _i , A ₄ = Σ (β _i ) ² . In accordance with the linear regression method [4] find the parameters A and C of the line

аппроксимирующей поведение пеленгационного отсчета

от угла РСН β:

approximating direction finding behavior

from the angle RSN β:

:For the resulting A and C calculated angular position of the target β _n for which

:

β _c = -A / C

and write the coordinate β _C in the output array of the measurement results. Next, form the implementation of Z (β _i ) by subtracting from the implementation of P _sgl (β _i ) the weighted normalized envelope of the total BOTTOM G (β _i ) while combining its global maximum with β _c :

Z (β _i ) = R _sgl (β _i ) -P _m G (β _i + β _o -β _c ),

where β _about is the angular position of the global maximum of the support function of the total DNA recorded in the memory.

The implementation of Z (β _i ) is checked for the presence of at least one maximum exceeding the second threshold. In this case, the iterative process continues, assuming that _Pgl (β _i ) = Z (β _i ). If during verification of the implementation of Z (β _i ) no maximum was found that exceeded the second threshold, the iterative process is considered completed, while an array of data on the coordinates of the detected targets can be issued to the consumer.

The invention is illustrated by the further description and drawings of the survey monopulse radar that implements this method:

Figure 1 - structural diagram of the radar,

Figure 2 is a structural diagram of a threshold detector,

Figure 3 is a structural diagram of a signal processor,

Figure 4 - algorithm of the radar,

Figure 5 - algorithm for calculating the angular coordinate of the target.

Figure 1 presents the structural diagram of the radar, where the following notation:

1 - survey monopulse radar (OMRL),

2 - multiplexer (MP),

3 - the first analog-to-digital Converter (ADC 1),

4 - the second analog-to-digital Converter (ADC 2),

5 - threshold detector (software),

6 - random access memory (RAM),

7 - control circuit (SU),

8 - read-only memory (ROM),

9 - coordinate calculator (VK),

10 - antenna (A),

11 - total differential Converter (PSA),

12 - antenna switch (AK),

13 - transmitter (PRD),

14 - antenna drive (PA),

15 - signal processor (SP).

The threshold detector 5 can be performed according to the well-known scheme described in [6, p. 181, Fig. 2.3].

The control circuit 7 and the coordinate calculator 9 can be built on the basis of a digital processor. The job of the calculator 9 consists in sequentially solving the problems represented by the algorithms in FIGS. 4 and 5.

Antenna 10 can be constructed in the form of a mirror with a 2-horn feed connected by waveguides to a sum-difference converter 11.

Sum-difference Converter 11 can be built on the basis of waveguide T-bridges.

Antenna switch 12 can be made in the form of a three-arm ferrite Y-circulator and serves to protect the signal processor 15 from overload during radiation.

The signal processor 15 can be performed according to the scheme given in [5, p. 28, Fig. 1.13].

In the diagram of Fig. 1, the first output of the ORLS 1 is connected to the second input of the multiplexer 2 and the second input of the control circuit 7, the fifth output of which is connected to the first input of the coordinate calculator, the second and third outputs of the ORLS 1 are connected to the first inputs of the first 3 and second 4 analog digital converters (ADCs), respectively, the output of the second ADC 4 is connected to the first input of the threshold detector 5, the sixth output of the control circuit is connected to the second inputs of the threshold detector, the first 3 and second 4 ADCs, the output of the first ADC 3 is connected to the first input of the mule typlexer 2, the output of which is connected to the third input of RAM 6, the first output of the threshold detector 5 is connected to the fourth input of multiplexer 2, the fourth (address) output of the control circuit 7 is connected to the first (address) input of RAM 6 and the third (address) input of multiplexer 2, the third (control) output of the control circuit 7 is connected to the second input of RAM 6, the second output of the threshold detector 5 is connected to the first input of the control circuit 7, the first and second outputs of which are connected to the second and first inputs of the ORLS 1, the third output of the coordinate calculator 9 is connected to the sixth input of RAM 6, the first output of coordinate calculator 9 is connected to the fourth input of RAM 6 and the first input of ROM 8, the second (control) output of coordinate calculator 9 is connected to the second input of ROM 8 and the fifth input of RAM 6, outputs of RAM 6 and ROM 8 are connected through a common highway to the second input of the coordinate calculator 9, OMRLS 1 contains serially connected transmitter 13, antenna switch 12, sum-difference converter 11 and antenna 10, the second (difference) output of the sum-difference converter 11 is connected to the first input the main processor 15, the second output of the antenna switch 12 is connected to the second input of the signal processor, the first and second outputs of which are the second and third outputs of the ORLS 1, respectively, the second output of the antenna drive 14 is kinematically connected to the third input of the antenna 10, the first output of the antenna drive 14 is the first the output of ORLS 1, the input of the drive antenna 14 is the second input of ORLS 1.

Figure 2 shows a variant of the threshold detector 5, which indicates:

1 - shift register (SDR),

2 - adder (Sum),

3 - code bus (KSh),

4 - comparator (Comp).

In the diagram of figure 2, the second input of the threshold detector 5 is connected to the second input of the shift register 16, the outputs of which are first through qth connected to the inputs of the same adder 17, the first input of the shift register 16 is the first input of the threshold detector 5, the output of the adder 17 is connected to the first input of the comparator 19 is the first output of the threshold detector 5, the second input of which is connected to the output of the code bus 18, the output of the comparator 19 is the second output of the threshold detector 5.

A variant of the signal processor circuit 15 is shown in figure 3, which indicates:

20 - the first mixer (cm 1),

21 - the first optimal filter (OF 1),

22 - the first intermediate frequency amplifier (UPCH 1),

23 - amplitude detector (HELL),

24 - local oscillator (Get),

25 - second mixer (cm 2),

26 - the second optimal filter (OF 2),

27 - the second intermediate frequency amplifier (UPCH 2),

28 - phase detector (PD),

29 - divider (Affairs).

In Fig. 3, the second input of the signal processor 15 through the first mixer 20 connected in series, the first optimal filter 21, the first amplifier 22 and the amplitude detector 23 is connected to the second output of the signal processor 15, the first input of the signal processor 15 through the second mixer 25 connected in series, the second optimal a filter 26, a second amplifier 27, a phase detector 28 and a divider 29 are connected to the first output of the signal processor 15, the output of the local oscillator 24 is connected to the second inputs of the first and second mixers 20 and 25, respectively, the output of the first of the second amplifier 22 is additionally connected to the first input of the phase detector 28, the output of the amplitude detector 23 is additionally connected to the first input of the divider 29.

In accordance with the diagrams in figure 1 ... 5 radar that implements the proposed method, works as follows. Before the radar starts, by the control command at the first output of the control circuit 7 supplied to the second input of the antenna drive 14, the antenna 10 is deployed towards the beginning of the scanning sector. Its angular position, issued at the first output of the antenna drive 10, is fed to the second input of the control circuit 7, where it is compared with a given angle of the beginning of the scanning sector, when the PCH axis approaches the given beginning of the sector, the control system 7 gives start pulses to the transmitter 13, synchronizing the formation of probe pulse. The probe pulse generated by the transmitter 13 through the series-connected antenna switch 12 and the sum-difference converter 11 is supplied to the first and second inputs and outputs of the antenna 10 and is radiated through the total antenna radiation pattern (BOTTOM). The reflected signal through the same antenna 10 is received and fed to the sum-difference converter 11, where the sum and difference signals are formed at the first and second outputs, respectively. The total signal through the antenna switch 12 is fed to the second input of the signal processor 15. The differential signal from the second output of the sum-difference converter 11 is fed to the first input of the signal processor 15. As a result of processing the total and difference signals at the first output of the signal processor 15, a direction-finding relation γ _i = Δ _i / P _i , and on the second - the envelope of the total signal P _i . A variant of the construction of the signal processor 13 is described in [5, p. 28, Fig. 1.13] and shown in Fig.3. Here, the total and difference signals are fed to the first 20 and second 25 mixers, respectively. The local oscillator 24 generates a signal that is fed to the second inputs of the mixers 20 and 25. As a result of mixing the input signals with the local oscillator, an intermediate lower one is formed, which optimally filters the input signals in the filters 21 and 26 and then amplifies the first 20 and second 27 amplifiers. Phase detection (multiplication) of the IF signals gives a signal proportional to the deviation of the direction of the target from the RSN. After normalization, the signal of the amplitude detector 23 envelope of the total signal at the output of the divider 29 receive direction-finding reading. The output of the signal processor 15 is the output of the divider 29 (signal γ _i ) and the amplitude detector 23 (signal P _i ). These signals are digitized in the first 3 and second 4 ADCs, respectively. The clock cycle of the signals is set by the signal from the sixth output of the control circuit 7, having a delay relative to the start pulse of the transmitter, corresponding to the delay of the reflected signal at the analyzed range. From the output of the second ADC 4, the digitized total signal is fed to the first (informational) input of the threshold detector 5. The circuit of the threshold detector 5 is described in [6, p.181, Fig.2.36], is shown in Fig.2, and works as follows. At the informational first input of the shift register 16 comes the digitized envelope signal of the total channel. Reception of the signal in the shift register 16 is carried out by the sampling signal supplied to its second input. The number of bits of the shift register is q - the number of non-coherently accumulated pulses by which a decision is made to detect the signal. The signals from the q outputs of the shift register 16 enter the adder 17, where the accumulated (smoothed) signal P _swl (β _i ) is fed to the first input of the comparator 19 and forms the first output of the threshold detector 5 at a moving interval. If it exceeds the accumulated (smoothed) the threshold signal specified by the code bus 18, the comparator 19 gives to the first input of the control circuit 7 a signal detection sign. If there is detection, the control circuit 7 once in a repetition period sequentially records the digitized signals of the bearing (output of the first ADC 3), the smoothed amplitude of the total signal (first output of the threshold detector 5) and the orientation angle of the RSN (first output of the antenna drive 14) in RAM 6 through multiplexer 2. The address for RAM and multiplexer 2 is formed on the fourth output of the control circuit 7. The control signal of RAM 6 for controlling the recording moment is formed on the third output of the control circuit 7.

In the process of scanning, the control circuit 7 reads the current angle of the PCN supplied to its second input. Upon reaching the end of the specified scanning sector, the control circuit 7 stops the supply of start pulses from the second output to the transmitter 13 (stops the emission of the probe pulses) and generates on the fifth output a resolution signal for processing the recorded information received at the first input of the coordinate calculator 9. From that moment, coordinate calculator 9 begins to work with the information recorded in RAM 6 and ROM 8. The address of the requested cells in RAM 6 and ROM 8 is set at the first output of the coordinate calculator 9. Operation control during recording / reading Information from RAM 6 and ROM 8 is produced from the second output of the coordinate calculator 9. Information from the outputs of RAM 6 and ROM 8 comes to the second input of the coordinate calculator 9 through a common highway. In ROM 8, the envelope of the total BOTTOM used in the calculations is recorded. The output information obtained during the calculations, to be recorded in RAM 6, is formed on the third output of the coordinate calculator 9 and goes to the sixth input of the RAM 6. The algorithm of the coordinate calculator 9 is shown in Fig. 4 (pos. 31 ... 37). The algorithm that discloses the operation of the coordinate calculator 9 in pos. 32 and 33 is shown in Fig. 5.

Thus, the survey monopulse radar that implements the inventive method, measures the angular coordinates of targets located in the field of view.

The effect of the application of this method is that due to the use of all direction-finding samples located within the found angular sector of the main total BOTTOM, higher accuracy is ensured than in radars of a similar purpose, which determine the angular position of the target at the moment when during scanning with high at a speed, one direction finding will be zero or close to it. In this case, the variance of the measurement error will be determined by two components (noise σ _w ² and discreteness of the position of the PCH axis between adjacent measurements σ _d ² ): σ ² = σ _w ² + σ _d ² . Weight σ _d ² in the total error increases with increasing scanning speed.

In the proposed device, by averaging N direction-finding samples obtained in the Δβ sector, the noise component decreases and is equal to σ _ш ² / N, and σ _d ² disappears due to the calculation by determining the position of the intersection point of the direction-finding abscissa axis approximated by N measurements (axis angular position of the RSN).

Based on the above description and drawings, the proposed device can be manufactured using known components, known in the electronic industry of technological equipment and used on mobile carriers as a surveillance radar, where high demands are placed on the accuracy of measuring the angle at an increased viewing speed.

In accordance with the application materials, modeling was performed and a prototype of the device was manufactured, the tests of which confirmed the technical effect indicated in the application materials.

LITERATURE

1. Dudnik P.I. Aviation radar devices. M: ed. VVIA named after Zhukovsky, 1976 (p. 328).

2. Dudnik P.I. Monopulse radar devices. Results of science and technology. Radio engineering, vol. 3, M. 1972 (p. 50).

3. US patent No. 3943512 from 09/09/1976, CL. G 01 S 9/22. Sidelobe lock-on discriminating method for search-track monopulse radar.

4. J. Bendat, A. Pirsol. Applied random data analysis. M .: ed. World, 1989 (p. 114).

5. Leonov A.I., Fomichev K.I. Monopulse radar. M.: Soviet Radio, 1970 (p. 28. Fig. 1.13).

6 V.A. Likharev. Digital methods and devices in radar. M .: Soviet Radio, 1973 (p. 181, fig. 2.36).

Claims (2)

1. The method of measuring the angular position of the target in the survey total-difference monopulse radar, including scanning a given angular sector, from initial to final, measuring the angular position of the equal-signal direction (RSN) relative to the axis of the aircraft (LA) β _i , the formation of direction-finding samples of the target γ (β _i), the amplitude of the sum signal P (β _i), the implementation of the smoothed P _SGL (β _i) by summing the samples P (β _i) in the sliding window to the angle, the threshold detection signal exceeding the smoothed signal PCH ( _i) threshold determined by a predetermined probability of correct detection and the allowable false alarm probability, selection finding purpose on the main portion of the DF performance of the antenna and determining the angle PCH β _u, where DF count on the main portion DF characteristics is zero, characterized in that additionally it introduced digitization of the total signal amplitude P (β _i) and the direction-finding counts _{γ i = γ (β i)} , for recording the detected signals is made in memory of the smoothed signal values P _hl (β _i) and bearing γ (β _i) in conjunction with the angular position of the RDA β _i, at which they are received, after the RSN end sector review the results of the iterations recording are signals targets and their angular position, each iteration involves finding a global maximum of F _m in a smoothed implementation of P _cg (β _i ) and its angular coordinate β _m , finding by a linear regression equation of a straight line approximating the behavior of the bearing depending on the RSN angle

β _i in the angular sector β _m ± Δβ, where Δβ is the part of the width of the main lobe of the total BOTTOM, calculation of the PCN angle at which the bearing of the target is zero (the point of intersection of the line

(β) with the abscissa), the found angle is the angular coordinate of the target β _c , which is recorded in the output array of the measurement results, a new implementation of the smoothed total signal Z (β _i ) is calculated, free of the target signal with the coordinate of the found global maximum β _c , by subtracting from P implementation _SGL (β _i) of the normalized weighted sum function antenna pattern (beam) G (β _i), the global maximum of which is displaced in angle β to a position _q, the weight deducted function G (β _i) is taken equal value is found nnogo global maximum P _m: Z (β _i ) = Рсгл (β _i ) -Р _m [G (β _i + β _o -β _u )], where β _about - the angular position of the global maximum of the support function of the total DNA recorded in the memory, Z (β _i ) - a new implementation of the accumulated amplitude of the total signal, repeat the iterative procedure with a new implementation of the angular sweep of the amplitude of the smoothed total signal, counting _Pgl (β _i ) = Z (β _i ) until all global maxima are below the second threshold, after that, an array of targets found in the overview sector of the target coordinates is issued to the consumer. 2. Monopulse survey radar that implements the method according to claim 1, contains a series-connected transmitter, antenna switch, sum-difference converter and antenna, an antenna drive kinematically connected to the third input of the antenna, a signal processor, the first and second inputs of which are connected to the second outputs sum-difference converter and antenna switch, respectively, a threshold detector, characterized in that a multiplexer, first and second analog-to-digital converters (ADCs), operative are introduced into it a storage device (RAM), read-only memory (ROM) control circuit and coordinate calculator, while the first output of the antenna drive is connected to the second input of the multiplexer and the second input of the control circuit, the fifth output of which is connected to the first input of the coordinate calculator, the first and second outputs the signal processor is connected to the first inputs of the first and second ADCs, respectively, the output of the second ADC is connected to the first input of the threshold detector, the sixth output of the control circuit is connected to the second inputs of the of the first detector, the first and second ADCs, the output of the first ADC is connected to the first input of multiplexer 2, the output of which is connected to the third RAM input, the fourth (address) output of the control circuit is connected to the first (address) input of RAM and the third (address) input of the multiplexer, third the (control) output of the control circuit is connected to the second RAM input, the first output of the threshold detector is connected to the fourth input of the multiplexer, the second output of the threshold detector is connected to the first input of the control circuit, the first output of which is connected with the input of the antenna drive, the second output of the control circuit is connected to the input of the transmitter, the third output of the coordinate computer is connected to the sixth input of RAM, the first output of the coordinate computer is connected to the fourth input of RAM and the first input of ROM, the second (control) output of the coordinate computer is connected to the second input of ROM and the fifth RAM input, the outputs of the RAM and ROM via a common highway are connected to the second input of the coordinate calculator.

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