RU2348011C1 - Navigation system - Google Patents

Abstract

FIELD: physics, measurements.

SUBSTANCE: invention relates to instrument making and can be used in designing the integrated navigation systems. The proposed navigation system comprises the satellite navigating system receiver-indicator, speed and course measuring instruments. The three-component direction magnetic pickup is incorporated with the mobile object system of coordinates, pickups of roll and trim, pickups of the angles of aerials and slip. The pickups of linear accelerations and angles of speeds are incorporated with the system of coordinates of the indirect stabilised platform mobile object, furnished with three gimbal frames. Note here that the indirect stabilised platform is additionally incorporated with the proposed system provided with three gimbal frames.

EFFECT: expanded performances.

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Description

The invention relates to the navigation of moving objects, including aircraft, ships, underwater objects, and can be used to improve the accuracy of navigation and navigational and hydrographic support of the Navy.

Known navigation systems for aircraft, surface and submarines [1-8], depending on the tasks solved by moving objects, consist of a heading meter (magnetic compass, gyrocompass, etc.) and speed (air speed sensor, Doppler speed and drift meter) , heights and angles of drift and drift, direction finders, navigation radar stations, receiver indicators of radio navigation and satellite navigation systems, sensors for measuring dynamic parameters, including large inertial systems and systems Topics aggregation and co-processing of the measured data on the basis of computational tools.

However, to determine the coordinates of the place using the equipment of the satellite navigation system, it is necessary to enter the absolute speed of the moving object into it, which are determined by means of a radio-Doppler speed meter or airspeed sensor (aircraft), otherwise there will be a systematic error in determining the speed of the object, and, as as a result of this, the coordinates of the object’s location will also be determined with a systematic error, which over time the process of movement will accumulate. Using parametric optimization of the algorithm for integrating signals from sensors operating on different physical principles and having an inadequate response to external influences to increase the accuracy of navigation measurements does not always lead to the desired result. So, for example, the method of synthesis of optimal systems based on the separation theorem works flawlessly when all measurements contain noise such as white noise and the estimator is a Kalman filter. If the interference in any measurement channels is correlated or absent, then the Kalman filter equations degenerate, and to obtain optimal estimates, it is necessary to use the Bryson-Johansen filter. In this case, the application of the general technique may encounter difficulties, and the implementation of the optimal linear control law by estimates is not always possible (see, for example, [3]).

Known [9] is the navigation system of a moving object, the closest in technical essence, consisting of a receiver-indicator of a satellite navigation system, a speed and course meter, including a three-degree magnetic direction sensor installed in the coordinate system of a moving object, roll angle and trim sensors, angle of attack sensors and sliding sensors of linear accelerations and angular velocities installed in the coordinate system of a moving object, and an on-board computer, made with the possibility of joint abotki all sensors and systems indirect stabilized platform equipped with three gimbal frames in which three torque servo motor, two ternary accelerometer mechanism moving them relative to each other are set, the meter of the linear velocity of the three-component accelerometer operatively associated with the onboard calculator.

However, when using this navigation complex, there is a total error in determining the navigation parameters due to inaccurate knowledge of the parameters of the gravitational field and the Earth’s figure.

Of all the parameters of the gravitational field and the figure of the Earth, the most significant error is caused by the deviation of the vertical line (FOL).

The essence of the influence of OOL on the output of a navigation complex, for example, an inertial navigation complex, which is the specified prototype, is that navigation is carried out in a geophysical coordinate system, and navigation parameters are generated in an astronomical coordinate system. The geodetic system is associated with the normal to the earth's ellipsoid, and the astronomical coordinate system is associated with the normal to the geoid. The angle between the indicated normals corresponds to the angle of the VOL.

The mean square value of the OOL in the World Ocean is 5.7 "[10]. Only due to this, the mean square error of determining the coordinates of the place and speed is 0.1 miles and 0.4 knots, respectively.

It is known [10] that the FRA in the ocean can reach 60 ". In this case, the limiting values of the error in determining the coordinates of the place and speed will be respectively 1.2 miles and 4.2 knots. When the object moves at a speed of 30 knots under the same conditions, the average the square errors of determining the coordinates of the place and speed will be 0.1 miles and 0.2 knots, and the marginal errors (with P = 0.95) will be 1.0 miles and 2.4 knots, respectively.

In [10], the dependence of the error in determining the course (m _k ) due to the influence of the OOL and latitude of the place is given

where M _E is the error in determining the coordinates of the place in parallel due to the influence of the OOL;

φ is the latitude of the place;

R is the average radius of the Earth.

From the formula (1) it follows that with a mean square value of M _E = 0.1 miles at a latitude of 60 °, the mean square value of m _k will be 0.2 ', and at a latitude of 80 ° - 0.6'.

If the limiting value of M _E reaches 1.2 miles, then the limiting value of m _k already at a latitude of 60 ° will be equal to 2.0 minutes [10].

The objective of the claimed technical solution is to increase the accuracy of determining the current numerical navigational parameters produced by the on-board navigation system of a moving object.

The task is achieved due to the fact that the navigation system of a moving object, consisting of a receiver-indicator of a satellite navigation system, speed and course meters, including a three-component magnetic direction sensor installed in a connected coordinate system of a moving object, roll and trim angle sensors, angle of attack and slip sensors , linear acceleration sensors and velocity angles installed in the coordinate system of a moving object, an indirect stabilized platform equipped with three a frame with three servo-driven torque motors mounted on it, two three-component accelerometers with a mechanism for moving them relative to each other, a linear velocity meter for three-component accelerometers relative to a moving object, and an onboard control unit that is capable of joint processing of information from all sensors ( measuring instruments) and systems, an indirect stabilized platform is introduced into it, equipped with three cardan frames on which three torque motors with a servo drive, four accelerometers with a vertical axis of sensitivity, or three-component accelerometers with a mechanism for moving them in the horizon of the first pair of these accelerometers towards each other in given parallel directions and the second pair of these accelerometers towards each other in parallel directions perpendicular to the first direction pairs of accelerometers, linear velocity meters of data of four accelerometers rel of a moving object, by the recorders of the moments when accelerometers meet on the beam of the first and second pairs, these meters and the recorder are functionally connected to the on-board computer.

An indirect stabilized platform equipped with three cardan frames, on which three torque motors with a servo drive, four accelerometers with a vertical sensitivity axis with a mechanism for moving them in the horizon of the first pair of accelerometers towards each other in given parallel directions and the second pair of accelerometers towards each other in parallel directions perpendicular to a given direction of movement of the first pair of axel data rometrov, calipers linear velocity of the four accelerometer data regarding the movable object, the meeting registrar moments of the first and second pairs of accelerometers on the beam; These meters and the recorder are functionally connected to a computer that provides the determination of the OOL, and therefore the navigation parameters, which are practically free of the error due to the OOL.

The analysis of the prior art made it possible to establish that analogues that are characterized by a set of features identical to all the features of the claimed technical solution are absent, which indicates the compliance of the claimed device with the patentability condition of "novelty".

The search for known solutions in this and related fields of technology in order to identify features that match the distinctive features of the prototype of the claimed object showed that they do not follow explicitly from the prior art.

The prior art also did not reveal the popularity of the impact provided by the essential features of the claimed invention, the transformations on the achievement of the specified technical result. Therefore, the claimed invention meets the condition of patentability "inventive step".

The essence of the claimed technical solution is illustrated by the drawing (Fig. 1), which shows a block diagram of a device that includes an on-board computer - 1, a magnetic direction sensor (MDN) - 2, a block of roll angle sensors (BDUK) - 3, a pitch angle sensor block (BDT) - 4, the block of sensors for the angle of antennas (BDUA) - 5, the block of sensors for the angle of sliding (BDUS) - 6, the receiver indicator of the satellite navigation system (PI SNA) - 7, the block of sensors for linear acceleration (BDLU) - 8, the block of sensors for angular speeds (BDUS) - 9, control panel - 10, indirect stabilized platform ormu (KSP) - 11, on which are installed three torque electric motors (MED) 12, 13, 14 with a servo drive, two three-component accelerometers (TKA) 15, 16 with an accelerometer movement mechanism (MPA) - 17 of their movement in a horizontal plane relative to each other linear velocity meter (ILS) - 18 displacement of three-component accelerometers - 15, 16; a speed meter - 19 and a gyrocompass - 20, containing an indirect stabilized platform (KSP) - 21, on which three torque motors (DER) - 22, 23, 24 with a servo drive, four accelerometers with a vertical sensitivity axis (AVOCH) - 25, 26 , 27, 28 with the mechanism of their movement (MPA) - 29 in the horizon of the first pair of accelerometers 25, 26 towards each other in a given direction and the second pair of accelerometers 27, 28 towards each other in a direction perpendicular to the specified direction of movement of the first pair of accelerometers 25, 26 from eritelyami - 30 linear velocity (ILS) moving the accelerometers 25, 26, 27, 28 relative to the moving object, the registrar - 31 meeting points (VLR) of the two accelerometers abeam the first and second pairs operatively associated with airborne computers - 1.

Indirect stabilized platform - 21 is made with three cardan frames, on which are installed three torque motors - 22, 23, 24 with a servo drive, made in the form of a gearbox. The mechanism - 29 movements in the horizon of the first pair of accelerometers 25, 26 in parallel directions towards each other in a given direction and the second pair of accelerometers 27, 28 in parallel directions towards each other in a direction perpendicular to the specified direction of movement of the first pair of accelerometers 25, 26, consists of engine, gearbox, worm gears.

The mechanism - 29 can also be made in the form of two pendulum stands fixed to a platform stabilized in the horizon, to which two pendulums are suspended. An accelerometer with a vertical axis of sensitivity is attached to each pendulum. To ensure undamped oscillations, the pendulums must oscillate in a vacuum cap or under the influence of an external force, for example, an induced magnetic field, which can be induced by an electromagnet.

The mechanism - 29 can also be made in the form of an escalator with an endless ribbon on which accelerometers are fixed.

Meters - 30 of the linear speed of the accelerometers relative to the moving object can be made in the form of interferometric sensors, and tachometers like ADT-20-50 can be used, connected by their outputs to the on-board computer - 1.

The meeting moment recorder - 31 accelerometers on the beam can consist of a photodetector and a directional light source, which are located respectively on one and the second accelerometer in the first and second pairs, the output of which is connected to the input of the on-board computer - 1.

соответственно в момент встречи на траверзе акселерометров 25, 26 и 27, 28.The determination of the components of the OOL in the meridian (ξ) and in the first vertical (η) consists in measuring the gravity of the accelerations by accelerometers 25, 26, 27, 28

respectively, at the moment of meeting accelerometers 25, 26 and 27, 28 on the beam.

In the on-board computer - 1, the desired values of ξ and η of the OOL are determined by the following formula dependencies:

The derivation of formulas (2) can be carried out as follows. It is known [11] that the correction for the Eötvös effect Δg _{e is} calculated by the formula

, измеренные соответственно 25, 26, 27, 28 акселерометрами в момент их встречи на траверзе, можно вычислить по формулам:It is also known [12] that when accelerometers with a vertical axis of sensitivity (gravimetric instruments) move in the horizon towards each other along parallel tacks on a moving object of acceleration of gravity

measured respectively by 25, 26, 27, 28 accelerometers at the time of their meeting on the beam, can be calculated by the formulas:

- значение ускорения силы тяжести при отсутствии скорости движения акселерометров 25, 26, 27, 28 и подвижного объекта;Where

- the value of the acceleration of gravity in the absence of the speed of the accelerometers 25, 26, 27, 28 and a moving object;

соответственно.DG _E1, Δg _E2, Δg _E3 and _E4 dG - amendment of the Eötvös effect to the measured values

respectively.

Taking into account formula (3), formulas (4) will take the form:

where ϑ _n1 , ϑ _n2 , ϑ _n3 and ϑ _n4 are the linear speeds of 25, 26 and 27, 28 accelerometers relative to the moving object, respectively;

ϑ is the absolute speed of the moving object;

ω is the angular velocity of the Earth;

α ₁ and α ₂ are the geodetic azimuths of the movement of the accelerometers 25, 26 and 27, 28, respectively;

δ ₁ and δ ₂ - the angle between the velocity vectors ϑ ₁ , ϑ ₂ and ϑ ₃ , ϑ _4, respectively;

R _g - the radius of curvature of the trajectory of the stabilized platform, which is equal to the radius of curvature of the geoid, since the stabilization of the platform occurs due to the influence of the acceleration of gravity of the Earth;

h ₁ and h ₂ - the vertical distance from the accelerometers 25, 26 and 27, 28 to the surface of the geoid, respectively, or to the surface of the water area.

It is known [11] that the astronomical latitude φ and azimuth α can be calculated by the formulas

where B and A are the geodetic latitude and azimuth of the diametrical plane, respectively;

IR and γ are the true course and drift angle (drift) of a moving object, respectively.

The value of R _g seems to be possible to calculate according to the following formula dependencies:

where ϑ _zi , ϑ _xi , ϑ _yi are the vertical and horizontal components of the absolute velocity vector of the stabilized platform at time t _i and t _{i + 1} at the points of the trajectory of the stabilized platform;

In _i is the angle between the absolute velocity vector of the stabilized platform and the horizon plane.

и

получим следующие два уравнения:Substituting (6) into (5) and subtracting

and

we get the following two equations:

Обозначим:

Denote:

Given that the values of ξ and η do not exceed 60 angles. c, the following approximate equalities can be used:

Taking into account formulas (9) and (10), the system of equations (8) will have the following form:

Solving the system of equations (11) with respect to ξ and η, we obtain formulas (2) for determining the components of the OOL in the meridian ξ and in the first vertical η.

In accordance with the probability theory, the mean square error of determining m _{ξ, η of the} components ξ and η of the OOL by the declared navigation system can be calculated using the following formulas:

m_ϑ, m_Σ, m_Rг и m_h - погрешности определения значений

ϑ, Σ, R_г и h соответственно.Where

m _ϑ , m _Σ , m _Rг and m _h are the errors in determining the values

ϑ, Σ, R _g and h, respectively.

(погрешность измерения ускорения современными акселерометрами); ϑ=20 уз; m_ϑ≤0,1 уз; m_Σ=0,01 уз; m_Rг=3 м; m_h=1% от h (современный инерциальный навигационный комплекс обеспечивает определение ϑ, R_г, Σ, h с указанными погрешностями), то погрешность определения составляющих ξ и η УОЛ при осреднении их значений не превысит 1 угл. с.For example, when Σ ₁ = Σ ₂ = Σ = 500 km / h; δ ₁ = 0 °, δ ₂ = 90 °, IR + γ = 90 °; B = 45 °;

(measurement error of acceleration by modern accelerometers); ϑ = 20 knots; m _ϑ ≤0.1 knots; m _Σ = 0.01 knots; m _Rg = 3 m; m _h = 1% of h (a modern inertial navigation complex provides the determination of ϑ, R _g , Σ, h with the indicated errors), then the error in determining the components ξ and η of the OOL when averaging their values will not exceed 1 angle. from.

,

, что обеспечивает при идентичности параметров акселерометров 25, 26 и 27, 28 исключение ускорений, вызываемых одинаковыми силами, и вследствие синхронности независимых измерений позволяет исключить и другие одинаковые систематические погрешности.Thus, the claimed navigation system will allow for the first time in world practice to determine the components ξ and η of the OOL on a moving object with the required accuracy due to the use of differences in formulas (2)

,

, which ensures that the accelerometers 25, 26 and 27, 28 have identical parameters, eliminating accelerations caused by the same forces, and due to the synchronism of independent measurements, it allows eliminating other identical systematic errors.

This circumstance ensures the development of the calculated navigation parameters by the claimed navigation complex much more accurately compared to the prototype due to the determination and accounting of corrections for the influence of the OOL to the calculated navigation parameters generated by the on-board navigation system of the moving object.

Literature

1. The current state and development trends of foreign means and navigation systems of moving objects of military and civil purposes. / Alexandrov A.S., Arno G.R., Vasilyeva T.E. et al. - St. Petersburg: GUNiO of the Ministry of Defense of the Russian Federation, 1994. - S.62-108.

2. Kozarchuk VV, Rebo Y. Yu. Ergonomic navigation systems of aircraft. - M.: Mechanical Engineering, 1986. - S.34-38.

3. Management of marine moving objects. / Lerner D.M., Lukomsky Yu.A., Mikhailov V.A. et al. - L.: Shipbuilding, 1979. - 258 p.

4. Guzeev A.G., Chernyavets V.V. Research and development of the United States on the prospects for the development of hydrofoil ships of the RNM type. - L .: Central Research Institute “Rumb”, EI “Foreign Shipbuilding”, 1978, No. 7.

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9. RF patent RU ⁽¹¹⁾ 2279039 ⁽¹³⁾ C1 dated January 25, 2005.

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11. Ivanov B.E. Eötvös effect when moving along the surface of a geoid. - In: Issues of the theory and methodology of gravitational measurements on a moving base. - M.: Institute of Earth Physics, Penza Polytechnic Institute, 1976. - P.60-63.

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Claims (1)

A navigation system of a moving object, consisting of a receiver-indicator of a satellite navigation system, speed and heading meters, including a three-component magnetic direction sensor installed in a connected coordinate system of a moving object, roll and trim angle sensors, angle and angle sensors, linear acceleration sensors and speed knots, installed in the associated coordinate system of a moving object, an indirect stabilized platform equipped with three cardan frames, on which we have three torque electric motors with a servo drive, two three-component accelerometers with a mechanism for moving them relative to each other, linear velocity meters of three-component accelerometers relative to a moving object, an on-board computer, configured to jointly process information from the above sensors (meters) and systems, characterized in that it introduced an indirect stabilized platform equipped with three cardan frames, on which three electric motors with a servo-drive, four accelerometers with a vertical axis of sensitivity with a mechanism for moving them in the horizon of the first pair of these accelerometers towards each other in predetermined parallel directions and the second pair of these accelerometers towards each other in parallel directions perpendicular to the given direction of movement of the first pair of accelerometer data, meters linear speed of data movement of four accelerometers relative to a moving object, a recorder time of the meeting of accelerometers on the beam first and second pairs, with gauges and recorder operatively connected to the calculator.