RU2298803C2 - Passive system of direction finding - Google Patents

Abstract

FIELD: the invention refers to radiolocation and may be used in radio navigation, meteorology, geodesy.

SUBSTANCE: the declared arrangement allows determine the parameters of curvilinear trajectories on goniometrical data of a stationary direction finder and the initial distance to an object and this is an achievable technical result. The arrangement has a bearing forming block, an amplifiers block, a buffer storage device, a block of solving the system of linear algebraic equations, an evaluation block, a block of estimations of parameters of movement, a reflection arrangement, a synchronizer, a block of forming basic functions.

EFFECT: determines the parameters of curvilinear trajectories.

10 dwg

Description

The invention relates to radar and can be used in radio navigation, meteorology, geodesy.

Known movable direction finder [2], which allows you to determine the location of the target using goniometric data based on a priori information about the nature of the movement, containing a synchronizer, a bearing forming device, a coefficient calculation unit, a buffer memory, a block solving systems of linear algebraic equations, a median filter block, a determination block location, inertial navigation system unit, display device.

The disadvantage of this device is limited functionality, since the device [2] will not allow you to determine the location of the target from the goniometer data for a curved motion model.

Closest to the proposed device is a mobile direction finder [1], which allows you to determine the location of the target using goniometric data based on a priori information about the nature of the movement for a curved motion model containing a bearing forming device, a buffer storage device, a block for solving systems of linear algebraic equations, a display device, inertial navigation system block, synchronizer, calculator-shaper, estimator, block for entering the Cartesian coordinates of the target.

The disadvantages of the prototype are the relatively low accuracy of determining the coordinates due to the accumulation of errors of the inertial navigation system and the need for a highly dynamic carrier of the direction finder.

The inventive device allows you to determine the parameters of curved paths from the current goniometric data of the stationary direction finder and a priori data on the initial distance to the object, which is the achieved technical result.

The problem of determining the parameters of a curved path of motion of objects by a stationary direction finder is solved by excluding from a device containing a bearing forming device, a buffer memory, a block for solving linear algebraic equations, a display device, an inertial navigation system unit, a synchronizer, a calculator, a unit for estimating calculated coefficients, block for calculating the Cartesian coordinates of the target, the following blocks: block inertial navigation system, calculator -formirovatelya, Cartesian coordinate calculation unit purpose and introducing it into the unit converters forming unit basis functions, motion estimation block parameters as well as the organization of the interaction between them.

A passive direction finding system is proposed, comprising a bearing forming device, a converter unit, a buffer storage device, a linear algebraic equation systems solution unit, a calculated coefficient estimation unit, a motion parameter estimation unit, a display device, a synchronizer, a basic function generation unit, and a first output of the shaper device bearings is connected to the third input of the buffer storage device for recording the corresponding codes of time moments ne lenga α (t _k ) and β (t _k ) and with the first input of the converter block, the output of which is connected to the first input of the buffer memory for writing codes cosα (t _k ), cosβ (t _k ), sinα (t _k ), sinβ (t _k ) and tgβ (t _k ), the first output of the buffer memory for issuing codes cosα (t _k ), cosβ (t _k ), sinα (t _k ), sinβ (t _k ) and tgβ (t _k ) is connected to the first input of the block for solving systems of linear algebraic equations, the first output of which through the block for estimating the calculated coefficients is connected to the first input of the block for estimating motion parameters, the output of which is through the device the display is connected to the output of the device of the passive direction-finding system, the second output of the buffer storage device for issuing the corresponding codes of the time moments of the bearing α (t _k ) and β (t _k ) is connected to the first input of the basis function formation unit and to the second input of the motion parameter estimation unit, the first the output of the basis function forming unit is connected to the third input of the linear algebraic equation systems solution block, the second output of the basis function forming unit is connected to the third input of the estimation unit motion parameters, the second output of the bearing forming device is connected to the input of the synchronizer, the first output of which is connected to the second input for the control signals of the buffer storage device, the second output is to the second input of the block for solving linear algebraic equations, the third output is to the second input of the base function conversion unit , where α (t _k ) is the value of the azimuth angle depending on the time t _k , and β (t _k ) is the value of the elevation angle depending on the time t _k .

As follows from the description of the totality of the features of the claimed invention, the novelty of solving the problem consists in eliminating the calculator-shaper, the block of the inertial navigation system, the block for calculating the Cartesian coordinates of the target, the block for estimating and introducing the block of code converters, the block for generating basic functions, the block for estimating the motion parameters, and the block for estimating coefficients, as well as the organization of relations between them, which will improve the accuracy of measurements and eliminate the highly dynamic carrier a.

Figure 1 presents the structural diagram of a passive direction finding system. It contains a device for forming bearings 1, a block of converters 2, a buffer memory 3, a synchronizer 4, a block for solving a system of linear algebraic equations 5, a block of formers of basic functions 6, a block for estimating the calculated coefficients 7, a block for estimating motion parameters 8, a display device 9.

Figure 2 presents the functional diagram of the block of converters. It contains the first 10, second 11, third 12, fourth 13, fifth 14 code converters.

Figure 3 presents a functional diagram of a buffer storage device. It contains the first 15 ₁ , the second 15 ₂ ... the sixth 15 ₆ super-operative storage device, the first 16 ¹ _{1 (1)} ... 6 ^L _{(3K + 2)} -th 6 ^L _{6 (3K + 2)} -register.

Figure 4 presents the functional diagram of the evaluation unit. It contains the first 17 ₁ ... 17 _3Kth median filter.

Figure 5 presents the structural diagram of the unit for estimating motion parameters. It contains a calculator γ _A (t _K ), α '(t _K ), β' (t _k ) 18, a calculator ψ _AJ (t _K ) 19, a calculator x, y, z 20.

Figure 6 presents the functional diagram of the calculator γ _A (t _K ), α '(t _K ), β' (t _K ). It comprises a first 24, second 33, third 41, fourth 21 ₁ ... 21 _K -th differentiators, the first 34, second 35, third 42, fourth 43, fifth 38, sixth 37, 21 ₁ ... 22 _K th , 26 ₁ ... 26 _K- th, 30 ₁ ... 30 _K- th multipliers. The first 23, second 27, third 31, fourth 25, fifth 36, sixth 39 adders, first 29, second 32, third 40 dividers, first 44 square root calculator.

Figure 7 presents the functional diagram of the calculator ψ _AJ (t _K ). It contains the first 45, second 46, third 47, fourth 48, fifth 49, sixth 50, seventh 51, eighth 53, ninth 52 multipliers, first 49, second 54 adders, first 55 subtracter, first 56 divider.

On Fig presents a functional diagram of the transmitter x (t), y (t), z (t). It contains linear delays 57, first 61, second 58, third 59, fourth 62, fifth 65, sixth 66, seventh 67, eighth 68 multipliers, calculator 60, adder 63, exponential 64.

Figure 9 presents the functional diagram of the block forming the basic functions. It consists of 68 of the first 69 ₁ ... 6 ^L _{(3K + 2)} -th transducer of basis functions.

Figure 10 presents the functional diagram of the synchronizer. It contains a delay line 70, a trigger 71, a first counter 72, a second counter 74, a first 73, a second 75, a third 76 decoders.

In Fig.1, the first output of the bearing shaper is connected to the third input of the buffer memory for recording the corresponding codes of the time moments of the bearing α (t _k ) and β (t _k ) and to the first input of the transducer block, the output of which is connected to the first input of the buffer memory for writing codes cosα (t _k ), cosβ (t _k ), sinα (t _k ), sinβ (t _k ) and tgβ (t _k ), the first output of the buffer memory for issuing codes cosα (t _k ), cosβ (t _k ), sinα (t _k ), sinβ (t _k ) and tgβ (t _k ) are connected to the first input of the block for solving systems of linear algebraic equations, the first output of which through the block for estimating the calculated coefficients is connected to the first input of the block for estimating motion parameters, the output of which through the display device is connected to the output of the passive direction-finding system device, the second output of the buffer storage device for issuing the corresponding codes of the time moments of the bearing α (t _k ) and β ( t _k) is connected to the first input unit for generating basis functions and to a second input of the motion estimation parameters, the first output of the block forming the basis functions Comm is connected to the third input of the block for solving systems of linear algebraic equations, the second output of the basis function forming unit is connected to the third input of the motion parameter estimating unit, the second output of the bearing forming device is connected to the synchronizer input, the first output of which is connected to the second input for control signals of the buffer memory, a second output with a second input of a block for solving systems of linear algebraic equations, a third output with a second input of a block for transforming basic functions, de α (t _k) - azimuth angle value depending from time t _k, and β (t _k) - the angle position, depending on the moment of time t _k.

In Fig.2, the bus of the first output of the bearing forming device is connected to the input of the first 10, second 11, third 12, fourth 13, fifth 14 code converters, the first output of the first 10, second 11, third 12, fourth 13, fifth 14 code converters is connected to the output of the block, which is connected to the first input of the buffer storage device for recording codes cosα (t _k ), cosβ (t _k ), sinα (t _k ), sinβ (t _k ) and tgβ (t _k ).

In Fig. 3, the output bus of the converter unit is connected by the first input of the first 15 ₁ , second 15 ₂ , third 15 ₃ , fourth 15 ₄ , fifth 15 _{5 of the} super-operative storage device, the output bus of the first 15 ₁ ... fifth 15 _{5 of the} super-operative storage device is connected respectively with the first inputs 16 ¹ _{1 (1)} ... L (3K + 2) th 16 ^L _{5 (3K + 2)} registers. The tires of the first output of the bearing forming device are connected to the first input of the sixth 15 ₆ super-operative storage device, the output of which is connected respectively to the first input 16 ¹ _{1 (1)} ... L (3K + 2) th 16 ^L _{6 (3K + 2)} registers . The second inputs of the first 15 ₁ ... 15 ₆ super-operative storage device are connected to the first output of the synchronizer. The second inputs 16 ¹ _{1 (1)} ... L (3K + 2) of the 16 ^L _{6 (3K + 2)} registers are connected to the first output of the synchronizer.

The outputs of the registers 16 ¹ _{1 (1)} ... 16 ^L _{5 (3K + 2) are} connected to the first input of the block for solving systems of linear algebraic equations. The outputs of the registers 16 ¹ _{1 (1)} ... 16 ^L _{6 (3K + 2) are} connected to the first input of the basis function forming unit. The outputs of the registers 16 ¹ _{1 (1)} ... 16 ^L _{6 (3K + 2) are} connected to the second input of the motion parameter estimation block.

In Fig. 4, the inputs of block 1 ₍₁₎ ... 1 _{(3K) are} connected respectively to the outputs 1 ₍₁₎ ... 1 _{(3K) of} block 7.

In Fig. 5, the output bus of the block for estimating the calculated coefficients is connected to the first input of the block for estimating the motion parameters, which is connected to the first input of the calculator γ _A (t _K ), α '(t _K ), β' (t _K ) 18, the output of which is connected with the first input of the calculator ψ _AJ (t _K ) 19, the output of which is connected to the first input of the calculator x, y, z 20, the output of which through the display device is connected to the output of the device.

The second inputs of the calculator γ _A (t _K ), α '(t _K ), β' (t _K ) 18, the calculator ψ _AJ (t _K ) 19, the calculator x (t), y (t), z (t) 20 connected respectively to the second output of the buffer memory 3 for issuing the corresponding codes of time moments of the bearing α (t _k ) and β (t _k ).

The third input bus of the motion parameter estimating unit is connected to the output bus 2 of the basis function forming unit.

6 inputs 21 ₁ ... 21 _K -th differentiator connected to the second bus unit forming the basis functions, the inputs 21 ₁ ... 21 _K -th differentiator coupled to first inputs 22 ₁ ... 22 _K-th multipliers, the second inputs of which are connected to the output bus of the evaluation unit, the outputs of the multipliers 22 ₁ ... 22 _{K are} connected respectively to the 1 ... K input of the adder 23, the output of which is connected to the first input of the adder 25, the output of the adder 23 is connected to the second input of the adder 36, the input of the differentiator 24 is connected to the output bus of the evaluation unit, the output of which is connected from the second input of the adder 25 and to a first input of the adder 36, the output of the adder 25 is connected to the first input of the divider 29, the output of the adder 36 is connected to a first input divider 40. The first inputs of the multipliers 26 ₁ ... 26 _K are connected to the bus release unit 2 forming the basis functions, the second inputs of the multiplier 26 ₁ ... 26 _{K are} connected to the output of the evaluation unit.

The outputs of the multipliers 26 ₁ ... 26 _{K are} connected respectively to the 1 ... K input of the adder 27, the output of which is connected to the second input of the divider 29, the output of which is connected to the first input of the calculator ψ _AJ (t _K ). The output bus of the evaluation unit is connected to the first inputs of 30 ₁ ... 30 _K - multipliers, the second inputs of which are connected to the second output bus of the base function conversion unit, 30 ₁ ... 30 _K - multipliers are connected respectively with 1 ... K to the input the adder 31, the output of which is connected to the first input of the divider 32, the first and second inputs of the multiplier 34 are connected to the output bus 2 of the buffer storage device, the second input of the divider 32 is connected to the output of the adder 27, the output of the adder 31 is connected to the first and second input of the multiplier 38, the output adder 27 connections nen with the first and second input of the multiplier 37, the output of the multiplier 38 is connected to the first input of the adder 39, the output of the multiplier 37 is connected to the second input of the adder 39, the output of which is connected to the input of the square root calculator 44.

The output of the divider 32 is connected to the input of the differentiator 33, the output of which is connected to the first input of the multiplier 35, the output of the multiplier 34 is connected to the second input of the multiplier 35, the output of which is connected to the output bus of the unit and to the bus of the first input of the calculator ψ _AJ (t _K ). The output of the square root calculator 44 is connected to the second input of the divider 40, the output of which is connected to the input of the differentiator 41, the output of which is connected to the first input of the multiplier 42. The first and second inputs of the multiplier 43 are connected respectively to the second output of the buffer memory 3 for issuing the corresponding time codes bearing α (t _k ) and β (t _k ), the output of the multiplier 43 is connected to the second input of the multiplier 42, the output of which is connected to the bus of the first input of the calculator ψ _AJ (t _K ).

In Fig.7, the first and second inputs of the multiplier 45 are connected respectively to the second output of the buffer memory 3 for issuing the corresponding codes of the time moments of the bearing α (t _k ) and β (t _k ), the first and second inputs of the multiplier 46 are connected to the output bus 2 of the CCD , the first inputs of the multipliers 47, 48 are connected to the output bus of the calculator 18, the first outputs of the multiplier 47, 48 are connected respectively to the first and second inputs of the adder 49, the output of which is connected to the second input of the multiplier 52, the first input of which is connected to the output bus of the calculator 18. P rvy input of multiplier 50, a first input of a multiplier 53, a second input of the multiplier 51, the second input of the calculator are respectively connected to the second output of the buffer memory 3 for dispensing the respective codes bearing instants α (t _k) and β (t _k). The second input of the multiplier 50, the first input of the multiplier 51 is connected to the output bus of the calculator 18. The output of the multiplier 52 is connected to the first input of the adder 54, the second input of which is connected to the output of the multiplier 50. The output of the adder 54 is connected to the first input of the divider 56, the output of the multiplier 51 is connected to the second input of the multiplier 53, the output of which is connected to the first input of the calculator 55, the output of which is connected to the second input of the divider 56, the output of which is connected to the output of block 19 and the input of block 20.

In Fig. 8, the input of the delay line is connected respectively to the second output of the buffer memory 3 for issuing the corresponding codes of the time moments of the bearing α (t _k ) and β (t _k ) with the second input of the subtractor 60 and with the second input of the multiplier 61, the output of the delay line 57 connected to the first input of the subtractor 60, the output of which is connected to the first input of the multiplier 61, the output of which is connected to the first input of the multiplier 62, the second input of which is connected to the output line of the calculator 19. The output of the multiplier 62 through the adder 63 and the exponential 64 is connected to the first th input of the multiplier 65, the second input of which the initial range code is supplied, the first and second inputs of the multiplier 58 and a first, a second input of multiplier 59 are respectively connected to the second output of the buffer memory 3 for dispensing the respective codes timings bearing α (t _k) and β (t _k), the outputs of multipliers 58, 59 are respectively connected to second inputs of the multipliers 66, 68. The second input of multiplier 67 is connected respectively to the second output of the buffer memory 3 for dispensing the respective codes moment Time and bearing α (t _k) and β (t _k). The output of the multiplier 65 is connected to the first inputs of the multipliers 66, 67, 68.

In Fig. 9, the first inputs 69 of the ₁ ... 69 _{L (3K + 2)} -th converter are connected respectively to the second output of the buffer memory 3 for issuing the corresponding codes of the time moments of the bearing α (t _k ) and β (t _k ), the second the inputs 69 of the ₁ ... 69 _{L (3K + 2)} -th converter are connected to the third output bus of the synchronizer. The outputs 69 of the ₁ ... 69 _{L (3K + 2)} -th converter are connected to the third inputs of the BRSLAU 5 and BOPD 8.

10, the input of the synchronizer is connected to the input of the delay line 70, the second input of the trigger 71, the first input of the counter 72 and the second input of the counter 74. The output of the delay line 70 is connected to the first input of the trigger 71. The first output of the counter 72 is connected to the first input of the counter 74 and a bus of the second output of the synchronizer, which is connected to the bus of the second input of the BRSLAU 5. The first output of the counter 74 is connected to the second input of the counter 72. The output 2 of the counter 72 is connected to the input of the decoder 73. The output 2 of the counter 74 is connected to the input of the decoder 75, 76. Outputs 1 , 2 flip-flops 71, tires the output of the decoder 73 and the output bus of the decoder 75 form the first output of the synchronizer 4. The output 1 of the counter 72 is connected to the first input of the trigger 77, the output of which is connected to the first input of the counter 74, the first output of which is connected to the input 2 of the trigger 77. The output bus of the decoder 76 forms the output the bus of the third output of the synchronizer.

The claimed device implements a method for determining the parameters of the movement of an object from angular measurements and the initial value of the range for the case of a polynomial trajectory with unknown coefficients.

We will assume that in the Cartesian coordinate system, in the center of which the faculty is located, the motion of the object is described by a polynomial model with unknown coefficients

where x = x (t), y = y (t), z = z (t) are the Cartesian coordinates of the object;

A = {a, i = 0, 1, ..., K}, B = {b, i = 0, 1, ..., K}, C = {c, i = 0, 1, ... , K} - row vector of motion model coefficients;

Q = {q, i = 0, 1, ..., K} ^T is the column vector of linearly independent functions q _i = q _i (t);

T is the sign of transposition.

Using the US, the azimuth angles α = α (t) and the places β = β (t) are measured. In addition, it is assumed that at time t _{0 the} initial value of the inclined range r ₀ = r (t ₀ ) is known, which in practice is set either absolutely exactly (for example, at the time of the start of the aircraft), or approximately. The latter case is typical for a situation when, in addition to the US, there is an active high-precision location system that periodically gives the US the current measurement of the inclined range. In between measurements, the USS functions autonomously.

Given that x = rcosαcosβ, y = rsinαcosβ, z = rsinβ, we write the relations

In vector C, we choose one nonzero component (for example, with _j , j ∈ 0, 1, ... K) and transform (2) to

Where

A _j = {a _j / c _j , j = 0, 1, ..., K} = {a _ij , j = 0, 1, ..., K},

B _j = {b _j / c _j , j = 0, 1, ..., K} = {b _ij , j = 0, 1, ..., K},

C _(j) = {c ₀ / c _j , ..., c _j-1 / c _j , c _{j + 1} / c _j , ..., c _K / c _j ,} = {c _ij , i = 0, 1, ..., K, i ≠ j},

Q _(j) = {q ₀ , ..., q _j-1 , q _{j + 1} , ..., q _K } = {c _ij , 0, 1, ..., K, i ≠ j}.

From (2) and (3), after simple transformations, we obtain

We introduce the time grid {t ₀ , ..., t _N } (where t _i ∈ [t ₀ , T], i = 0, 1, ..., N), to the nodes of which the measurements α (t _i ) are attached, β (t _i ), i = 0, 1, ..., N, performed by CSS. On this grid, we form L mismatching sets T _l = {t _{0 (l)} , ..., t _{P (l)} }, where l = 1, 2, ..., L, P≤N, t _{i (l)} ∈ {t ₀ , ..., t _N }, t _{i + l (i)} > t _{i (i)} , T _(l) <T _(m) ≠ 0, l, m ∈ {1, 2, .. ., L}.

If we assume that for a fixed l ∈ {1, 2, ..., L} there is an array of angular measurements {α (t _{k (l)} ,) β (t _{k (l)} ,) k = 0, 1, .. ., P}, where P = 3K + 2, then to find the unknown vector coefficients A _(j) , B _(j) and C _(j) it is necessary to solve the system of linear algebraic equations

It should be remembered that the sets T _l (l = {1, 2, ..., L}) are used only at the first stage and, in the absence of measurement errors, lead to the same solution to system (5). However, the presence of measurement errors allows us to consider the problem of estimating the vector coefficients A _j , B _j and C _(j) as statistical.

Finding from (5) the values of the vectors A _j , B _j and C _(j) ends the first stage of determining the parameters of the target’s movement in accordance with the developed method.

Differentiating separately the numerator and denominator of expression (3) with respect to time t, we can write

where the symbol f ^(l) is the first derivative of the function f ( ^. ).

Separating the variables, system (6) is transformed to

where dr and dt are the differentials of the dependent and independent variables, respectively.

It follows from (7) that the problem of determining the range r = r (t) from the data of goniometric measurements is described by linear differential equations. Integrating (7), we obtain

соответствует либо

, либо

Where

matches either

either

From (8) it follows

where r ₀ = r ₀ (t) is the initial condition for solving the Cauchy problem.

In order to get rid of the derivatives α ^(l) = α ^(l) (τ) and β ^(l) = β ^(l) (τ) in expression (9), we use the obvious relations that follow directly from (2), ( 3), (4) and (6)

,

,

,

,

,

,

Thus, it follows from (9) that the inclined range r = r (t) can be found only from the angular measurements α (τ), β (τ), τ ∈ [t ₀ , t] and the initial value r ₀ .

Based on the found range, the movement of the object can be restored

In turn, the vector coefficients A, B, C are easily calculated from the Cartesian coordinates determined from (10)

Given the discrete nature of the receipt of measurements, the integration operation in (9) can be replaced by a finite sum

Formulas (9) and (11) define respectively continuous and discrete range determination options.

. Коды cosα(t_k), cosβ(t_k), sinα(t_k), sinβ(t_k), tgβ(t_k) записываются по сигналам управления с синхронизатора 4 соответственно в регистры

,

,

,

,

По окончании записи кодов во все регистры буферного запоминающего устройства 3 последние по управляющему сигналу от синхронизатора 4 записываются в блок решения систем линейных алгебраических уравнений 5. Коды моментов времени поступают на первый вход блока формирования базисных функций 6 и на второй вход блока оценки параметров движения 8. Блок решения систем линейных алгебраических уравнений 5 может быть выполнен в соответствии с [8], последний обрабатывает заложенный в него порядок действий, и по аналогии счета коды А_i В_i С_(i) i=0, 1, ..., K поступают на вход блока оценивания 7 (фиг.4), осуществляющего статистические оценивания рассчитываемых коэффициентов, так как в реальных условиях процесс пеленгования неизбежно сопровождается флуктуационными погрешностями. Оценки искомых коэффициентов с выхода блока оценивания 7 (фиг.4) поступают на первый вход блока оценивания параметров движения 8 (фиг.5; фиг.6; фиг.7; фиг.8). На третий вход блока оценивания параметров движения поступают коды базисных функций Q(t_k) от блока формирования базисных функций (фиг.9), по сигналам управления от синхронизатора 4. Структура блока 8 (фиг.5) состоит из вычислителей 18, 19, 20. Вычислитель 18 (фиг.6) аппарата реализует выражение (6), и на его выходе имеются коды пропорционально γ_A(t_k), α'(t_k), β'(t_k). Вычислитель 19 (фиг.7) аппарата реализует выражение (7), и на его выходе имеют место коды пропорционально Ψ_Aj(t_k). Вычислитель 20 (фиг.8) аппарата реализует выражения (10), (11), и на его выходе имеют место коды пропорционально декартовым координатам цели x, y, z на текущий момент времени, которые поступают на вход устройства отображения 9.Passive direction finding system (figure 1) works as follows. The bearing measurement codes α (t _k ), β (t _k ), k = 0, 1, ... 3K + 2 from the output of the bearing forming device 1 are sent to the converter unit 2. Block 1 can be performed as shown in [6 ]. The block of converters 2 can be performed, as shown in figure 2. Codes α (t _k ) and β (t _k ) are received at 10, 11, 12, 13, 14 code converters, at the output of converter 10 are cosβ (t _k ) codes, at the output of code converter 12 there are sinα (t _k ) codes, at the output of the code converter 13, the codes sinβ (t _k ), the code converter 14, respectively, tgβ (t _k ). The corresponding time moments of the bearing α (t _k ) and β (t _k ) are fed to the 3 input of the buffer storage device and are recorded according to the control signals from the synthesizer 4 to the registers

. Codes cosα (t _k ), cosβ (t _k ), sinα (t _k ), sinβ (t _k ), tgβ (t _k ) are written according to the control signals from synchronizer 4, respectively, to the registers

,

,

,

,

Upon completion of the recording of codes in all the registers of the buffer memory 3, the last ones are recorded by the control signal from the synchronizer 4 into the block for solving systems of linear algebraic equations 5. Codes of time instants arrive at the first input of the basis function formation unit 6 and at the second input of the motion parameter estimation unit 8. block solutions of linear algebraic equations 5 may be executed in accordance with [8], the latter processes inherent therein procedure, and by analogy account codes a _i B _i C _(i) i = 0, 1, ..., K by blunt input evaluation unit 7 (Figure 4) performing the statistical estimation of the calculated coefficients, since under actual conditions the process fluctuation DF is inevitably accompanied by errors. Estimates of the desired coefficients from the output of the estimation unit 7 (Fig. 4) are received at the first input of the motion parameter estimating unit 8 (Fig. 5; Fig. 6; Fig. 7; Fig. 8). The third input of the motion parameter estimation block receives the codes of the basis functions Q (t _k ) from the basis functions generation block (Fig. 9), by control signals from the synchronizer 4. The structure of block 8 (Fig. 5) consists of calculators 18, 19, 20 The calculator 18 (Fig.6) of the apparatus implements the expression (6), and at its output there are codes proportional to γ _A (t _k ), α '(t _k ), β' (t _k ). The calculator 19 (Fig. 7) of the apparatus implements the expression (7), and at its output codes are proportional to Ψ _Aj (t _k ). The calculator 20 (Fig. 8) of the apparatus implements expressions (10), (11), and at its output codes occur in proportion to the Cartesian coordinates of the target x, y, z at the current time, which are input to the display device 9.

Consider the operation of the synchronizer 4 (figure 10).

The pulses from the output 2 of the device forming bearings 1 (figure 1) are fed to the counting input of the counter 72, which generates the address code received at the input of the decoder 73. The pulses from the second input of block 1 also go to the second input of the trigger 71, the output signal of which sets the RAM 15 ₁ ... 15 ₆ to recording mode. The first input of the trigger 71 receives pulses from the second output of block 1 through the delay element 70, forming the output signals for reading information from the RAM 15 ₁ ... 15 ₆ . After counting 6 Ll (3k + 2) pulses from block 1, an overflow pulse will appear at the output of counter 72, which is fed to input 1 of counter 74 and to output 2 of the synchronization device, which gives the “Start” command to start the calculation. The overflow pulse is fed to 1 input of trigger 77, the output of which is set to the start signal of counter 74, which generates a read address from register 16 ₁ ... 16 ^L _{6 (3K + 2)} . The address code arrives at the decoders 75, 76, which determine the reading order of the codes from the registers 16 ₁ ... 16 ^L _{6 (3K + 2) of the} codes with the BZU 3 of figure 1 and the BSE 6 of figure 1.

The overflow pulse from the input 1 of the counter 74 goes to the input 2 of the trigger 77, which sets the counter 74 to the counter prohibition mode, and to the input 2 of the counter 72, which sets it to the counter resolution mode, and the cycle repeats again.

LITERATURE

1. Patent of the Russian Federation No. 2124222, C1, 6G01S 13/46.

2. Patent of the Russian Federation No. 2012902, 5G01S 13/46, 1974.

3. USSR Author's Certificate No. 1508235, G06F 15/36, 1987.

4. USSR author's certificate No. 1097072, G01S / 1352, 1987.

Claims (1)

A passive direction finding system device comprising a bearing forming device, a buffer memory, a linear algebraic equation systems solution block, a display device, a synchronizer, an estimated coefficient estimation unit, characterized in that a converter unit, a basic function generation unit, and a parameter estimation unit are additionally introduced therein movement, while the first output of the bearing forming device is connected to the third input of the buffer storage device for ishi corresponding codes timings bearing α (t _k) and β (t _k) and to a first input of converters whose output is connected to the first input buffer memory for recording cosα codes _{(t k), cosβ (t} k), sinα ( t _k ), sinβ (t _k ) and tgβ (t _k ), the first output of the buffer memory for issuing codes cosα (t _k ), cosβ (t _k ), sinα (t _k ), sinβ (t _k ) and tgβ ( t _k) is connected to a first input of solving systems of linear equations, the first output of which is calculated through estimation block coefficients connected to the first input evaluation unit parame moat movement which via a display device output is connected to the output of the passive direction-finding system, a second output buffer memory for dispensing respective codes timings bearing α (t _k) and β (t _k) is connected to a first input of a forming unit of basis functions and with the second input of the motion parameter estimation block, the first output of the basis function formation block is connected to the third input of the linear algebraic equation systems solution block, the second output of the basic func kts is connected to the third input of the motion parameter estimation block, the second output of the bearing forming device is connected to the synchronizer input, the first output of which is connected to the second input for control signals of the buffer memory, the second output is the second input of the block for solving linear algebraic equations, the third output is the second an input conversion unit basis functions, where α (t _k) - azimuth angle value depending on the moment of time t _k and β (t _k) - the angle position, depending on the time vre tim t _k.

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