RU2323449C1 - Method for determination of sound source bearing - Google Patents

Abstract

FIELD: acoustic direction finders (base points of perspective automatic sound-ranging complexes, applicable for determining the bearing of the sound source and topographic co-ordinates of this sound source.

SUBSTANCE: the basic wind parameters in the ground surface layer of the atmosphere and the air temperature in this layer are measured, the parameters, standard characteristics of the directivity of the sound detector line groups are computed, the sound detectors are disposed in a definite manner so as to receive the acoustic signals, which then are transformed to electric signals, processed in a special manner, the maximum amplitudes of voltages of these signals at outputs 1 and 2 of the signal processing channels are automatically measured, the difference of the maximum voltage amplitude at output 1 of the signal processing channels and the maximum voltage amplitude at output 2 of the signal processing channels is calculated, the sum of these amplitudes, relation of this difference to their sum are calculated, and the bearing of the sound source is automatically determined.

EFFECT: enhanced accuracy of direction finding of the sound source and reduced time of bearing finding.

21 dwg, 4 supplements

Description

The invention relates to acoustic direction finders (base points) of automated sound metering complexes (AZK), which are in service with the Ground Forces, and can be used to determine the bearing of a sound source (IZ) (the angle between the known direction and the direction to IZ) and the topographic coordinates of this IZ. A known direction may be a perpendicular restored from the middle of the acoustic base (the distance between the projections onto the horizontal plane of two sound receivers (RF)) [1 ... 6]. In these acoustic direction finders (APs), the “time difference principle” is used to determine the bearing (corrected sound angle), and it is determined by the following analytical expression (AB):

where α = arcsin (C τ / 1) is the sonometric angle (see AB (3) on page 57 of [1]);

С≈331 (1 + t / 273) ^0.5 is the speed of sound in the surface layer of the atmosphere under (1) adverse hearing conditions (for these conditions, see page 49 of [1]) and in the absence of wind, see AB (8 ) on page 21 of [1];

t is the air temperature in the surface layer of the atmosphere;

τ = t ₂ -t ₁ is the difference in the arrival times of an acoustic signal (AS), formed, for example, by a shot of an artillery gun, to the RF (see AB (1) on page 55 of [1]);

t ₁ , t ₂ - time of sound arrival to the first (right relative to the directrix) and second (left relative to the directrix) ZP, respectively;

1 - acoustic base (AB), the distance between the RFP;

Δα _η is the correction to the sonometric angle for the removal of the FROM from the middle of the battery, calculated using AB (16) or (21) (see pages 66, 67 of [1]);

Δα _W is the correction to the sonometric angle for wind speed and direction (general correction for wind) calculated using AB (40) (see p. 74 of [1]); (but it is most accurately possible to determine the speed and direction of the wind under any conditions of audibility using the work [7]);

Δα _h is the correction to the sonometric angle for exceeding (lowering) the FM, determined by the methodology described on pages 88 ... 93 of [1]).

But the FR bearing in the above method cannot be determined at a high frequency of arrival of signals from these FRs to the AP, because these signals come from a large sector and with great frequency, for example, during artillery preparation of the attack and fire support of the advancing troops. In addition, the IZ bearing in them can be determined if the sound is emitted by this IZ for a short time, for example, when firing an artillery gun, a volley of several guns, a shell burst, etc. And the method of measuring the bearing used in US patent No. 3042897 [6] has low accuracy, see page 5 of the description of the invention to the patent of the Russian Federation No. 2138059 [10], and has the above disadvantage.

A more perfect way to measure the FR bearing compared to the one discussed above is the method described in [8], but the disadvantage of the direction finding method in it is “deterioration of direction finding accuracy with increasing compensation time due to the increase in the beam width of the groups of acoustic transducers”, see page 5 of the description of the invention to the patent of the Russian Federation No. 2118059 [10].

An even more perfect way to measure the FR bearing compared to the method used in [8] is the equal-signal [9], which is carried out by two groups of acoustic transducers, see page 5 of the description of the invention to RF patent No. 2138059 [10], but he possesses insufficient direction finding accuracy, see page 6 of the description of the invention to the patent of the Russian Federation No. 2138059 [10].

The same method for determining the bearing is also used in [10], where the measurement of the FRM bearing with continuous radiation (for example, when direction finding a submarine, see pages 3, 7, paragraph 3 [10]) is performed at several carrier frequencies by determining the voltage difference at the outputs of two signal processing channels (see page 8, paragraph 2 [10]), which ensures high direction finding accuracy (see page 8, paragraph 4 [10]). The disadvantages of the method in this AP are: the long time required to obtain an accurate bearing FROM and especially FROM emitting a short-term signal, because its measurement is made at several frequencies; the great complexity of the technical implementation of this method of measuring the bearing FROM, because there are several processing channels, see figure 1 [10], and therefore, low reliability and high cost of this AP.

RF patent No. 2048678 [11] proposes a phase method for determining an IZ bearing with correlation signal processing, providing high direction finding accuracy, see page 34, paragraph 3 of [12], but it has the following disadvantages: “it requires absolute identity of the amplitude and frequency characteristics both channels, which in practice is achieved with great difficulty ”, see p. 34 paragraph 2 of [12]; has low noise immunity, as while receiving signals even from 2 FROMs, the phase of the total signal will be different compared to receiving a signal from one FROM, which is obvious.

In RF patents No. 2274873 [13] and No. 2276383 [14], the iso-signal method of measuring the IZ bearing is used, when the bearing is calculated by the ratio of the voltage amplitude received by the 1 signal processing channel (CBS) to the voltage amplitude received by 2 CBS. Let's call it classic. It provides a sufficiently high accuracy of bearing detection due to the optimal choice of parameters of the main AP devices and the use of a large number of RFPs, and good noise immunity. As a prototype of the method for determining the bearing FROM we will use the method described in [14]. Studies have shown that the accuracy of direction finding FROM can be improved, as well as reduce the time to determine this bearing.

Therefore, the objectives of the invention is to increase the accuracy of measuring the bearing FROM by reducing the proportion of random errors and reducing the time to obtain it.

To achieve the specified result, you must do the following:

1. Measure the air temperature in the atmospheric surface layer t with a thermometer (let it be 5 ° C);

2. Calculate the speed of sound in this layer of the atmosphere in the absence of wind using AB (1); (for the considered example, the speed of sound will be equal to 334.0173824 m / s);

3. Measure the speed and directional angle (DU) of the wind (W and α _W ) in the surface layer of the atmosphere (at a height of 2 m from the surface of the earth), (under unfavorable conditions of audibility these wind parameters in this layer of the atmosphere can be measured, for example, by the landing meteorological set DMK 2, let the wind speed be 5 m / s, and the wind remote control - 270 ° or 3/2 π, i.e. west wind).

(Air temperature in the atmospheric surface layer equal to 5 ° С, wind speed and remote control in the specified atmospheric layer equal to 5 m / s and 270 °, respectively, and also remote control direction: the intersection point of 1 and 2 LG ZP is an approximate center of the area of special attention (DOM), the area where it is assumed, for example, the firing positions of the artillery and mortar batteries of the enemy, equal to 270 °, will be called the main version (S) of the source data (ID));

4. Choose a flat area on the ground with a length and width of about 300 m (in the prototype this action is absent);

5. From the approximate center of this site, on a line perpendicular to the two sides of this square and directed to the approximate center of the DOM, at a distance of about 155 m, install the PAB 2A periscope artillery gun (angle-measuring optical-mechanical device) above the supposed point of intersection of linear groups (LG) and measure her the remote control from this point to this center of the _DOM α _LGIS (this action is absent in the prototype) (let this angle also be 270 °, the same remote control should have the same-signal direction α _RSN );

6. Find the difference between the remote control of the wind and the direction: the point of intersection of the LG ZP is the approximate center of the DOM, ie

, см. стр.25, АВ (16) работы [1];

, see page 25, AB (16) of [1];

(this action is absent in the prototype), in the considered example φ = 0;

7. Calculate the speed of sound taking into account the influence of wind.

Under adverse hearing conditions, it is calculated by the formula

, (см. стр.24, АВ (14) работы [1], это АВ является более общим по сравнению с АВ, приведенным на стр.5 прототипа [14], в прототипе угол φ определить затруднительно),

, (see page 24, AB (14) of [1], this AB is more general than the AB shown on page 5 of the prototype [14], it is difficult to determine the angle φ in the prototype),

(in this example, the speed of sound, taking into account the influence of wind, will be equal to 339.0173824 m / s);

8. Choose the frequency with the largest amplitude from the amplitude spectrum of the acoustic signal (for example, when determining the bearing of the artillery gun that fired, see page 51 of [3], from this spectrum we can take the harmonic with frequency f ₀ = 20 Hz), which let's call the operating frequency of the AP, in the prototype this frequency is indicated by f, see page 5 [14]), (in the prototype this action is omitted, which also makes it difficult to determine the bearing FROM);

9. To calculate the length of the sound wave received ZP AP according to the formula

(см. стр.5 [14]).

(see page 5 [14]).

(So, under the above conditions, it is 16.9508691 m);

10. Given the number of RFPs in LG (for example, n = 10), calculate the normalized directivity characteristics of the LG LPP using the formula

(see p.5 [14] or [15, p.214, AB (VI. 49) and p.198 AB (VI. 50)] and plot their graphs (for example, using a computer using the application package "Mathcad 2001i ", see Figure 1 ... Figure 9, because of the simplicity of this program is not given),

where k = πZ; Z = d / λ;

R _CP - NBW each RFP belonging to N (with omnidirectional PO)

R _RFP = 1, see p. 5 [14], or p. 97, 98 [15];

d is the distance between the working axes of the adjacent RF in the LG;

Θ - the angle in the horizontal plane between the direction of the point of intersection of 1 and 2 LG ZP - FROM and an arbitrary direction;

11. Varying the ratio Z, it is possible to obtain NXN with the narrowest width at the level of 0.5 and with side lobes not exceeding the level of 0.2 (optimal NXN); with an increase in this ratio, the width of the NHC decreases (which increases the accuracy of direction finding), but the level of the side lobes increases (so with the number of RFPs equal to 20 and the Z value equal to 0.921, you can get the NPNs shown in Figs. 1, 2, 3 and 4, from which it can be seen that the level of the main side lobe does not exceed 0.2; with the number of RFPs equal to 10 and the value of Z equal to 0.84, one can obtain the NXN shown in FIGS. 5, 6, 7 and 8 from which shows that the level of the main side lobe also does not exceed 0, 2;

(in the prototype, these actions are absent, which increases the time to obtain the bearing, see page 5 [14]);

12. The value of the angle Θ, at which its value is equal to 0.5, is approximately determined from the graph of optimal NXN; (the approximate values of these angles obtained from FIGS. 2 and 6, for example, for n = 20 and n = 10, are respectively equal to 0.032 and 0.072 rad); (in the prototype, these actions are absent, which increases the time to obtain the bearing, see page 5 [14]);

13. Based on the approximate value of the angle obtained in paragraph 12, calculate the exact value of the angle Θ _{n + 1} using the program for its automatic calculation, given in Appendix 1, at which the value of NXN is exactly 0.5, using, for example, the modified Newton's method for solving transcendental equations [17, see p. 86, 87]

(the presence of Appendix 1 provides a faster obtaining of the width of the NHN at the level of 0.5 and, ultimately, the displacement angle of the working axes of the NHN 1 and 2 LG ZP relative to the equal-signal direction, compared with the prototype, see pages 5 and 6 of the prototype [14]) ,

where Θ _n is the value of the angle Θ at the nth approximation (for n = 1 this value is taken from the graph, see paragraph 12);

ΔΘ is the angle discretization step (for example, ΔΘ = 0.0000001 rad);

The calculation of this angle ends when the condition

then the obtained value of the angle Θ _{n + 1} will be accurate. (So, in relation to the considered 2 examples, the exact values of the moduli of these angles are respectively equal to 0.0327913 rad with the number of RFPs equal to 20; and 0.0721545 rad with the number of RFPs equal to 10); (in the prototype, these actions are absent, which increases the time to obtain the bearing, see page 5 [14]);

14. Calculate the required distance between the working axes of adjacent RFP according to the formula

which is obvious. (So, for the considered examples, these distances are 15.62 m at 20 RFP in LG and 14.24 m at 10 RF in LG);

15. Calculate the width of the NHN at the level of 0.5 according to the formula

which is obvious (for the considered 2 examples, these values are equal to 0.0655825 rad at 20 RFP in LG and 0.1443089 rad at 10 RF in LG, which can be obtained using the program texts given in Appendix 1);

16. To calculate the angle of displacement of the working axes NHN 1 and 2 LG ZP relative to the equal-signal direction according to the formula

, [14, с.5] или [16, с.46]

, [14, p. 5] or [16, p. 46]

(for the considered 2 examples, these values are 0.0196748 rad at 20 RFP in LG and 0.0432927 rad at 10 RF in LG, which can be obtained using the program texts given in Appendix 1);

17. Calculate the length of the LG by the formula

which is obvious (for the considered 2 examples, these values are 296.78 m at 20 RFP in LG and 128.16 m at 10 RF in LG);

18. Calculate the difference in angles by the formula

19. Determine on the terrain 1 line where the ZP 1 LG will be located (for which the optical axis (OO) of the angle measuring device installed above the above point, which measured the remote control from this point to the approximate center of the DOM, take to the left of this direction at an angle β and set 1 milestone in this direction at a distance of L _ГР / 2), measure this distance with a measuring tape, turn ОО of this device to the right by an angle of 180 ° and put 2 milestones in this direction at a distance of L _ГР / 2, pull a rope between these milestones), (in the prototype these actions are absent);

20. Determine on the terrain 2 the line where the ZP 2LG will be located (for which the OO of this device turn left at an angle of 2Θ _С and in this direction at a distance L _ГР / 2 put a 3 milestone, and then turn the OO of the device to the left by an angle of 180 ° and in this direction at a distance L _ГР / 2 put 4 milestones, pull a rope between these milestones), (in the prototype these actions are absent);

21. Place the RFP on the first straight line (why install 1 RFP so that its center is located above the point where there was 1 milestone and its working axis is vertical, then set the remaining RFPs at distances d between their centers along the rope, the center of the last RFP should be located above the point where there were 2 milestones), (in the prototype these actions are absent);

22. Place the RFP on the second straight line (why install the RFP so that its center is located above the point where there were 3 milestones and its working axis is vertical, then set the remaining RFPs at distances d between their centers along the rope, the center of the last RFP should be located above the point where there were 4 milestones) (in the prototype these actions are absent);

23. Place the RFP receiving signals from the front (RFP), and the RFP receiving signals from the rear (RFP), on the ground (point the device to the approximate center of the DOM and turn it to the right or left by an angle of 180 ° and in this direction at a distance about 150 m to install the RFP so that its working axis is approximately parallel to the horizon plane and coincides with the direction to this center, and then in this direction at a distance of about 150 m also install the RFP, but its working axis should be turned in the opposite direction relative to ZPF axis);

NHN ZPF and ZPT are described by such AB:

where M = 0.5; γ = 0.5 [20, p. 97, 98], see Fig. 10, which provides reception of the AC ZP 41, mainly only from the front, and ZP 42 - from the rear, see Fig. 11, which is not provided in the prototype, see Fig.13 on page 22 [14].

The layout of the RFP, see figure 11, and the direction finding scheme - see figure 12;

24. Accept acoustic signals (AC) and interference, convert them into electrical signals and interference, add them up, isolate from these electrical signals and interference an electrical signal that came only from the operating sector of the XH LG and is attenuated by filters by the amplitude of the interference voltage, select a part of the amplitude signal spectrum and interference with a center frequency f ₀ , see Fig.13;

25. Measure the voltage amplitudes at the outputs of channels 1 and 2 at the same time, see Fig. 13.

The voltage amplitudes at the outputs of channels 1 and 2 are described by such AB:

, [16, стр.44...47],

, [16, p. 44 ... 47],

where K _U are the transmission (gain) coefficients for the signal voltage with a frequency of f ₀ 1 and 2 channels, which are determined experimentally, and must be the same in these channels;

U ₀ - the amplitude of the voltage at the output of the HELL of 1 and 2 channels when receiving speakers at a frequency of f ₀ when the FROM are on the working axes of the NHN 1 and 2 LG ZP, if the gain (transmission) of the above channels were equal to 1;

[16, С.44...47];

[16, p. 44 ... 47];

, при |α|<Θ_С.

When | α | <Θ _C.

, [16, стр.44...47],

, [16, p. 44 ... 47],

; [16, С.44...47];

; [16, p. 44 ... 47];

The prototype determines the ratio

this equation is transcendental with respect to the bearing α, which is solved by the Newton method or the modified Newton method [17, see p. 86, 87]

26. From the voltage amplitude measured at the output of channel 1, subtract the voltage amplitude measured at the output of channel 2, ie

27. Add the voltage amplitude measured at the output of channel 1 with the voltage amplitude measured at the output of channel 2, ie;

in the prototype this action is absent;

28. Calculate the relationship of this difference and the sum of the amplitudes of the stresses according to the formula

in the prototype this action is absent;

29. Calculate the bearing of the sound source using, for example, the modified Newton method (see p. 87 of [17]) using the iterative formula

for | α _{J + 1} -α _J | = α≤ε and Δα = ε,

where j = 1, 2, ... J are the numbers (iterations) of the approximations;

α _j - the value of the bearing FROM the j-th approximation;

α _{j + 1} - the value of the bearing FROM the (j + 1) -th approximation;

ε is the error of the calculation result, for example, ε = 10 ^-7 rad;

Δα is the iteration step;

η _CP is the value of the ratio of the difference and the sum of the stress amplitudes obtained in paragraph 28;

for | α _j | ≤ | Θ _C |, | α _j + Δα | ≤ | Θ _C | and under the following conditions (see Figs. 11 and 13): α <| Θ _c |; T ₁ <T ₄ ; T ₂ <T ₃ ; T ₁ ≤T ₂ ; T ₁ ≥T ₂ ; T ₁ <T ₃ ; T ₂ <T ₄ ; T ₃ ≤T ₄ ; T ₃ ≥T ₄ , when the AC comes from one of the directions within the working sector of the AP;

T ₂ <T ₁ ; T ₂ <T ₃ ; T ₂ <T ₄ ; T ₁ <T ₄ ; T ₃ <T ₄ ; T ₃ <T ₁ , upon arrival of the speakers from the right border of the working sector of the AP;

T ₁ <T ₄ ; T ₁ <T ₂ ; T ₁ <T ₃ ; T ₄ <T ₂ ; T ₄ <T ₃ ; T ₂ <T ₃ , upon arrival of the AS from the left border of the working sector of the AP,

where T ₁ , T ₂ , T ₃ , T ₄ are the arrival times of the speakers to the RFP 1, 21, 20, and 40, respectively.

If the above conditions are not met, the calculation of the bearing of the FM is not performed.

Solving equation (2) with respect to α, not exceeding 0.1 rad, and the same gain factors of 1 and 2 channels, which is performed in APs that implement this method for determining the bearing, we can obtain the following formula for calculating the bearing for j = 1:

, [18, стр.138], (4)

, [18, p. 138], (4)

Where

So, using AB (3) taking into account the formulas included in it, using a computer you can quickly calculate the desired bearing. The text of the bearing calculation program FROM and the calculation results of this bearing for 5 values of η _CP ,

as well as direction finding characteristics are given in Appendix 2.

The inventive method is illustrated by the following graphic materials:

Figure 1 NHN LG containing 20 RF, with the ratio of the distance between the working axes of the adjacent RF to the harmonic wavelength of 20 Hz, equal to 0.921, and the main version of the source data in the Cartesian coordinate system.

Figure 2 Part of the NHN LG containing 20 RFP, with the ratio of the distance between the working axes of the adjacent RFP to the harmonic wavelength of 20 Hz, equal to 0.921, with the main version of the source data in the Cartesian coordinate system.

Figure 3 NHN LG containing 20 RF, with the ratio of the distance between the working axes of adjacent RF to the harmonic wavelength of 20 Hz, equal to 0.921, with the main version of the source data in the polar coordinate system.

Figure 4 Part of the NHN LG containing 20 RF, with the main side lobe when the ratio of the distance between the working axes of the adjacent RF to the harmonic wavelength of 20 Hz, equal to 0.921, with the main version of the source data in the Cartesian coordinate system.

Figure 5 NHN LG containing 10 RF, with the ratio of the distance between the working axes of the adjacent RF to the harmonic wavelength of 20 Hz, equal to 0.84, with the main version of the source data in the Cartesian coordinate system.

Fig.6 Part of the NHN LG containing 10 RF, with half the main lobe with the ratio of the distance between the working axes of the adjacent RF to the harmonic wavelength of 20 Hz, equal to 0.84, with the main version of the source data in the Cartesian coordinate system.

Fig.7 NHN LG containing 10 RF, with the ratio of the distance between the working axes of the adjacent RF to the harmonic wavelength of 20 Hz, equal to 0.84, with the main version of the source data in the polar coordinate system.

Fig. 8 A part of the NNH LG containing 10 RFs with the main side lobe with the ratio of the distance between the working axes of adjacent RFs to the harmonic wavelength of 20 Hz, equal to 0.84, with the basic version of the source data in the Cartesian coordinate system.

Fig. 9 Normalized directivity characteristics of 1 and 2 linear groups of sound receivers, the working axes of which are offset by an angle Θ _C relative to the equal-signal direction.

Figure 10 Normalized directivity characteristics of the front and rear sound receivers in the polar coordinate system.

11 The arrangement of sound receivers on the surface of the earth.

Fig. The layout of the receivers 1 and 2 of linear groups on the surface of the earth, the projection of their directivity characteristics on the horizontal plane and the main parameters. NHN 1 LH is described as follows AB: R ₁ ^* = R (Θ _С -α); NHN 2 LG is described as follows AB: R ₂ ^* = R (Θ _С + α).

13 Acoustic direction finder that implements the inventive method for determining the bearing of a sound source. Structural electrical circuit.

Fig. 14 The dependence of the statistical estimate of the root-mean-square error of the bearing of the 155 mm self-propelled howitzer shot from its true value, varying in the range of -0.0196 ... 0.018 rad, with the classical method for determining the bearing, 20 sound receivers in each linear group, measuring the directional angles of these groups of the periscopic artillery compass of PAB 2A and various distances of this gun from the direction finder. Curve 1 is calculated at a distance of 20 km; curve 2-15 km; curve 3-10 km and curve 4-5 km.

Fig. 15 The dependence of the statistical estimate of the root-mean-square error of the bearing of the SG shot of a caliber of 155 mm from its true value, varying in the range of 0.018 ... 0.0196 rad, with the classical method of determining the bearing, 20 sound receivers in each linear group, measuring the directional angles of these periscopic groups PAB 2A artillery compass and at a distance of 20 km from the direction finder (curve 1) and 15 km (curve 2).

Fig. 16 The dependence of the statistical estimate of the standard error of the bearing of a 155 mm caliber self-propelled howitzer shot on its true value, varying in the range of 0.018 ... 0.0196 rad, with the classical method of bearing detection, 20 sound receivers in each linear group, measuring directional angles of these groups periscope artillery compass PAB 2A and at a distance of this gun from the direction finder at 5 km (curve 1) and 10 km (curve 2).

Fig. 17 The dependence of the statistical estimate of the root mean square error of the bearing of the 155-mm SG shot from its true value, varying in the range of -0.04 ... 0.038 rad, with the classical method of determining the bearing, 10 sound receivers in each linear group, measuring the directional angles of these groups periscope artillery compass of PAB 2A and various distances of this gun from the direction finder. Curve 1 is calculated at a distance of 20 km; curve 2-15 km; curve 3-10 km and curve 4-5 km.

Fig. 18. The dependence of the statistical estimate of the root-mean-square error of the bearing of a 155 mm self-propelled howitzer shot from its true value, varying in the range of 0.038 ... 0.04 rad, with the classical method of determining bearings, 10 sound receivers in each linear group, measuring directional angles of these groups periscope artillery compass of PAB 2A and various distances of this gun from the direction finder. Curve 1 is calculated at a distance of 15 km; curves 2 and 3 - 10 and 5 km.

Fig. 19. The dependence of the statistical estimate of the root-mean-square error of a bearing of a 155 mm self-propelled howitzer shot from its true value, varying in the range of 0.038 ... 0.04 rad, with the classical method of bearing detection, 10 sound receivers in each linear group, measuring directional angles of these groups periscope artillery compass PAB 2A and the removal of this gun from the direction finder for 20 km.

Fig. 20 The dependence of the statistical estimate of the standard error of the bearing of a shot of a 155 mm self-propelled howitzer on its true value, varying in the range of -0.0196 ... 0.0196 rad, with a total-difference (proposed) method for determining the bearing, 20 sound receivers in each linear group, measuring the directional angles of these groups with the PAB 2A periscopic artillery compass and various distances from this gun to the direction finder. Curve 1 is calculated at a distance of 20 km; curve 2-15 km; curve 3-10 km and curve 4-5 km.

Fig. 21 The dependence of the statistical estimate of the standard error of the bearing of the shot of a 155 mm self-propelled howitzer on its true value, varying in the range of -0.04 ... 0.04 rad, with the total-difference (proposed) method for determining the bearing, 10 sound receivers in each linear group, measuring the directional angles of these groups with the PAB 2A periscopic artillery compass and various distances from this gun to the direction finder. Curve 1 is calculated at a distance of 20 km; curve 2-15 km; curve 3-10 km and curve 4-5 km.

When comparing the accuracy of the considered methods for determining the FR bearing as a quantitative criterion, we take it the statistical estimate (SD) of the standard error (RMS) of the bearing measurement, as the most common in measurement theory. Given the complexity of AB for determining the bearing FROM the considered methods, we use the statistical test method to calculate the SD of the measurement of this bearing. SO RMS measurement of the FROM bearing in the prototype, taking into account the interference caused by the wind acting at the input of the RF microphones and the thermal noise of the electronic AP devices, is determined by this AB [19 AB (11.6.14)].

-Where

-

SB mathematical expectation (MO) bearing FROM;

N is the maximum number of tests;

(this AB was obtained by solving an equation of the form η _К = (U ₁ + U _Ш1 ) / (U ₂ + U _Ш2 ) with respect to α [18, p. 138], and approximate AB it was obtained on the basis of [18, p. 119, 7 th formula above);

α _and - true bearing FROM;

, при |α_и|<Θ_ci;

, for | α _and | <Θ _ci ;

U _Ш1i , U _Ш2i - voltage amplitudes at the outputs of channels 1 and 2, due to the effects of the above interference;

i is the current test number;

, при |α_i|<Θ_C.

, for | α _i | <Θ _C.

Random variables (CB) U _0i , d _i , f _0i. , t _i , W _i , U _Ш1i , U _Ш2i and φ _i included in these ABs, and which we denote by Xi, are most likely distributed according to the normal law [19, pp. 168 ... 171] (although to compare these 2 the form of the distribution laws does not matter, but only there would be the same law in one and the other cases, which is obvious) and are determined by such a general AB [17 p.137]:

where m _X and σ _X are MO and RMSE CB X, respectively;

-

-

random numbers (MF) with the normal distribution law;

R _Xi - midrange uniformly distributed over the interval 0 ... 1;

R _{X (i-1)} = 0, for i = 1.

In the proposed method for measuring the bearing of CO, its RMS will also be determined by AB, similar to AB (5), i.e.

;Where

;

(this AB is obtained by solving an equation of the form η _К = [(U ₁ + U _Ш1 ) - (U ₂ + U _Ш2 )]: [(U ₁ + U _Ш1 ) + (U ₂ + U _Ш2 )] with respect to α [18, p. 138], and the approximate AB it was obtained on the basis of [18, p. 119, the 7th formula from above);

As an example, let’s take a shot from a 155 mm self-propelled howitzer (SG). According to the work [3. see pages 45, 47 and 48] the amplitude of sound pressure in the immediate vicinity of the SG of 152 mm caliber is P _Иm = 127 · 10 ⁴ Pa. Using the graph in fig. 16 of [3, see p. 48], it can be shown that when fired from an SG of 155 mm caliber, this pressure will be about 1.3 MPa.

According to the work [3. see AB (2.7) on page 45] the amplitude of sound pressure at a point remote S meters from the IZ, this amplitude will be determined by this AB:

, при q=1, 6...1.7.

, for q = 1, 6 ... 1.7.

Then, at q = 1.65 and S = 5, 10, 15 and 20 km, P _И = 1,025; 0.327; 0.167 and 0.104 Pa, respectively.

The experiments conducted in the Tula OKB "Octave" showed that LG from 4 microphones of the type FEM - 389 has a sensitivity of η _m = 50 mV / Pa, then it can be assumed that LG from 20 RF with microphones of this type will have a sensitivity of η _LG = 250 mV / Pa. Then it is obvious that the stress amplitudes can be calculated by the formula

Then, in the considered example, U ₀ for the considered removals will be equal to 0.256; 0.082; 0.042 and 0.026 V, respectively, which we take as MO of these amplitudes.

To calculate the CO RMS of the bearing measurement, we take the following missing initial data: N = 100000 number of tests; m _fo = 20 Hz; σ _fo = 0.1 m _fo Hz, i.e. The standard deviation of the harmonic frequency of a speaker is 10% of its MO; m _d = 15.62 m, see paragraph 11; σ _d = 0.05 m, which will provide a measuring tape; m _w = 5 m / s, which is often observed in the surface layer (at a height of 2 m from the surface of the earth) of the atmosphere; σ _w = 1 m / s, which is provided by modern meteorological instruments; m _φ = 0, i.e. the wind direction is west and the line connecting the intersection point 1 and 2 of LG ZP with the approximate center of the DOM is directed strictly west; σ _φ = 0.01 rad, which also provide modern meteorological instruments; m _t = 5 ° C; σ _t = 1 ° С, which is provided by modern thermometers; n is 20;

σ _U0 = 0.1 m _U0 , i.e. The standard deviation of the amplitude of the voltage caused by the influence of the magnetic field is - 10% of its MO; m _Θc = 0.01967 glad, as shown in paragraph 16; K _y1 = K _y2 = 10; m _Ush1 = m _Ush2 = = m _Ush = 0; σ _Uш1 = σ _Uш2 = σ _Uш = = 0.01 V. Let us show that the standard deviation of determining the angle of displacement of the working axes of the NHS LH ZP relative to the RSN σ _Θс = 0.001553 rad. When measuring the DU of the direction: the intersection point of 1 and 2 LG ZP - on the selected landmark located approximately in the center of the DOM, there is a median error E equal to 1 small division of the goniometer [21] (one six thousandth of a circle). Then E = 0.0010472 rad. But the median (probable) measurement error is associated with the standard deviation σ with the following dependence [18, p. 567]:

where ρ = 0.4769. Then σ = 0.001553 rad. Finding the provisions of the LG ZP on the ground is already done by turning the OO of the device at the angles indicated in paragraphs 16 and 17 relative to the measured direction to the selected landmark. When turning the OO device and observing the requirements set forth in [21], the installation errors can be reduced to zero.

Therefore, the standard deviation of determining the angle of displacement of the working axes of the NHN LH ZP relative to the RSN can be taken equal to 0.001553 rad.

The text of the software for calculating the standard deviation of the standard deviation when determining the bearing in the classical way, which is used in the prototype, and the number of RFPs in LGs of 20 are given in Appendix 3, and the calculation results of these RMs are shown below in the graphs of Figs. 14 ... 16, and at 10 RFPs in LH - Fig. 17 ... 19. The text of the program for calculating the SD of the standard deviation when determining the bearing by the total-difference method (proposed) and the number of RFPs in the LG by 20 is given in Appendix 4, and the calculation results of these RMs are shown below in the graphs of Fig. 20, and at 10 RFPs in the LG - Fig.21 .

Let us evaluate the accuracy of the obtained SB CO of the bearing of this shot. As a quantitative criterion of accuracy with a normal or unknown distribution law of this bearing, the standard deviation of the dispersion is used, which is determined by the following formula [19, p. 461, AB (11.7.9)]:

- CO дисперсии пеленга выстрела СГ калибра 155 мм.Where

- CO dispersion bearing bearing shot SG caliber 155 mm.

. Т.е. полученные СО СКО пеленга при числе испытаний, равном 100000, можно считать СКО этого пеленга.Obviously, the standard deviation of CO of the dispersion of the bearing of this IZ is 0.447% of the dispersion of CO,

. Those. received CO RMS of the bearing with the number of tests equal to 100,000, can be considered the RMS of this bearing.

From the graphs presented in these figures, the following can be seen:

1. When this IZ is located on the left edge of the AP working sector, these methods for determining the bearing are almost equally accurate, but when this IZ is located on the right side of the AP working sector, the SB of the IZ bearing of the proposed method is significantly less; 2. When this IZ is located on the equal-signal direction, these errors are practically zero in both methods for determining the bearing; 3. With a larger number of RFPs in LG, the errors considered are reduced.

The electrical structural diagram of the AP that implements the proposed method of measuring the bearing using 20 RFPs in LG (in this case, as shown above, ensures high accuracy of direction finding FROM), is shown in Fig.13, which corresponds to Fig.4, shown on page 17 of the prototype [fourteen]. The composition and purpose of the devices included in this circuit are as follows: sound receivers (RF) 1 ... 42, each of which includes an electret microphone, a microphone pre-amplifier, a low-pass filter (LPF) and a direct current source placed in a domed a windproof housing, in the upper part of which a spherical level is mounted, which allows you to set the working axes of the microphones vertically (this ensures their circular HX in the horizontal plane). ZP 1 ... 40 solve the following problems: receive acoustic signals and interference from the surrounding space; convert them to electrical signals and interference; extracting these signals from said mixture of signals and interference; weaken the influence of wind noise, prevent moisture from entering their devices and transmit signals, as well as interference, the amplitude spectrum of which is the same as the amplitude-frequency characteristic of the low-pass filter, to resonant amplifiers (RU). The front 41 and rear 42 sound receivers are similar in composition to the others, but their case is the same as the RF case, for example, the sound meter station СЧЗ - 6 [3, see page 83] or СЧЗ - 6М. RFP 41 and 42 are located relative to the LG as shown in Fig.11. The working axes of these ZP are located horizontally, and the working lobe (larger lobe) of the NKhN ZP 41 is located in the direction of the DOM (towards the front), and - ZP 42 - towards its troops (to the rear). The NHN of these RFPs is presented in FIG. 10. This ensures the reception of nuclear power plants that have fallen into the working sector from the front, and preventing the CBS from acoustic interference arising from volleys of artillery batteries of our troops coming from the rear. The peculiarity of their assignment to other RFPs is that RFP 41 transmits a signal to Schmitt trigger 61, and RFP 42 to a Schmitt trigger 63. RFP 1, RFP 20, RFP 21, and RFP 40 send their signals to RU 45. RFP 1 ... RFP 20 and RFP 21 ... RFP 40 form 1 and 2 LG, respectively, which provides narrow NXN and, therefore, high noise immunity of the direction finder due to spatial selection of FM (targets), see Fig. 9.

RU 43, 44, 46 (there are 20 of them in each block), each of which includes a switch for 2 inputs and 1 output, which is connected to one of the inputs of the RU, and the RU itself (selective amplifier (IU), with a central frequency bandwidth f ₀ equal to, for example, 20 Hz; in RU 43 this frequency is f _1. RU 45 contains only 4 DUTs that do not have an input switch; their center frequency of the passband is also equal to f _0. IU RU 1 and 2 channels 44 and 46 are designed to isolate harmonics with a frequency f ₀ from the amplitude spectrum of electrical signals and interference from the RF 1 ... 20 1 LG and with RF 21 ... 40 2 LG, after the arrival of a positive polarity pulse from a single-shot 62 (selector pulse) and applying it to the corresponding voltage combiners 48, 49. RU 43 is designed to isolate harmonics with a frequency f ₁ from the amplitude spectrum of electrical signals and interference coming from the RF 1 ... 20 1 LG and supplying it to the voltage combiner of the frequency channel f ₁ 47 after the pulse of positive polarity arrives from the single-shot 62. The frequency channel f ₁ together with the other two channels provides determination of the range to FM. The purpose of its devices and the work are considered in detail in [13] and, therefore, the details are not considered here.

Resonance amplifiers 45 are designed to isolate the fundamental harmonic with a frequency f ₀ from the amplitude spectrum of electrical signals and noise coming from the RF 1, 20, 21, 40, and supply it to the pulse shaping devices 59 after the speaker arrives at the corresponding RF.

The voltage adders of the frequency channel f ₁ 47, 1 channel 48, 2 channel 49 have 20 inputs and 1 output. They are designed to summarize the corresponding voltages and supply them to amplitude detectors (AM) during the duration of the selector pulse.

Amplitude detectors 50 ... 52 determine the largest voltage amplitudes of the total signals in their processing channels, convert them to constant voltage and feed them to the corresponding 8-bit analog-to-digital converters (ADCs) 53 ... 55 of their channels.

The latter convert constant voltages that carry information about the above voltage amplitudes into a digital code and transmit it to the respective registers.

и ввода ее в ЭВМ 60. Регистр 1 канала 57 служит для регистрации величины напряжения U₁ и ввода ее в ЭВМ 60. Регистр 2 канала 58 служит для регистрации величины напряжения U₂ и ввода ее в ЭВМ 60.The frequency channel registers f ₁ 56, 1 channel 57, 2 channel 58 are built on the basis of triggers, have one input and 8 outputs. The frequency channel register f ₁ 56 is used to register the voltage

and entering it into the computer 60. The register 1 of the channel 57 serves to register the voltage U ₁ and entering it into the computer 60. The register 2 of the channel 58 serves to register the voltage U ₂ and entering it into the computer 60.

The pulse shaping devices 59 include 4 speaker processing channels. Processing channels for speakers include: Schmitt triggers 65 ... 68; single vibrators 69 ... 72.

Schmitt triggers are designed to form pointed triangular impulses from the corresponding harmonic and quasi-harmonic electrical signals.

Single vibrators 62, 64 are inhibited multivibrators. The one-shot 62 is intended for the formation of rectangular pulses of positive polarity lasting 0.5 s and feeding it to 1 main and 1 control inputs of the switchboards RU 43, 44 and 46.

The one-shot 64 is designed for the formation of rectangular pulses of positive and negative polarity lasting 2 seconds. Moreover, a pulse of positive polarity is fed to the 2 control inputs of the switches RU 43, 44 and 46, and a pulse of negative polarity is fed to the 2 main inputs of the switches RU 43, 44 and 46.

Single vibrators 69 ... 72 are inhibited multivibrators and are designed to form rectangular pulses of positive polarity of 1 s duration supplied to the computer 60.

A computer 60 (see Fig. 13) solves the following problems: calculates bearings FROM using the algorithm for calculating them, presented above, and the text of the program, presented in Appendix 2; calculates the removal of the speaker source from the direction finder using the algorithm for their calculation and the program text presented in Appendix 2 of [14]; determines the arrival times of the signals (T ₁ , T ₂ , T ₃ , T ₄ ), which determine the belonging of the AC source to the working sector of the acoustic antenna; generates clock pulses, pulses "Read" and "Reset", ensuring the operation of the channel frequency registers f ₁ 56, 1 and 2 channels; assigns the target number (to the source of the speaker), fixes the astronomical time of manifestation of this target, calculates its rectangular topographic coordinates x _c , y _c , using the algorithm for calculating them, presented above, and the program text presented in Appendix 2 of [14]; transfers this data to the command post of the artillery division.

Schmitt triggers 61 and 63 are intended for the formation of pointed triangular pulses from the corresponding harmonic and quasi-harmonic electrical signals coming from the front end 41 and rear rear end 42, respectively, and feeding them to single vibrators 62 and 64.

Single vibrators 62 and 64 are also braked multivibrators. The single vibrator 62 generates a selective pulse supplied to the first and control inputs of the switch for a duration of 0.5 s. The single-shot 64 produces a rectangular pulse of negative polarity, which is supplied to the second input of the switch for a duration of 2 s, as well as to the input of the inverter.

The proposed device works as follows: when receiving speakers from the working sector of the direction finder, the sound wave reaches, for example, RF 1, the latter converts this speaker into an electrical signal (ES) and feeds it to 1 DC of the RU 45 unit, from the output of this amplifier the signal goes to the trigger Schmitt 65, the latter will form from this ES pulses of a triangular shape arriving at a single-shot 69. The first of these pulses will cause this single-shot to generate a rectangular pulse of positive polarity lasting 1 second, which will enter the computer. The latter will fix the time T ₁ . Upon receipt of the AU to ZP 2, ZP 3, etc. the latter transform this AS into ES and feed them to 1 inputs of the corresponding switches, but then these ES will not pass, because at this time, the selector pulse does not arrive at the switches. With the arrival of the AU to the ZP 21, it converts it to an ES and feeds it to 1 IU of the RU 46 unit, from the output of this amplifier the signal goes to a Schmitt trigger 67, the latter will form triangular pulses from this ES, which are fed to a single-shot 71. The first of these pulses will cause the formation by this one-shot of a rectangular pulse of positive polarity lasting 1 s, which will enter the computer. The latter will fix the time T ₂ .

Similar processes will occur in the direction finder when receiving AC ZP 20 and 40. As a result, the computer will fix the computer times T ₃ and T ₄ .

поступит в ЭВМ, где в соответствии с представленным выше алгоритмом будут рассчитаны вышеназванные величины.When the AS arrives at the front-end ZP 41, an ES will be formed at its output, which will go to the Schmitt trigger, the latter will form a sequence of triangular pulses, the first of which will trigger a single-shot 62. It will generate a selector pulse that will go to 1 and the control inputs of all RU 43 switches , 44 and 46, as a result of which all the DUTs of these switchgear units will be allocated for a period of 0.5 s and amplified ES, which will go to the corresponding voltage combiners 47 ... 49. The latter will form the corresponding total ES, which will go to their blood pressure. They convert the largest amplitudes of the total ES to constant voltage, which will be supplied to their ADCs 53 ... 55. The latter will convert them into binary code and transmit this information to the corresponding registers 56 ... 58, and then to the computer. Thus, information on the amplitudes U ₁ , U ₂ and

will go to the computer, where, in accordance with the above algorithm, the above values will be calculated.

When the AS arrives at the rear of the rear 42, an ES will be formed at its output, which will go to the Schmitt trigger, the latter will form a sequence of triangular pulses, the first of which will trigger a single-shot 64. It will generate 2 pulses of negative and positive polarity lasting 2 seconds. A pulse of positive polarity will go to the 2 control input of all switches 43, 44 and 46, and a negative polarity will go to the 2 main input of all of these switches. As a result, all the DUTs of these switchgear units will be closed for 2 s, therefore, no signals will be sent to the voltage adders.

In the absence of AS at the inputs of the RFP all IU RU 43, 44 and 46 are closed, because the switches disconnect them from their inputs.

Upon receipt of the AS from the rear, it first reaches the rear end of the rear 42, which ensures the formation of 2 of the above impulses, which ultimately closes the DUT of all RU for 2 s. Therefore, when this signal passes through the VL LG, their signals do not enter the IU RU.

When the speakers arrive from directions outside the reconnaissance sector, the signal will be processed through all 3 channels, but bearings of the sources of the speakers, their ranges and their topographic coordinates will not be determined, because the conditions described in AB (3) will not be fulfilled.

Technical implementation of the above method is possible, which we will show below.

ZP 1 ... 40 during direction finding of shooting artillery guns, mortars, shell explosions, warheads of missiles and mines can be sound receivers (Pr-2 devices) used in automated sound metering complexes AZK-5 [22], but with FEM microphones - 389.

ZP 41, 42 are similar in composition to ZP 1 ... 40, but their microphones are of the type MKE 802 [20, p.126], KMKE-1 [20, p.130] or KMS-19-03 (windproof) [ 20, p. 130].

As the switches available in RU 43, 44, 46, four-channel switches can be used, for example, K190KT2 described in [23, p.105, 106].

As the DUTs available in RU 43-46, you can use, for example, DUTs on an operational amplifier (DU) with a double T-shaped bridge. [24, p.167, 168]

As voltage adders 47-49, devices based on an operational amplifier can be used [25, p. 213, 214].

As amplitude detectors, for example, a simple detector of video pulses can be used [26, p. 253, 254].

As an ADC, you can use K572PVZ or K572PV4 [23, p.110].

As registers, you can use, for example, an 8-bit shift register K555IR8 [23, p. 117].

As a computer 60, it is advisable to use the Pentium IV 1700 MHz / 512 Mb DDR / 60 Gb HDD 7200 rpm.

As Schmitt triggers 61, 63, 65-68, for example, K118TL1A integrated circuits and its modifications [27, p.39] or devices based on op-amps described in [24, p.186] can be used.

As single vibrators 62, 64, 69-72, it is advisable to use, for example, K224AG2 integrated circuits [24, p.192-194] or K155AG3 [24, p.116].

Thus, the above direction finding devices are technically feasible.

Information sources

1. Talanov A.V. Sound reconnaissance of artillery, - M.: Military Publishing House of the Ministry of Armed Forces of the USSR, 1948. - 400 p.

2. Talanov A.V. Artillery sound reconnaissance. - M .: Military Publishing, 1957. - 350 p.

3. Sergeev V.V. The bases of the device and design elements of sound measuring equipment. - Penza: PVAIU, 1964 .-- 143 p.

4. Automated sound-measuring complex AZK - 5. (Product 1B17) Technical description. BM, 1977.

5. Automated sound-measuring complex AZK - 7. Technical description. BM, 1987.

6. US patent No. 3042897, cl. 340 - 6. Hydroacoustic direction finder. Published in 1962. Bulletin No. 20, 1962.

7. Copyright certificate for the invention No. 245909. A method of measuring wind speed and direction. / Teplukhin V.A., Shmelev V.V. /. Priority invention 18.12.85,

8. The patent of Germany No. 1807535, class. G01S. Acoustic direction finder. Published in 1970. Bulletin No. 24.

9. The Federal Republic of Germany patent No. 2027940, cl. G01S 3/80. Acoustic direction finder. Published in 1977 Bulletin No. 7.

10. RF patent No. 2138059, class. G01S 3/00, 3/80, 15/08. Acoustic direction finder / Voloshchenko V.Yu. / Published on September 20, 1999; Bulletin No. 26.

11. RF patent No. 2048678, cl. G01S 3/80. Direction finder of sources of acoustic radiation. / Khokhlov V.K. and etc./. Published November 20, 1995

12. Mitko VB, Evtyutov AP, Gushchin S.E. Hydroacoustic communications and surveillance. - L .: Shipbuilding, 1982. - 200 p.

13. RF patent No. 2274873, cl. G01S 3/00. Acoustic direction finder / Shmelev V.V., Shmelev S.V., Akinshin N.S., Patrikov O.A. /. Priority of the invention February 9, 2004

14. RF patent No. 2276383, cl. G01S 3/00. A method of measuring the distance to a sound source / Shmelev V.V., Shmelev S.V., Akinshin N.S., Patrikov O.A. Priority of the invention February 9, 2004. Prototype.

15. Vakhitov Ya.Sh. Theoretical foundations of electroacoustics and electroacoustic equipment. - M .: Art, 1982. - 600 p.

16. A guide to the basics of radar technology. Ed. V.V.Druzhinina. - M .: Military Publishing House, 1967 .-- 768 p.

17. Dyakonov V.P. Reference on algorithms and programs in basic language for personal computers. - M .: Nauka, 1987 .-- 240 p.

18. Bronstein I.N., Semendyaev K.A. Math reference. - M .: Nauka, 1964 .-- 608 p.

19. Ventzel E.S., Ovcharov L.A. Probability theory and its engineering applications. M .: Nauka, 1988 .-- 480 p.

20. Iofe V.K., Korolkov V.G., Sapozhkov M.A. Reference Acoustics. - M.: Communication, 1979. - 312 p.

21. Periscope artillery compass PAB 2A. Service Guide. - BM, 1980 .-- 20 s.

22. The C-1 system. Album of electrical concepts. - BM, 1980.

23. Reference developer and designer CEA. Elemental base. Book I. - M.: Itar-TASS, 1993 .-- 157 p.

24. Zabrodin Yu.S. Industrial Electronics: Textbook for universities. - M.: Higher School, 1992 .-- 496 p.

25. Pavlov V.N. Nogin V.N. Circuitry of analog electronic devices. - M .: Hotline Telecom, 2001 .-- 320 p.

26. Theory and calculation of the main radio circuits on transistors. - M .: Communication, 1964 .-- 456 p.

27. Bulychev A.L., Galkin V.I., Prokhorenko V.A. Analog Integrated Circuits: A Guide. - Minsk: Belarus, 1993 .-- 382 p.

Appendix 1. Automatic calculation of the width of the normalized directivity of the linear group of sound receivers at the level of 0.5 and the angle of displacement of its working axis relative to the equal-signal direction using the modified Newton method.

The initial data for the calculation

Option 1 n: = 20 - the number of sound receivers (RF) in each linear group (LG);

x: = 0.921 - the ratio of the distance between the working axes of the adjacent RF to the wavelength of the acoustic signal;

ΔΘ: = 0.0000001 rad - the increment of the angle in the horizontal plane between the direction: the point of intersection of 1 and 2 LG ZP - FROM and an arbitrary direction in one iteration;

R: = 0.5 - the value of the normalized directivity characteristic (NXN) of the LH RFP, equal to 0.5;

α: = 0.01 rad — modulus of the initial difference in the angles Θ ₂ and Θ ₁ ;

Θ ₁ : = - 0.032 rad - the approximate value of the angle taken from the graph of the NHN of figure 2.

Calculation program text

The calculated final value of the angle Θ, at which the NHL LH RFP is equal to 0.5 Θ (-0.032) = - 0.0327913 rad.

Calculation of the width of the LV LH ZP at the level of 0.5 Θ _0.5 : = 2 · | Θ (-0.032) |

Θ _0.5 = 0.0655825 rad - the width of the LV LH ZP at the level of 0.5.

Calculation of the angle of displacement of the working axes XN LH ZP relative to the equal signal direction (RSN).

рад - угол смещения рабочих осей ХН ЛГ ЗП относительно РСН.Θ _s : = 0.3 · Θ _0.5 Θ _c =

rad - the angle of displacement of the working axes XN LH ZP relative to the RSN.

Option 2. The modified initial data for the calculation of n: = 10 x: = 0.84 Θ ₁ : = - 0.072 rad - the approximate value of the angle taken from the graph of the NHN of Fig.6;

Calculation program text

The calculated final value of the angle Θ, at which the NHL LGZP is equal to 0.5.

, рад.Θ (-0.072) =

, glad.

Calculation of width ХН ЛГ ЗП at level 0.5

Θ0.5: = 2 · | Θ (-0.72) |

рад - ширина ХН ЛГ ЗП на уровне 0,5.Θ0.5 =

rad - width HH LH ZP at the level of 0.5.

Calculation of the angle of mixing of the working axes

Θ _s : = 0.3 · Θ _0.5

рад - угол смещения рабочей оси ХН ЛГ ЗП относительно РСН.Θ _c =

rad - the angle of displacement of the working axis XN LH ZP relative to the RSN.

Appendix 2. Automatic calculation of the bearing of a sound source using the modified Newton method using the application program "Mathcad 2001i Professional".

Option 1. Initial data for the calculation

Θ _s : = 0.01967 rad - the angle of displacement of the working axes of the directivity characteristics of linear groups (LG) of sound receivers (RF) relative to the equal-signal direction;

f ₀ : = 20 Hz - operating frequency of the direction finder;

n: = 20 - the number of RFPs in each LG;

t: = 5 Degree Celsius - air temperature in the surface layer of the atmosphere;

d: = 15.62 m - the distance between the working axes of the adjacent ZP LG;

W: = 5 m / s - wind speed in the surface layer of the atmosphere;

φ: = 0 rad - the difference between the directional angles of the wind and the direction of the point of intersection of the LG ZP is the sound source (FROM);

Δα: = 0.0000001 rad - bearing increment FROM;

Calculation program text

The results of the calculation of bearings FROM for a number of η _{cf are} as follows:

α ₂ (-0.50597) = - 0.02019 rad;

α ₂ (-0.24311) = - 0.01 rad;

α ₂ (0) = 0 rad;

α ₂ (0.24311) = 0.01 rad;

α ₂ (0.50597) = 0.02019 rad.

Option 2. Changed initial data for the calculation, since the number of salaries in each LG is 10 pieces.

Θ _s : = 0.0432927 rad - the angle of displacement of the working axes of the directivity characteristics of the LG ZP relative to the equal-signal direction;

n: = 10 - the number of RFPs in each LG;

d: = 14.24 m - the distance between the working axes of the adjacent ZP LG.

The text of the calculation program (similar to the above)

The results of the calculation of bearings FROM in radians for a number of values η _{cf are} as follows:

α ₂ (-0.6) = - 0.05204; α ₂ (-0.5) = - 0.04394; α ₂ (-0.4) = - 0.03561; α ₂ (-0.3) = - 0.02703; α ₂ (-0.2) = - 0.01819; α ₂ (-0.1) = - 9.15412 × 10 ^-3 ; α ₂ (0) = 0; α ₂ (0.1) = 9.15412 × 10 ^-3 ; α ₂ (0.2) = 0.01819; α ₂ (0.3) = 0.02703; α ₂ (0.4) = 0.03561; α ₂ (0.5) = 0.04394; α ₂ (0.6) = 0.05204.

Appendix 3. Calculation of the dependence of the statistical estimate of the root-mean-square error of the bearing of a self-propelled howitzer shot of a caliber of 152 mm on its true bearing by the method of statistical tests with the classical method for determining this bearing and 20 sound receivers in each linear group using the Mathcad 2001i Professional application program.

The initial data for the calculation

N: = 100000 - number of tests;

m _f0 : = 20 Hz - MO of the operating frequency of the direction finder;

σ _f0 : = 0.1 · m _f0 Hz - standard deviation of the operating frequency of the direction finder;

m _W : = 5 m / s - MO of wind speed in the surface layer of the atmosphere;

σ _W : = 1 m / s - standard deviation of wind speed in the surface layer of the atmosphere;

m _φ : = 0 rad — MO of the difference between the directional wind angles and direction: the point of intersection of LG ZP-IZ;

σ _φ : = 0.01 rad - the standard deviation of the difference between the directional angles of the wind and the direction: the intersection point of the LG ZP - IZ;

m _t : = 5 ° С - MO of air temperature in the surface layer of the atmosphere;

σ _t : = 1 ° С - standard deviation of air temperature in the atmospheric surface layer;

m _U0 : = 0.256 V — MO of the voltage amplitude at the output of the HELL of 1 and 2 channels when receiving speakers at a frequency of f0 when the FROM are on the working axes of the NHI 1 and 2 LG ZP, if the gain (transmission) of the above channels were equal to 1;

σ _U0 : = 0.1 · m _U0 V - standard deviation of the voltage amplitude at the output of the HELL of 1 and 2 channels when receiving the speakers at a frequency f0 when the FROM are located on the working axes of the HHN 1 and 2 LG ZP, if the gain (transmission) of the above channels were equal one;

m _Θ.c : = 0.01967 rad — MO of the angle of displacement of the working axes of the NHN 1 and 2 LG ZP relative to the equal-signal direction;

σ _Θ.s :: = 0.001553 rad - standard deviation of the angle of displacement of the working axes of the NHN 1 and 2 LG ZP relative to the equal-signal direction;

k _y1 : = 10; k _y2 : = 10 - transmission (gain) coefficients for the signal voltage with a frequency of f0 1 and 2 channels;

α _AND : = 0 rad - true bearing FROM;

m _Ush1 : = 0 V; m _Ush2 : = 0 V - MO noise voltage 1 and 2 signal processing channels;

σ _Uш1 : = 0.01 V; σ _Uш2 : = 0.01 V- _standard deviation of noise voltage of 1 and 2 signal processing channels;

n: = 0 - the number of RFP in each LG RFP;

m _d : = 15.618 m — MO of the distance between the working axes of neighboring RFs in LG;

σ _d : = 0.05 m - standard deviation for measuring the distances between the working axes of the adjacent RF in the LG;

The formation of random numbers with a uniform distribution law on the interval 0 ... 1

The formation of random numbers with the normal distribution law on the interval 0 ... 1

Program text

Calculation of the dependence of the statistical estimate of the root mean square error of determining the bearing of the sound source at various distances from the direction finder.

Removal is 20 km

Removal is 15 km

Removal is 10 km

Removal is 5 km

Plotting the dependence of the statistical estimation of the standard deviation of the bearing of the shot of a 155 mm self-propelled howitzer from its true bearing at various distances from the direction finder

α _and : = - 0.0196, -0.0196 + 0.001 ... 0.018 rad

Appendix 4. Calculation of the dependence of the statistical estimate of the root-mean-square error of the bearing of a self-propelled howitzer shot of a 152 mm caliber from its true bearing by the method of statistical tests with a total-difference method for determining this bearing and 20 sound receivers in each linear group using the Mathcad 2001i Professional application program.

The initial data for the calculation

N: = 100000 - number of tests;

M _f0 : = 20 Hz - MO of the operating frequency of the direction finder;

σ _f0 : = 0.1 · m _f0 Hz - standard deviation of the operating frequency of the direction finder;

m _W : = 5 m / s - MO of wind speed in the surface layer of the atmosphere;

σ _W : = 1 m / s - standard deviation of wind speed in the surface layer of the atmosphere;

m _φ : = 0 rad — MO of the difference between the directional wind angles and direction: the point of intersection of LG ZP-IZ;

σ _φ : = 0.01 rad - standard deviation of the difference between the directional angles of the wind and the direction: the point of intersection of the LG ZP-IZ;

m _t : = 5 ° С - MO of air temperature in the surface layer of the atmosphere;

σ _t : = 1 ° С - standard deviation of air temperature in the atmospheric surface layer;

m _U0 : = 0.256 V — MO of the voltage amplitude at the output of the HELL of 1 and 2 channels when receiving speakers at a frequency of f0 when the FROM are on the working axes of the NHI 1 and 2 LG ZP, if the gain (transmission) of the above channels were equal to 1;

σ _U0 : = 0.1 · m _U0 V - standard deviation of the voltage amplitude at the output of the HELL of 1 and 2 channels when receiving the speakers at a frequency f0 when the FROM are located on the working axes of the HHN 1 and 2 LG ZP, if the gain (transmission) of the above channels were equal one;

m _Θ.s :: = 0.01967 rad — MO of the angle of displacement of the working axes of the NHN 1 and 2 LG ZP relative to the equal-signal direction;

σ _Θ.c : = 0.001553 rad - standard deviation of the angle of displacement of the working axes of the NHN 1 and 2 LG ZP relative to the equal-signal direction;

k _y1 : = 10; k _y2 : = 10 - transmission (gain) coefficients for the signal voltage with a frequency of f0 1 and 2 channels;

α _and : = 0 rad "true bearing FROM;

m _Ush1 : = 0 V; m _Ush2 : = 0 V - MO noise voltage 1 and 2 signal processing channels;

σ _Uш1 : = 0.01 V; σ _Uш2 : = 0.01 V - _standard deviation of noise voltage of 1 and 2 signal processing channels;

n: = 20 - the number of RFP in each LG RFP;

m _d : = 15.618 m — MO of the distance between the working axes of neighboring RFs in LG;

σ _d : = 0.05 m - standard deviation for measuring the distances between the working axes of the adjacent RF in the LG;

The formation of random numbers with a uniform distribution law on the interval 0 ... 1

The formation of random numbers with the normal distribution law on the interval 0 ... 1

Program text

Calculation of the dependence of the statistical estimate of the root mean square error of determining the bearing of the sound source at various distances from the direction finder.

Removal is 20 km

Removal is 15 km

Removal is 10 km

Removal is 5 km

Claims (1)

A method for determining the bearing of a sound source, which consists in measuring the temperature of the air in the surface layer of the atmosphere, calculating the propagation speed of the acoustic signal in this layer of the atmosphere in the absence of wind, measuring the speed and directional angle of the wind in the surface layer of the atmosphere, and choosing an even area with a length of about three hundred meters wide, set from the approximate center of this site on a line perpendicular to the two sides of this square and directed to the approximate center of the area of special attention At a distance of about one hundred and fifty-five meters, an angle-measuring optical-mechanical device above the assumed intersection point of the linear groups of sound receivers, they measure the directional angle of direction from this point to the approximate center of the area of special attention, find the difference between the directional angles of the wind and the specified direction, calculate the speed of sound taking into account the influence of wind, calculate the sound wavelength received by the sound receivers of the acoustic direction finder, build graphs of the normalized characteristics of the direction the linearities of the linear groups of sound receivers at different ratios of the distances between the working axes of the directivity characteristics of the sound receivers to the wavelength they receive, find the optimal directivity characteristics of the linear groups of sound receivers from these graphs, determine its width at half level and the offset angle of the working axes of these characteristics relative to the equal signal direction, calculate the required distance between the working axes of adjacent sound receivers and the length of their linear groups, take aka cal signals and interference sound receivers, convert them into electrical signals and noise, summing them, isolated from a mixture of electrical signals and interference electric signal and the attenuated noise filter frequency f ₀ which have come only from the working sector acoustic finder, measured at the same time maximum voltage amplitudes at the outputs of the first and second signal processing channels, characterized in that they select the frequency of the acoustic signal f ₀ from its amplitude spectrum, automatically plot n based on the directivity characteristics of the linear groups of sound receivers with the ratio of the distance between the working axes of adjacent sound receivers to the length of the sound wave they receive equal to one or less, the optimal directivity characteristics of the linear groups of sound receivers are found based on the given number of sound receivers in the linear groups, the approximate value of half the width is determined from it normalized directivity characteristics of linear groups of sound receivers, automatically determine the exact value of the width s of the normalized directivity characteristics of the linear groups of sound receivers at half level and the displacement angle of the working axes of the normalized directivity characteristics of the linear groups of sound receivers relative to the equal-signal direction, calculate the difference in angles between ninety degrees and the angle of displacement of the working axes of the normalized directivity of the linear groups of sound-receivers relative to the equal-signal direction, rotate the optical axis angle measuring device installed above called point, to the left of the direction to the approximate center of the area of special attention, an angle equal to the difference of angles between ninety degrees and the angle of displacement of the working axes of the normalized directivity of the linear groups of sound receivers, turn the optical axis of the angle measuring device from the direction to the second pole to the left twice the angle of the working axes of the normalized directivity characteristics of linear groups of sound receivers with respect to the equal-signal direction, set on the direction of the optical axis n and at a distance of half the length of the linear group from the intersection of the linear groups of sound receivers the third milestone, turn from the direction of the third milestone the optical axis of the angle meter to the left by an angle of one hundred eighty degrees, set on the direction of the optical axis of this device at a distance of half the length of the linear group from the intersection of the linear groups the fourth milestone, pull a rope between these milestones, install the first sound receiver with a circular normalized directivity in g the horizontal plane of the first linear group above the point where the first pole was, and its working axis would be vertical, then, similarly, the remaining sound receivers with a circular normalized directivity in the horizontal plane at the calculated distances between their centers along the rope are installed, the first sound receiver of the second linear group of sound receivers is installed above the point where the third milestone was, and its working axis would be vertical, other sound receivers are also installed at calculated distances between their centers along the rope, turn the optical axis of the angle measuring device to the approximate center of the area of special attention, turn it right or left at an angle of one hundred and eighty degrees, place in this direction at a distance of about one hundred fifty-five meters from this device a sound receiver with a normalized directivity horizontal plane described by the cardioid, so that its working axis is approximately parallel to the horizon plane and approximately coincides with the direction of the approximate price p of the area of special attention, place in the same direction at a distance of about one hundred and fifty meters from the installed sound receiver a sound receiver with a normalized directivity in the horizontal plane described by the cardioid, so that its working axis is approximately parallel to the horizon and opposite to the direction to the approximate center of the special attention area, subtract from the maximum voltage amplitude at the output of the first processing channel the maximum voltage amplitude at the output of the second channel They add up these maximum voltage amplitudes, obtain the ratio of their difference to their sum and automatically determine the bearing of the sound source from this ratio.

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