RU2373562C2 - Method and device for controlling horizontal orientation of aircraft - Google Patents

Abstract

FIELD: physics; control.

SUBSTANCE: invention relates to complex flight control of autopilot systems of aircraft. The method is based on measuring the value and direction of apparent and absolute linear acceleration, calculation of their differences, ratios of the differences, including the number to the value of acceleration of gravity, and inverse trigonometric functions of evaluations of pitching and banking. Subsequent comparison of these evaluations with given values allows for controlling orientation of the aircraft. The device has a vector accelerometre, subtracting unit, vector sensor of absolute linear acceleration, unit for setting value of acceleration of gravity, unit for determining orientation components and comparator unit.

EFFECT: design of non-redundant automatic control and monitoring systems, increased accuracy and reliability of control.

6 cl, 6 dwg

Description

The invention relates to the field of integrated flight control systems for automatic control of aircraft, in particular to means of hardware redundancy control of the horizontal orientation of remotely piloted aircraft, minimum weight, dimensions, power consumption, complexity and cost. It can also be used to create simple and highly reliable means of control and backup channels for flight and navigation systems of a modern aircraft, protected from failures and failures of the main multiple redundant complex gyro-inertial control system.

A known method of controlling the horizontal orientation of the apparatus, based on the assessment of the behavior of the pendulum vertical on it of one-dimensional or two-dimensional form [Taratorkin BS Devices for yachts and boats. Directory. L .: Shipbuilding, 1984. p.156; Seleznev V.P. Navigation devices. M .: Engineering, 1974, p. 152; Prospectus company Aviapribor. Three-channel silicon accelerometers AT-1304, AT-1305. MAX-2001]. In this case, the deviations of the apparatus from the horizontal plane are measured using angle sensors of a potentiometric, inductive, optical type along the pendulum suspension axes. The method is simple to implement, but has a relatively low accuracy. This is determined by the influence of the vehicle’s accelerations on the operation of the pendulum, friction, and errors in reading information about pitch and roll angles from its angle sensors. The weight and dimensions of the pendulum vertical create additional difficulties when it is placed on a light apparatus. Remote control of the pendulum's orientation on the apparatus worsens the operating conditions of the control operator and reduces the amount of useful video information transmitted from the apparatus.

A known method of controlling the horizontal orientation of the apparatus using a gyroscopic vertical with pendulum correction [Seleznev V.P. Navigation devices. M. Engineering, 1974, p. 158; Altukhov V.Yu., Stadnik V.V. Gyroscopic instruments, automatic on-board aircraft control systems and their technical implementation. M. Engineering, 1991. S. 20-37], for example, type AGB-3K, MGV-1, MGV-4. The gyroscope controlled by the pendulum, due to its stability smooths out the dynamic errors of the pendulum. The controlled information is taken from the sensors of the cardan suspension angles of the gyroscope on the device. The method is widely used on modern aircraft. It has the necessary accuracy of measuring pitch and roll angles, but its implementation on small-sized devices creates significant problems with the power and power consumption of the gyroscope, weight, dimensions and cost of the equipment.

A known method of controlling the horizontal orientation of the device using inertial navigation systems platform or strapdown type [Seleznev V.P. Navigation devices. M .: Mechanical Engineering, 1974, p. 366; Pomykaev I.I., Seleznev V.P., Dmitrochenko L.A. Navigation devices and systems. M.: Mechanical Engineering, 1983. p.226]. In the platform system, the angular position of the apparatus is controlled by the rotation angles of the cardan suspension of a horizontally oriented gyro platform. In the platform system, the pitch and roll of the apparatus are calculated based on high-precision measurements of the magnitudes and directions of the apparent accelerations and angular velocities of the apparatus in the on-board computer according to complex algorithms. The cost, dimensions and weight of such systems in most cases are very high, energy consumption is significant, and reliability is poor. For small remotely piloted vehicles with a limited operating time and range, their use is impractical.

A known optical method for monitoring the vertical apparatus without pendulums and gyroscopes [Seleznev VP Navigation devices. M .: Mechanical Engineering, 1974, p.198; Alekseev K.B., Bebenin G.G. Spacecraft control. M .: Mechanical Engineering, 1974. p.108]. It is based on optical control of the position of the horizon of the planet relative to the apparatus. The method includes conical scanning of the horizon with an optical sensor. The axis of the viewing cone in the steady-state position balanced by the sensor signals passes through the center of the planet, coinciding in direction with the vertical of the place. The pitch and roll angles of the apparatus cause the viewing cone to deviate, which is detected by the sensor. Its beneficial signals are proportional to the controlled angles. The method is applicable to control the orientation of spacecraft and is implemented using complex and unreliable infrared sensors. On small-sized and low-altitude remotely piloted vehicles, its implementation is impossible due to large control errors. The noise immunity of the method is low.

There is an analytical method for constructing a vertical aboard a spacecraft, according to which its horizontal orientation can be controlled [Seleznev V.P. Navigation devices. - M: Mechanical Engineering, 1974, p.208]. The method is based on modeling over time of changes in latitude and vertical elevation of the apparatus according to the Kepler equation. In this case, the following parameters are used as well-known parameters: angles of the initial equatorial position of the device, given orbital parameters. The method has limitations on the operating time and low accuracy due to the inherent determinism of the perturbed movement of the device in orbit.

There is an analytical method for constructing a vertical of increased accuracy on board a spacecraft using two tracking telescopes that sight luminaries [Besekersky V.A., Ivanov V.A., Samotokin B.B. Orbital gyrocompassing. St. Petersburg: Polytechnic, 1993. p.140]. The initial information for calculating the values of the controlled pitch and roll angles in a digital computer are: the coordinates of the stars, the position of the ascending node, the inclination of the orbit, and the location of the device. Based on these data and the signals of the sine-cosine transformers of the cardan suspensions of the tracking telescopes, the BCVM analytically solves the problem of determining the current horizontal orientation of the apparatus. The reliability of the method is limited by the processes of search, identification and maintenance, providing viewing angles and visibility of specific luminaries. Its implementation on a light vehicle that performs atmospheric flight is extremely difficult and has a high cost and low reliability.

Known radar control method for the horizontal orientation of the spacecraft, based on measurements of distances to the earth's surface in four directions, making a constant angle with a plane perpendicular to the direction of the instrument vertical [Alekseev KB, Bebenin G.G. Spacecraft control. M .: Mechanical Engineering, 1974. p. 125-126]. By the difference in the signals of the ranges from the center of mass of the device to the earth's surface, small pitch and roll angles are judged. A type of radar control method for horizontal orientation implies a conical scan of the earth’s radial surface around the instrument vertical of the apparatus. Deviation of the apparatus by roll and pitch leads to the oscillatory nature of the rangefinder signal at the output of the receiver. Its subsequent demodulation makes it possible to identify the components of the roll and pitch of a controlled horizontal orientation. The implementation of radar methods is associated with high energy consumption, weight and dimensions of the transmitter, receiver, antenna-feeder path. The methods have low accuracy at low altitude flight. The interference immunity of the transceiver radar system and its electromagnetic compatibility with the main electronic equipment of a light remotely piloted aircraft is extremely difficult.

Also known are methods for controlling the horizontal orientation of only spacecraft based on the known properties of orbital motion in the near-Earth environment. They are based on the control of the orbital plane and the position of the velocity vector of the vehicle relative to the Earth’s ionosphere [V. Seleznev Navigation devices. - M .: Mechanical Engineering, 1974, p.210-220] a gyro-orbiter and an ion orientation sensor. Such control of orientation on the atmospheric apparatus is impossible.

A known prototype method of constructing a gravitational vertical, which allows you to control the horizontal orientation of the apparatus [Seleznev V.P. Navigation devices. M .: Mechanical Engineering, 1974, p.205]. The method consists in simultaneously measuring the magnitudes and directions of the apparent linear accelerations and the angular velocity of the apparatus located in the central gravitational field. The magnitudes and directions of apparent linear accelerations are measured at two fixed points equidistant from the center of rotation of the apparatus. The magnitude and direction of the apparent linear acceleration component, which depends on the angular velocity of rotation of the apparatus and the distance of the measuring point of the apparent linear acceleration from the center of rotation, are calculated. After that, the magnitude and direction of the difference of the measured apparent linear accelerations without the compensated value and the direction of the component of the apparent linear acceleration from the angular velocity of rotation of the device are determined. The resulting projection of the difference of the compensated apparent linear acceleration on the longitudinal axis of the connected coordinate system is proportional to the roll estimate, and the projection of the difference on the transverse axis of the connected coordinate system is proportional to the estimate of the pitch of the controlled horizontal orientation of the apparatus.

The use in the prototype method only of measuring the apparent linear acceleration and angular velocity of the apparatus allows you to create a relatively simple, economical and reliable small-sized system for controlling the orientation of the apparatus on micromechanical sensors mastered by the industry. However, the method requires for its implementation extremely accurate meters of apparent linear acceleration of the apparatus — accelerometers, their exact and stable symmetry and location on the apparatus. Its sensitivity depends on the magnitude of the mutual remoteness of the accelerometers, which creates structural problems for implementation, especially on the case of a small-sized device. Vibrations of the apparatus body at two remote points of measurement of the magnitudes and directions of the apparent linear acceleration significantly affect the established errors in controlling the horizontal orientation of the apparatus.

A device for controlling the horizontal orientation of the device is a comparison unit and the maximum roll (BSPK) [Bondarchuk I.E., Kharin V.I. Aviation and radio-electronic equipment of the Yak-40 aircraft. M .: Transport. 1982. p.205; Pereskokov A.N. Instrumentation equipment of MI-8 helicopters (T, MT, MTV, AMT). St. Petersburg: Academy of Civil Aviation. 2003. p.19]. The device contains two servo systems with selsyn - sensors of two identical horizontal horizons (gyro-verticals), relay amplifiers that perform the functions of comparators, and lamellar signaling circuits for limiting roll angles and pitch of the apparatus. Horizons measure the controlled pitch and roll angles of the apparatus. The failure of one of them creates a mismatch of the syncron signals of the same name and leads to the operation of the corresponding comparator, informing about the malfunction of the device. Lamellar signaling circuits associated with tracking systems of roll and pitch angles control the horizontal orientation of the device with operational horizon levels. Dimensions, weight, power consumption, cost of such a system do not allow its use on a flying machine. The use of horizons, and even more so their reservation to control horizontal orientation, seems unnecessary.

A device for controlling the horizontal orientation of the apparatus for three horizons (gyroverticals), built according to the majority method of work - the roll control unit (BCC) [Altukhov V.Yu., Stadnik V.V. Gyroscopic instruments, automatic on-board aircraft control systems and their technical implementation. M .: Engineering, 1991. p.38]. In addition to three flight horizons, it contains three nonlinear elements forming a quorum element, and comparators. The latter conduct a continuous comparison of the output signals of each of the three horizon horizons with their averaged signal obtained at the output of the quorum element. The averaged signal proportional to the roll (pitch) is also compared with the permissible roll (pitch) value of the horizontal orientation of the apparatus. The device monitors skyline failures and the horizontal orientation of the device with high accuracy, reliability and a wide range of roll and pitch changes. However, as for the comparison unit and the maximum roll (BSPK), an excessive number of horizon indicators is necessary here, the placement of which on a small-sized remotely piloted vehicle is extremely difficult, due to an increase in its cost, dimensions, and energy consumption.

A known device for controlling the horizontal orientation of the apparatus - a prototype built on the principle of the gravitational vertical [Seleznev V.P. Navigation devices. M .: Mechanical Engineering, 1974, p.205]. It contains three pairs of accelerometers (two vector accelerometers) mounted on a rod and placed in a gimbal, a unit for subtracting the output signals of collinear accelerometers, amplifiers, drives for drives of a gimbal. The rod angular acceleration compensation circuit also includes rod angular velocity sensors. The outputs of pairs of collinear accelerometers located symmetrically at the ends of the rod are connected to the inputs of the subtraction unit. These inputs are connected to the output of the compensation rod angular acceleration circuit. Amplifiers and motors along the axles of the gimbal suspension form actuators for working out the angular position of the rod with accelerometers. The inputs of the amplifiers of these drives are connected to the outputs of the subtraction unit so that the rod with accelerometers can be rotated in the axes of the cardan suspension until the signals of apparent accelerations received from symmetrically located accelerometers are compensated. In this case, the longitudinal axis of the rod is set in the direction of the gravitational field of the Earth - the gravitational vertical. Then the horizontal orientation of the apparatus is controlled at the angles of rotation of the cardan suspension of the rod. The device does not contain expensive, energy-intensive, heavy and dimensional gyroscopes. The accuracy of controlling the angular orientation using existing inertial type accelerometers can be high, and their reliability is much greater than the reliability of horizons (gyro-verticals).

A disadvantage of the known device selected for the prototype is the implementation of the mechanical principle of controlling the orientation of the cardan suspension angles of rotation. The requirements for accuracy, stability, rod design technology for symmetric accelerometers are very high. Placing a gimbal and a rod with accelerometers on a small-sized device is practically difficult.

The main task to be solved by the claimed method and device is to control the horizontal orientation of a small-sized aircraft, increase its accuracy and reliability with hardware-redundant means of minimum weight, dimensions, power consumption, complexity and cost. The implementation of control provides for the implementation of simple, inertia-free, reliable elementary calculations. Together with the known micromechanical means of measuring motion parameters, this will allow the creation of small-sized remotely piloted vehicles, and will expand the functionality of modern satellite navigation systems in terms of determining the horizontal orientation parameters of the device.

The technical result achieved in the implementation of the claimed group of inventions is the creation of hardware-redundant integrated systems for automatic control and monitoring of increased accuracy, reliability, reliability of control with high technical and economic indicators in terms of size, weight, power consumption, cost, ease of operation on a light aircraft.

The technical result is achieved by the fact that in the method for controlling the horizontal orientation of the apparatus, based on measuring the magnitude and direction of the apparent linear acceleration, according to the invention, the current magnitude and direction of the absolute and apparent linear acceleration of the apparatus are simultaneously measured, the magnitude and direction of the difference of the apparent and absolute linear acceleration of the apparatus are determined, and then the ratio of the projection of the difference between the apparent and absolute linear acceleration of the apparatus on the longitudinal axis of the connected system to the ordinates to the magnitude of the acceleration of gravity and the ratio of the projection of the difference of the apparent and absolute linear acceleration onto the transverse axis of the connected coordinate system to the projection of the difference of the apparent and absolute linear acceleration onto the normal axis of the connected coordinate system, after which the controlled horizontal orientation of the apparatus is determined according to the relations:

,

- оценки тангажа, крена контролируемой горизонтальной ориентации аппарата, угл. град;Where

,

- assessment of pitch, roll of controlled horizontal orientation of the apparatus, ang. hail;

Δ _X , Δ _Y , Δ _Z - projection of the magnitude and direction of the difference between the apparent and absolute linear acceleration of the apparatus on the longitudinal, normal and transverse axis of the associated coordinate system, m / s ² ;

g - the value of the acceleration of gravity at the location of the apparatus, m / s ² ,

and compare it with the given values.

The specified technical result is achieved by the fact that the device for controlling the horizontal orientation of the apparatus, containing the accelerometer and the subtraction unit connected in series, additionally introduces the absolute linear acceleration sensor of the apparatus, the output of which is connected to the second subtracting input of the subtraction unit, as well as the gravity acceleration values connected in series , a unit for determining orientation components, the second input of which is connected to the output of the subtraction unit, and a comparator unit, the second input m connected to the setter horizontal orientation of the apparatus.

The specified technical result is also achieved by the fact that in the device for controlling the horizontal orientation of the apparatus, the absolute linear acceleration sensor of the apparatus contains sensors of longitudinal, normal and transverse linear velocity of the apparatus, sensors of angular pitch, roll, yaw of the apparatus, three differentiators, three adders, six multipliers so that the first inputs of the first differentiator, the first and second multipliers are connected to the longitudinal longitudinal velocity sensor of the apparatus, the first inputs of the second differentiator , the third and fourth multipliers are connected to the device’s normal linear velocity sensor, the first inputs of the third differentiator, the fifth and sixth multipliers are connected to the transverse linear speed sensor of the device, the second inputs of the first and third multipliers are connected to the output of the pitch angular velocity sensor, the second inputs of the second and sixth multipliers connected to the output of the yaw rate sensor, the second inputs of the fourth and fifth multipliers are connected to the output of the roll angular velocity sensor, the first summing in One of the first adder is connected to the output of the first differentiator, the second subtractive input is with the output of the third multiplier, the third summing input is with the output of the sixth multiplier, and the output is with the output of the longitudinal component of the absolute linear acceleration of the apparatus, the first summing input of the second adder is connected to the output of the second differentiator, the second subtractive input with the output of the fifth multiplier, the third summing input with the output of the first multiplier, and the output with the output of the normal component of the absolute linear acceleration of the apparatus a first summing input of the third adder connected to a third output of the differentiator, a second subtracting input - with the output of the second multiplier, a third summing input - with the output of the fourth multiplier, and an output - with a transverse component of the absolute yield of linear acceleration apparatus.

The specified technical result is also achieved by the fact that in the device for controlling the horizontal orientation of the apparatus containing the longitudinal longitudinal velocity sensor of the apparatus, it is made in the form of an air velocity sensor along the longitudinal axis of the associated coordinate system, and the device further comprises a series of connected angle of attack sensors, a first functional converter , the seventh multiplier, the second input of which is connected through the second functional converter to the output of the slip angle sensor, the eighth smartly An amplifier, the second input of which is connected to the output of the airspeed sensor along the longitudinal axis of the associated coordinate system, and the output forms the transverse linear velocity of the apparatus, the angle of attack sensor connected in series, the third functional converter is an inverter, the ninth multiplier, the second input of which is connected to the output of the airspeed sensor along the longitudinal axis of the connected coordinate system, and the output forms the normal linear velocity of the apparatus.

The indicated technical result is also achieved by the fact that in the device for controlling the horizontal orientation of the apparatus, the orientation component determination unit comprises first, second division circuits, fourth, fifth functional converters so that the first input of the orientation component determination unit is connected to the first input of the divider of the first division scheme, the second the input of the dividend which is connected to the input of the difference of the longitudinal apparent and absolute linear accelerations at the second input of the unit for determining the orientation components , the output of the first division circuit through the fourth functional converter is connected to the output of the pitch estimation of the controlled horizontal orientation of the apparatus, the first input of the divider of the second division circuit is connected to the input of the difference of the normal apparent and absolute linear accelerations, the second input of the dividend is connected to the input of the difference of the transverse apparent and absolute linear accelerations by the second input of the unit for determining the components of orientation, the output of the second division circuit through the fifth functional converter is connected to the output of the estimate and heeling apparatus controlled horizontal orientation.

The specified technical result is also achieved by the fact that in the device for controlling the horizontal orientation of the apparatus, the comparator unit contains a first, second comparators and an OR circuit, the first input of which is connected to the output of the first comparator, one input of which is connected to the first input of the pitch estimation comparator unit, and the other input - with the second input of the comparator unit of a given horizontal orientation in pitch, the second input of the OR circuit is connected to the output of the second comparator, one input of which is connected to the first input of the com Arathor evaluation roll, the other input - to a second input of the comparator a predetermined horizontal orientation roll, output of OR circuit is the output of the horizontal orientation of the control device.

The set of essential features of the invention ensures the achievement of a technical result achieved during the implementation of the invention - a method and device for controlling the horizontal orientation of the apparatus. The technical result is achieved by determining on board the apparatus projections of the acceleration vector of gravity on the axis of the associated coordinate system and solving the corresponding equations for the trigonometric functions of the pitch and roll angles of the controlled horizontal orientation of the apparatus. When significant differences of these orientation angles from the set values appear, the failure of the control system of the device is recorded.

The analysis of the prior art by the applicant has established that there are no analogues that are characterized by sets of features that are identical to all the features of the claimed method and device for controlling the horizontal orientation of the apparatus, therefore, the claimed invention meets the condition of “novelty”.

Search results for known technical solutions in this and related fields of technology in order to identify features that match the distinctive features of the claimed invention from the prototype have shown that they do not follow explicitly from the prior art.

From the prior art determined by the applicant, the influence of the transformations provided for by the essential features of the claimed invention on the achievement of the indicated technical result is not revealed and the invention is not based on:

- supplementing the known analogue device with any known part attached to it according to known rules, in order to achieve a technical result in respect of which the effect of this addition is established;

- replacing any part of the analog device with another known part to achieve a technical result, in respect of which the effect of such an addition is established;

- the exclusion of any part of the analog device with the simultaneous exclusion due to its presence of the function and the achievement of the usual result for such exclusion;

- increasing the number of elements of the same type to enhance the technical result due to the presence in the device of just such elements;

- the implementation of a known analog device or part of a known material to achieve a technical result due to the known properties of the material;

- the creation of a device consisting of known parts, the choice of which and the relationship between them are based on known rules, and the technical result achieved in this case is due only to the known properties of the parts of this device and the relationships between them;

- a change in the quantitative sign (s) of the device and the provision of such signs in the relationship or a change in the type of relationship, if the fact of the influence of each of them on the technical result is known, and new values of these signs or their relationship could be obtained on the basis of known dependencies, therefore, the claimed invention corresponds to ″ inventive step ″.

Figure 1 shows the position of the coordinate systems, speeds, accelerations, angles of controlled horizontal orientation and the following notation:

О X _O Y _O Z _O is the Earth’s horizontal coordinate system, the center of which is the point O, located in the center of mass of the apparatus, the axis O X _O is the horizontal axis of the direction of motion, the axis OY _O is the local vertical, and the axis OZ _O is the horizontal axis perpendicular direction of movement;

О X Y Z is the connected coordinate system of the apparatus, the center of which is also located in the center of mass, the axis OX is the longitudinal axis of the connected coordinate system; axis OY - normal axis of the associated coordinate system; axis OZ is the transverse axis of the associated coordinate system;

скорости аппарата; ось OY_a - ось подъемной силы, лежит в плоскости симметрии, перпедикулярна OX_a; ось OZ_a - боковая ось, направлена в сторону правого крыла и перпендикулярна плоскостиО X _a Y _a Z _a - velocity coordinate system, whose center is in the center of mass, axis О X _a - velocity axis coincides in direction with the vector

apparatus speed; axis OY _a - axis of the lifting force, lies in the plane of symmetry, perpendicular to OX _a ; axis OZ _a - lateral axis, directed towards the right wing and perpendicular to the plane

OX _a Y _a ,

ψ, ϑ, γ - heading, pitch and roll angles determine the mutual angular position of the coordinate systems О X _O Y _O Z _O and OXYZ;

α, β — angle of attack and slip determine the mutual angular position of the coordinate systems О X YZ and О X _a Y _a Z _a ;

- вектор ускорения силы тяжести;

- vector of acceleration of gravity;

- вектор скорости аппарата;

is the velocity vector of the apparatus;

V _X , V _Y , V _Z - projection of the velocity vector on the axis of the associated coordinate system;

W _X , W _Y , W _Z - projections of the absolute linear acceleration vector on the axis of the associated coordinate system;

ω _X , ω _Y , ω _Z are the projections of the angular velocity vector of roll, yaw, pitch on the axis of the associated coordinate system.

Figure 2 shows the structural diagram of a device for controlling the horizontal orientation of the apparatus according to claim 2 of the formula, where the following notation:

1 - accelerometer;

2 - block subtraction;

3 - sensor absolute linear acceleration of the apparatus;

4 - block determining the components of orientation;

5 - adjuster of the magnitude of the acceleration of gravity;

6 - block comparators;

7 - adjuster horizontal orientation.

Figure 3 shows the structural diagram of the sensor 3 of the absolute linear acceleration of the apparatus according to claim 2 of the formula, where the following notation:

8 - longitudinal linear velocity sensor;

9 - sensor normal linear speed;

10 - transverse linear velocity sensor;

11 - pitch angular velocity sensor;

12 - roll angular velocity sensor;

13 - yaw rate sensor;

14-1, 14-2, 14-3 - the first, second, third differentiators;

15-1, 15-2, 15-3 - the first, second, third adders;

16-1, 16-2, 16-3, 16-4, 16-5, 16-6 - the first, second, third, fourth, fifth, sixth multipliers.

Figure 4 shows the structural diagram of a variant of implementation of the sensor 8 longitudinal linear velocity sensor 9 normal linear velocity sensor 10 transverse linear velocity according to claim 4, where the following notation:

16-7, 16-8, 16-9 - the seventh, eighth, ninth multipliers;

17 - air speed sensor along the longitudinal axis of the associated coordinate system;

18 - angle of attack sensor;

19-1, 19-2, 19-3 - the first, second, third functional converters;

20 - slip angle sensor;

21 - inverter.

Figure 5 shows the structural diagram of block 4 for determining the components of the orientation according to claim 5 of the formula, where the following notation:

22-1, 22-2 - the first, second division schemes;

19-4, 19-5 - the fourth, fifth functional converters.

Figure 6 shows the structural diagram of the block 6 of the comparators according to claim 6, where the following notation:

23-1, 23-2 - the first, second comparator;

24 is an OR diagram.

ускорения силы тяжести, кажущегося

и абсолютного

линейных ускорений на оси связанной системы координат OXYZ. В предложенном способе вычисляются разности измеренного кажущегося

и вычисленного абсолютного

линейных ускорений в точке местоположения измерителя на аппарате. При этом величина и направление кажущегося линейного ускорения

аппарата, определяемого измерителем - акселерометром, имеет следующее выражение [1, с.79];The essence of the method for controlling the horizontal orientation of the apparatus is illustrated in the drawing (Fig. 1) and consists in determining the position of its instrument vertical through current calculations of the vector projections

seemingly accelerating gravity

and absolute

linear accelerations on the axis of the associated coordinate system OXYZ. In the proposed method, the differences of the measured apparent

and calculated absolute

linear accelerations at the location of the meter on the device. The magnitude and direction of the apparent linear acceleration

the apparatus determined by the meter - accelerometer, has the following expression [1, p. 79];

where a is the magnitude of the apparent linear acceleration vector, m / s ² ;

W is the magnitude of the absolute linear acceleration vector, m / s ² ;

g is the magnitude of the acceleration vector of gravity {2, p.791], m / s ² .

линейного ускорения возможно либо одним трехмерным векторным акселерометром [1, с.79], либо тремя одномерными взаимно ортогональными акселерометрами, оси чувствительности которых направлены по осям связанной системы координат O X Y Z.Measurement of apparent

linear acceleration is possible either with one three-dimensional vector accelerometer [1, p. 79], or with three one-dimensional mutually orthogonal accelerometers, the sensitivity axes of which are directed along the axes of the connected coordinate system OXY Z.

определяется дифференцированием измеренных проекций абсолютной скорости аппарата на его связанные оси либо от доплеровского измерителя скорости и угла сноса (ДИСС), либо от спутниковой навигационной системы (СНС) [3, с.118], либо вычисляется по выражению [4, с.340]:The magnitude and direction of the calculated absolute linear acceleration

is determined by differentiating the measured projections of the absolute speed of the apparatus on its associated axes either from the Doppler speed and drift angle meter (DISS), or from the satellite navigation system (SSS) [3, p.118], or is calculated by the expression [4, p.340] :

- проекции вектора

абсолютного линейного ускорения;Where

- vector projections

absolute linear acceleration;

- проекции вектора

абсолютной линейной скорости;

- vector projections

absolute linear speed;

- проекции вектора

абсолютной угловой скорости аппарата.

- vector projections

absolute angular velocity of the apparatus.

The magnitude and direction of the desired difference between the apparent and absolute linear accelerations will be:

In scalar form, the vector relation (4) in the projections on the axis of the connected coordinate system O X Y Z can be written in the form:

- проекции вектора

кажущегося линейного ускорения;Where

- vector projections

apparent linear acceleration;

- проекции вектора

ускорения силы тяжести.

- vector projections

acceleration of gravity.

In accordance with figure 1, the relationship of the horizontal earth coordinate system

ускорения силы тяжести, и связанной системы координат О Х Y Z аппарата определяется соотношением:

O X _o Y _o Z _o , where the magnitude and direction of the vector are known

acceleration of gravity, and the associated coordinate system О X YZ of the apparatus is determined by the ratio:

;

;

Where

;

;

- matrices of rotations of the apparatus at roll angles γ, pitch ϑ, yaw ψ.

Similarly, in accordance with figure 1, the relationship of the velocity coordinate system

абсолютной линейной скорости, и связанной системы координат О X Y Z определяется соотношением:

О X _a Y _a Z _a , where the magnitude and direction of the vector are determined

absolute linear velocity, and the associated coordinate system О XYZ is determined by the ratio:

Where

ускорения силы тяжести будут определяться соотношением вида:- matrices of elementary rotations of the apparatus by sliding angles β and attack α. According to (6) the projection of the vector

accelerations of gravity will be determined by a ratio of the form:

- проекции вектора

ускорения силы тяжести на оси земной горизонтальной системы координат OX_OY_OZ_O.Where

- vector projections

acceleration of gravity on the axis of the earth’s horizontal coordinate system OX _O Y _O Z _O.

абсолютной линейной скорости могут определяться преобразованием вида:According to (7) the projection of the vector

absolute linear velocity can be determined by a transformation of the form:

- проекции вектора

абсолютной скорости на оси скоростной системы координат О X_a Y_a Z_a.Where

- vector projections

absolute speed on the axis of the velocity coordinate system О X _a Y _a Z _a .

ускорения силы тяжести:According to relation (8), the projections of the vector

gravity acceleration:

абсолютного линейного ускорения (3) имеют вид

Vector projection

absolute linear acceleration (3) have the form

абсолютной линейной скорости могут определяться по выражению (9) через аэрометрические полетные параметры скорости V, углов атаки α и скольжения β в виде:where are the projections of the vector

absolute linear velocity can be determined by the expression (9) through the aerometric flight parameters of speed V, angle of attack α and slip β in the form:

In the case when an air velocity sensor along the longitudinal axis of the associated coordinate system is used as a projection meter V _X , then projections can also be calculated using formulas (12):

By the expressions (5) and (10) we can write:

- проекции разности кажущегося

и абсолютного

линейного ускорения на продольную, нормальную и поперечную оси связанной системы координат аппарата:Where

- projections of the apparent difference

and absolute

linear acceleration on the longitudinal, normal and transverse axis of the associated coordinate system of the apparatus:

Transforming the first equality and the ratio of the third equality to the second equality in expression (14), we obtain the relations for controlling the horizontal orientation of the form:

сравниваются с заданными значениями

. В том случае, если разности

и/или

выходят за поле допуска, то фиксируется отклонение аппарата от заданной горизонтальной ориентации.The pitch and roll estimates determined by (16)

compared with setpoints

. In the event that the differences

and / or

If they are outside the tolerance field, then the deviation of the apparatus from the given horizontal orientation is fixed.

линейного ускорения

The method is as follows. By means of a three-dimensional vector meter mounted on the apparatus body, the magnitude and direction of the apparent

linear acceleration

на оси связанной системы координат О X Y Z (фиг.1). Они могут быть измерены и с помощью трех одномерных взаимно ортогональных акселерометров, оси чувствительности которых также ориентированы по осям связанной системы координат. Одновременно определяется величина и направление абсолютного

линейного ускорения аппарата. Учитывая предпочтительность процесса измерения параметров движения аппарата бортовыми измерителями также в связанной системы координат О X Y Z, вычисление величины и направления абсолютного линейного ускорения аппарата следует вести по выражениям:Thus, projections are measured: a _X , a _Y , a _Z vectors

on the axis of the associated coordinate system About XYZ (figure 1). They can also be measured using three one-dimensional mutually orthogonal accelerometers whose sensitivity axes are also oriented along the axes of the associated coordinate system. At the same time, the magnitude and direction of the absolute

linear acceleration apparatus. Given the preference of the process of measuring the parameters of the vehicle’s motion by on-board meters also in the associated coordinate system О XYZ, the magnitude and direction of the absolute linear acceleration of the apparatus should be calculated using the expressions:

which includes the linear parameters V _X , V _Y , V _Z and angular ω _X , ω _Y , ω _Z movement of the apparatus. The absolute linear velocities of the apparatus are measured by a longitudinal V _X linear velocity sensor, a nominal V _Y linear velocity sensor, a transverse V _Z linear velocity sensor of a radio engineering or aerometric type. In particular, for a light remotely piloted apparatus, aeromeric determination of V _X , V _Y , V _{Z is} preferable. To do this, the following are measured: air speed along the longitudinal axis of the associated coordinate system, the angles of attack and slip of the apparatus, and the values are calculated:

At the same time, the projections ω _X , ω _Y , ω _{Z of the} angular velocity of the apparatus along the axes of the coupled coordinate system are measured and calculated from (18) the projection of the absolute linear acceleration. In the Doppler speed and drift angle meter (DISS) or satellite navigation system (SNA), the parameters V _X , V _Y , V _Z are measured by radio engineering, which means that the determination of the magnitude and direction of the absolute linear speed (or acceleration) of the device can be implemented in one meter - DISS or SNA. The angular motion parameters ω _X , ω _Y , ω _Z in (18) are obtained from micromechanical gyroscopic sensors of the angular velocity of roll, yaw, pitch, the sensitivity axes of which are also oriented along the axes of the connected coordinate system OXYZ of the apparatus. For a low-maneuverable apparatus, when the angular velocities ω _X , ω _Y , ω _{Z are} very small, calculations according to (18) can be greatly simplified by limiting ourselves to measuring the absolute linear velocity of the apparatus and its differentiation:

и абсолютному

линейным ускорениям определяется разность

.without calculations with angular velocity parameters. Modern systems make it possible to use, as a meter, the values and directions of the absolute linear acceleration of the apparatus, for example, only SNA [3, p.118; 6, p. 111] or DISS [7, p. 38; 8, p. 244]. Moreover, the known integration of aerometric and radio engineering measurements of the magnitude and direction of the absolute linear acceleration of the apparatus is most promising for improving the accuracy and reliability of the proposed horizontal orientation control system. Further on the measured apparent

and absolute

linear acceleration is determined by the difference

.

For this, projection differences are calculated:

Knowing the magnitude of the acceleration g of gravity at the location of the apparatus [2, p.791], we calculate the relations: Δ _X / g and -Δ _Z / Δ _Y , characterizing the horizontal orientation of the apparatus, and the inverse trigonometric functions of these relations

. При этом отклонение аппарата от заданной горизонтальной ориентации

определяется сравнением полученных значений

с учетом полей допусков нормального функционирования системы.which give values of the angular measure of controlled estimates of the horizontal orientation of the apparatus

. In this case, the deviation of the apparatus from a given horizontal orientation

determined by comparing the obtained values

taking into account the tolerance fields of the normal functioning of the system.

и абсолютного

линейного ускорения аппарата. Определяют величину и направление разности

кажущегося

и абсолютного

линейных ускорений. Затем, зная величину ускорения g силы тяжести в точке местоположения аппарата, вычисляют отношение проекции Δ_X разности кажущегося a_X и абсолютного W_X линейного ускорения аппарата на продольную ось связанной системы координат к величине ускорения g силы тяжести. Обратная тригонометрическая функция arc sin этого отношения позволяет определить оценку

контролируемого угла тангажа аппарата. Аналогично и одновременно вычисляют отношение проекции - Δ_Z разности кажущегося a_Z и абсолютного W_Z линейного ускорения аппарата на поперечную ось связанной системы координат к проекции Δ_Y разности кажущегося a_Y и абсолютного W_Y линейного ускорения аппарата на нормальную ось связанной системы координат. Обратная тригонометрическая функция arc tg этого отношения позволяет определить оценку

контролируемого угла крена аппарата. Для контроля горизонтальной ориентации аппарата и ее соответствия заданным значениям тангажа ϑ_З и крена γ_З производится сравнение с текущими оценками

и

.The method of controlling the horizontal orientation of the apparatus according to claim 1 of the formula is as follows. Measure the magnitude and direction of the apparent

and absolute

linear acceleration apparatus. The magnitude and direction of the difference are determined

seeming

and absolute

linear accelerations. Then, knowing the magnitude of the acceleration g of gravity at the location of the apparatus, calculate the ratio of the projection Δ _{X of the} difference of the apparent a _X and absolute W _X linear acceleration of the apparatus on the longitudinal axis of the associated coordinate system to the acceleration g of gravity. The inverse trigonometric function arc sin of this relation allows us to determine the estimate

controlled pitch angle of the apparatus. Similarly and simultaneously, the ratio of the projection - Δ _{Z of the} difference of the apparent a _Z and absolute W _{Z of the} linear acceleration of the apparatus on the transverse axis of the connected coordinate system to the projection Δ _{Y of the} difference of the apparent a _Y and absolute W _{Y of the} linear acceleration of the apparatus on the normal axis of the connected coordinate system is calculated. The inverse trigonometric function arc tg of this relation allows us to determine the estimate

controlled roll angle of the apparatus. To control the horizontal orientation of the apparatus and its compliance with the given values of pitch ϑ _З and roll γ _З , a comparison is made with current estimates

and

.

The meaning of the invention is to determine the horizontal orientation of the apparatus by the difference of the projections onto the connected axes of its apparent and absolute accelerations. This difference depends on the known magnitude of the acceleration of gravity and the orientation of the apparatus relative to the vertical of the place. It is formed in the subtraction unit, the inputs of which receive the signals of the accelerometer and the absolute linear acceleration sensor of the apparatus. In this case, the magnitude and direction of the apparent acceleration are measured either by one three-dimensional accelerometer or by three mutually orthogonal one-dimensional accelerometers [4, p.335]. The magnitude and direction of the absolute acceleration is calculated either by differentiating the signals of the Doppler channels for measuring speed, for example, a satellite navigation system [3, p.118], or calculated by the signals from the sensors of the vehicle’s speed, angle of attack and slip, and its angular velocities. Each of the listed variants of the absolute linear acceleration sensor contains a linear velocity meter of the apparatus along the axes of the associated coordinate system of an aerometric or radio type. Knowing the relationship between the differences of the apparent and absolute accelerations with the projections of the acceleration of gravity, we obtain the relations of the projections of the differences of the apparent and absolute accelerations and the inverse trigonometric functions of the pitch and roll angles in the unit for determining orientation components. At the same time, a signal proportional to the value of the acceleration of gravity at the point of location of the device relative to the Earth [2, p. 71] is received from the setpoint of the acceleration of gravity. In the block of comparators, the deviation of the apparatus from a given horizontal orientation, set by the horizontal orientation adjuster, is recorded.

In this case, the longitudinal, normal, and transverse linear speeds of the apparatus along the axes of the associated coordinate system are determined by the signals of Doppler channels, for example, a satellite navigation system. The absolute linear acceleration sensor of the apparatus implements expression (3), which in scalar form has the form:

For a low-maneuverable apparatus, when ω _X , ω _Y , ω _Z are small, we have:

аппарата на оси связанной системы координат имеют вид:

Based on FIG. 1, it is easy to establish that the projections of the velocity vector

apparatus on the axis of the associated coordinate system are:

where α, β are the angles of attack and slip of the apparatus. Then it is possible to determine the magnitude V of the velocity vector, and then the desired projections V _Y , V _Z used in (18), (19) to implement the absolute linear acceleration sensor of the apparatus. If the longitudinal linear velocity sensor V _{X of the} apparatus is made, for example, in the form of an air velocity sensor along the longitudinal axis of the associated coordinate system, then

The first, second, and third functional transducers form the trigonometric functions secα, tgβ, and tgα used in formula (26). Projections

V _X , V _Y , V _Z velocity vectors can be obtained at the output of the Doppler speed meter and drift angle of the apparatus.

и крена

аппарата. В первой схеме деления определяется отношение разности проекций Δ_X кажущегося и абсолютного линейных ускорений на продольную ось связанной системы координат к величине ускорения g силы тяжести, пропорциональное sin ϑ. Во второй схеме деления определяется отношение разности проекций - Δ_Z кажущегося и абсолютного линейных ускорений на поперечную ось к разности проекций Δ_Y кажущегося и абсолютного линейных ускорений на нормальную ось связанной системы координат, пропорциональное tgγ. Тогда на выходе четвертого функционального преобразователя, реализующего обратную тригонометрическую функцию arc sin, получается оценка тангажа

, а на выходе пятого функционального преобразователя, реализующего обратную тригонометрическую функцию arc tg, - оценка крена

аппарата. В том случае, когда заявленное устройство контролирует ориентацию маломаневренного аппарата с ограниченными полетными отклонениями от плоскости горизонта (|ϑ|, |γ|≤14÷17 угл. град), то четвертый и пятый функциональные преобразователи могут быть заменены простейшими масштабирующими усилителями с коэффициентами передачи 57,3. Полученные оценки горизонтальной ориентации

,

будут иметь размерность угл. град.Moreover, in the unit for determining the orientation components, the pitch estimates (16) are calculated

and roll

apparatus. In the first division scheme, the ratio of the difference between the projections Δ _{X of the} apparent and absolute linear accelerations on the longitudinal axis of the connected coordinate system to the acceleration value g of gravity is proportional to sin ϑ. In the second division scheme, the ratio of the projection difference Δ _{Z of the} apparent and absolute linear accelerations to the transverse axis to the projection difference Δ _{Y of the} apparent and absolute linear accelerations to the normal axis of the connected coordinate system is proportional to tgγ. Then, at the output of the fourth functional transducer that implements the inverse trigonometric function arc sin, a pitch estimate is obtained

, and at the output of the fifth functional transducer that implements the inverse trigonometric function arc tg, is the roll estimate

apparatus. In the case when the claimed device controls the orientation of a low-maneuverable vehicle with limited flight deviations from the horizon (| ϑ |, | γ | ≤14 ÷ 17 angular degrees), the fourth and fifth functional converters can be replaced by simple scaling amplifiers with transmission coefficients 57.3. The obtained estimates of horizontal orientation

,

will have an angle dimension. hail.

,

Defined in the unit for determining the components of the orientation of the pitch, roll

,

и/или

выходят за поле допуска, то фиксируется отклонение аппарата от заданной горизонтальной ориентации.here they are compared with the given values of the tangent ϑ _З and the roll γ _З. In the event that the differences

and / or

If they are outside the tolerance field, then the deviation of the apparatus from the given horizontal orientation is fixed.

A device for controlling the horizontal orientation of the apparatus (figure 2) contains a series-connected accelerometer 1 and a subtraction unit 2, the second subtracting input of which is connected to the output of the sensor 3 of the absolute linear acceleration of the apparatus. The unit 4 for determining the components of orientation with its first input is connected to the output of the setpoint 5 of the acceleration of gravity, the second input is with the output of the subtraction unit 2, and the output is with the first input of the unit 6 of the comparators, the second input of which is connected to the output of the setter 7 horizontal orientation, and the output - is the output of the device.

The absolute linear acceleration sensor 3 of the apparatus (FIG. 3) comprises a longitudinal linear velocity sensor 8, a normal linear velocity sensor 9, a transverse linear velocity sensor 10, a pitch angular velocity sensor 11, a roll angular velocity sensor 12, a yaw rate sensor 13, differentiators 14 -1, 14-2, 14-3, adders 15-1, 15-2, 15-3, multipliers 16-1, 16-2, 16-3, 16-4, 16-5, 16-6 so, that the first inputs of the differentiator 14-1, multipliers 16-1, 16-2 are connected to the output of the sensor 8 of the longitudinal linear velocity, the first inputs of the differentiator 14-2, multipliers 16-3, 16-4 are connected with the output of the sensor 9 normal linear speed, the first inputs of the differentiator 14-3, the multipliers 16-5, 16-6 are connected to the output of the sensor 10 of the transverse linear speed. The second inputs of the multipliers 16-1, 16-3 are connected to the output of the pitch angular velocity sensor 11, the second inputs of the multipliers 16-2, 16-6 are connected to the output of the yaw rate sensor 13, the second inputs of the multipliers 16-4, 16-5 are connected to the output of the sensor 12 of the angular roll velocity. The first summing input of adder 15-1 is connected to the output of the differentiator 14-1, the second subtracting input is with the output of the multiplier 16-3, the third summing input is with the output of the multiplier 16-6, and the output is with the output of the longitudinal component of the absolute linear acceleration of the apparatus. The first summing input of adder 15-2 is connected to the output of the differentiator 14-2, the second subtracting input is with the output of the multiplier 16-5, the third summing input is with the output of the multiplier 16-1, and the output is with the output of the normal component of the absolute linear acceleration of the apparatus. The first summing input of adder 15-3 is connected to the output of the differentiator 14-3, the second subtracting input is connected to the output of the multiplier 16-2, the third summing input is connected to the output of the multiplier 16-4, and the output is connected to the output of the transverse component of the absolute linear acceleration of the apparatus.

The longitudinal linear velocity sensor 8 (FIG. 4) of the apparatus is made in the form of an air velocity sensor 17 along the longitudinal axis of the associated coordinate system, and the device further comprises a series of attack angle sensors 18, a functional converter 19-1, a multiplier 16-7, the second input of which through a functional converter 19-2 is connected to the output of the sliding angle sensor 20, a multiplier 16-8, the second input of which is connected to the output of the airspeed sensor 17 along the longitudinal axis of the associated coordinate system, and the output forms river linear velocity of the apparatus, serially connected sensor 18 of the angle of attack, functional converter 19-3, inverter 21, multiplier 16-9, the second input of which is connected to the output of the air velocity sensor 17 along the longitudinal axis of the associated coordinate system, and the output forms the normal linear velocity of the apparatus .

The orientation component determination unit 4 (FIG. 5) comprises division circuits 22-1, 22-2, functional converters 19-4, 19-5 so that the first input of the orientation component determination unit 4 is connected to the first input of the divider of the division circuit 22-1 , the second input of the dividend which is connected to the input of the difference of the longitudinal apparent and absolute linear accelerations at the second input of the unit 4 for determining the components of orientation. The output of the division circuit 22-1 through the functional converter 19-4 is connected to the output of the pitch estimation of the controlled horizontal orientation of the apparatus. The first input of the divider of the division circuit 22-2 is connected to the input of the difference of the normal apparent and absolute linear accelerations at the second input of the orientation component determination unit 4, the second input of the dividend is connected to the input of the difference of the transverse apparent and absolute linear accelerations at the second input of the orientation component determination unit 4. The output of the division circuit 22-2 through the functional converter 19-5 is connected to the output of the roll assessment of the controlled horizontal orientation of the apparatus.

The comparator unit 6 contains comparators 23-1, 23-2 and the OR circuit 24 so that its first input is connected to the output of the comparator 23-1, one input of which is connected to the first input of the pitch estimation comparator unit 6, and the other input to the second input block 6 comparators of a given horizontal orientation in pitch. The second input of the OR circuit 24 is connected to the output of the comparator 23-2, one input of which is connected to the first input of the roll evaluation comparator unit 6, and the other input is connected to the second input of the comparator unit 6 of a given horizontal roll orientation. The output of the OR circuit 24 is the output of a horizontal orientation control device.

линейного ускорения аппарата, с акселерометра 1 поступает на первый суммирующий вход блока 2 вычитания, на второй вычитающий вход которого поступает сигнал, пропорциональный величине и направлению абсолютного

линейного ускорения аппарата. Этот сигнал получается на выходе датчика 3 абсолютного линейного ускорения аппарата, выполненного с применением аэрометрических и/или радиотехнических измерителей. Выходной сигнал блока 2 вычитания, пропорциональный разности

кажущегося

и абсолютного

линейного ускорения, поступает на второй вход блока 4 определения составляющих ориентации, на первый вход которого с задатчика 5 величины ускорения силы тяжести одновременно поступает сигнал, пропорциональный величине ускорения g силы тяжести в точке местоположения аппарата. В блоке 4 определения составляющих ориентации получается сигнал

, пропорциональный составляющим горизонтальной ориентации аппарата по тангажу

и крену

. Поступая на первый вход блока 6 компараторов, он сравнивается с сигналом

, поступающим на второй вход с задатчика 7 горизонтальной ориентации, где формируются сигналы, пропорциональные заданным значениям тангажа ϑ_З и крена γ_З аппарата. В том случае если разности

и/или

выходят за поле допуска, то на выходе блока 6 компараторов формируется сигнал, информирующий об отклонении аппарата от заданной ему горизонтальной ориентации.A device for controlling the horizontal orientation of the apparatus according to claim 2 of the formula (figure 2) works as follows. A signal proportional to the magnitude and direction of the apparent

the linear acceleration of the apparatus, from the accelerometer 1 is fed to the first summing input of the subtraction unit 2, the second subtracting input of which receives a signal proportional to the magnitude and direction of the absolute

linear acceleration apparatus. This signal is obtained at the output of the sensor 3 of the absolute linear acceleration of the apparatus, made using aerometric and / or radio meters. The output signal of the block 2 subtraction proportional to the difference

seeming

and absolute

linear acceleration, is fed to the second input of the orientation component determination unit 4, the first input of which from the setpoint 5 of the acceleration of gravity simultaneously receives a signal proportional to the acceleration g of gravity at the location of the apparatus. In block 4 determining the components of orientation, a signal is obtained

proportional to the components of the horizontal orientation of the apparatus in pitch

and roll

. Coming to the first input of block 6 comparators, it is compared with the signal

arriving at the second input from the setter 7 of horizontal orientation, where signals are generated proportional to the set values of pitch ϑ _З and roll γ _{З of the} apparatus. In the event that the differences

and / or

If they are outside the tolerance field, a signal is generated at the output of block 6 of the comparators informing about the deviation of the device from the horizontal orientation set for it.

The sensor 3 of the absolute linear acceleration of the apparatus according to claim 3 of the formula (figure 3) works as follows. A signal proportional to the projection V _{X of the} longitudinal linear velocity of the apparatus, from the sensor 8 of the longitudinal linear velocity is supplied to the first inputs of the differentiator 14-1 and multipliers 16-1, 16-2. A signal proportional to the projection V _{Y of the} normal linear speed of the apparatus from the sensor 9 of the normal linear speed is supplied to the first inputs of the differentiator 14-2 and the multipliers 16-3, 16-4. A signal proportional to the projection V _{Z of the} transverse linear velocity of the apparatus from the transverse linear velocity sensor 10 is supplied to the first inputs of the differentiator 14-3 and the multipliers 16-5, 16-6. The second inputs of the multipliers 16-1 and 16-2 receive a signal proportional to the angular velocity ω _Z along the transverse axis of the associated coordinate system from the pitch angle sensor 11. The second inputs of the multipliers 16-2 and 16-6 receive a signal proportional to the angular velocity ω _Y along the normal axis of the associated coordinate system from the sensor 13 of the angular yaw rate. The second inputs of the multipliers 16-4 and 16-5 receive a signal proportional to the angular velocity ω _X along the longitudinal axis of the associated coordinate system from the sensor 12 of the angular roll velocity. The first summing input of adder 15-1 receives a signal from the output of the differentiator 14-1, the second subtracting input - from the output of the multiplier 16-3, the third summing input - from the output of the multiplier 16-6, and the signal proportional to the longitudinal component is taken from the output W _X absolute linear acceleration apparatus. The first summing input of adder 15-2 receives a signal from the output of the differentiator 14-2, the second subtracting input - from the output of the multiplier 16-5, the third summing input - from the output of the multiplier 16-1, and the signal proportional to the normal component is taken from the output W _Y absolute linear acceleration of the apparatus. The first summing input of adder 15-3 receives a signal from the output of the differentiator 14-3, the second subtracting input - from the output of the multiplier 16-2, the third summing input - from the output of the multiplier 16-4, and the signal proportional to the transverse component is taken from the output W _{Z the} absolute linear acceleration of the apparatus. The signals W _X , W _Y , W _Z , proportional to the projections of the absolute linear acceleration of the apparatus, are input to the subtraction unit 2.

The longitudinal linear velocity sensor 8 according to claim 4 of the formula (FIG. 4) is made in the form of an air velocity sensor 17 along the longitudinal axis of the associated coordinate system, and its output signal proportional to V _X is also used to obtain information about normal V _Y and transverse V _{Z the} linear velocity of the apparatus, reported by the sensor 9 normal linear velocity and the sensor 10 of the transverse linear velocity of the device. In this case, the signal proportional to the angle of attack α from the sensor 18 of the angle of attack through the functional Converter 19-1, generating the signal sec α, is fed to the first input of the multiplier 16-7. The second input of the multiplier 16-7 through the functional Converter 19-2 receives the signal tgβ from the sensor 20 of the angle of slip β. Then, at the output of the multiplier 16-7, a signal proportional to secα tgβ is generated, which in the multiplier 16-8 is multiplied with the output signal V _X from the airspeed sensor 17 along the longitudinal axis of the associated coordinate system. The output signal of the multiplier 16-8 is proportional to the projection V _Z = V _X secα tgβ - the transverse linear velocity of the apparatus. Similarly, a signal proportional to the angle of attack α from the sensor 18 of the angle of attack through the functional Converter 19-3, generating a signal tgα, and the inverter 21 is supplied to the first input of the multiplier 16-9. The second input of the multiplier 16-9 receives a signal V _X from the output of the airspeed sensor 17 along the longitudinal axis of the associated coordinate system. As a result of multiplying these signals at the output of the multiplier 16-9, a signal V _Y = -V _X tgα is obtained, which is proportional to the normal linear speed of the apparatus.

контролируемой горизонтальной ориентации аппарата. Сигнал на первый вход делителя, пропорциональный разности Δ_Y нормальных кажущегося a_Y и абсолютного W_Y линейных ускорений, и сигнал на второй вход делимого, пропорциональный разности Δ_Z поперечных кажущегося a_Z и абсолютного W_Z линейных ускорений, схемы 22-2 деления поступают со второго входа блока 4 определения составляющих ориентации. В результате на выходе схемы 22-2 получается сигнал, пропорциональный - Δ_Z/Δ_Y. Пройдя через функциональный преобразователь 19-5, реализующий обратную тригонометрическую функцию arc tg, он образует на другом выходе блока 4 определения составляющих ориентации оценку угла крена

контролируемой горизонтальной ориентации аппарата.Block 4 determining the components of orientation according to claim 5 of the formula (figure 5) works as follows. The signal to the first input of the orientation component determination unit 4, proportional to the acceleration value g of gravity, is fed to the first input of the divider of the division circuit 22-1, the second input of which is divisible, receives a signal from the second input of unit 4 proportional to the difference Δ _{X of the} longitudinal apparent a _X and absolute W _X linear accelerations. As a result, a signal proportional to Δ _X / g is obtained at the output of circuit 22-1. Having passed through a functional transducer 19-4 that implements the inverse trigonometric function arc sin, it forms an estimate of the pitch angle at one output of block 4 for determining the components of orientation

controlled horizontal orientation of the apparatus. The signal at the first input of the divider, proportional to the difference Δ _Y normal apparent absolute and a _Y W _Y linear acceleration signal and to the second input of the dividend proportional to the difference Δ _Z transverse apparent absolute and a _Z W _Z linear accelerations dividing circuit 22-2 receives from the second input of the unit 4 for determining the components of orientation. As a result, a signal proportional to Δ _Z / Δ _{Y is} obtained at the output of circuit 22-2. Having passed through a functional converter 19-5 that implements the inverse trigonometric function arc tg, it forms an estimate of the angle of heel at the other output of block 4 for determining the components of orientation

controlled horizontal orientation of the apparatus.

тангажа, поступает на один вход компаратора 23-1 с первого входа блока 6 компараторов. На другой вход компаратора 23-1 поступает сигнал, пропорциональный заданной горизонтальной ориентации по тангажу ϑ_З, со второго входа блока 6 компараторов. В том случае, если разность этих сигналов больше допустимого значения, компаратор 23-1 формирует выходной сигнал, который через схему 24 ИЛИ поступает на выход блока 6 компараторов. Сигнал, пропорциональный оценке

крена, поступает на один вход компаратора 23-2 с первого входа блока 6 компараторов. На другой вход компаратора 23-2 поступает сигнал, пропорциональный заданной горизонтальной ориентации по крену γ_З, со второго входа блока 6 компараторов. В том случае, если разность этих сигналов больше допустимого значения, компаратор 23-2 формирует выходной сигнал, который через схему 24 ИЛИ также поступает на выход блока 6 компараторов. Появление сигнала на выходе блока 6 компараторов информирует о нарушении заданной горизонтальной ориентации аппарата.Block 6 of the comparators according to claim 6 of the formula (Fig.6) works as follows. Proportional Signal

pitch, is fed to one input of the comparator 23-1 from the first input of block 6 of the comparators. At the other input of the comparator 23-1, a signal proportional to the specified horizontal orientation in pitch ϑ _З is received from the second input of the block 6 of the comparators. In the event that the difference of these signals is greater than the permissible value, the comparator 23-1 generates an output signal, which through the circuit 24 OR is fed to the output of the block 6 of the comparators. Proportional Signal

roll, is fed to one input of the comparator 23-2 from the first input of block 6 of the comparators. At the other input of the comparator 23-2, a signal proportional to the specified horizontal orientation along the roll γ ₃ is received from the second input of the unit 6 of the comparators. In the event that the difference of these signals is greater than the permissible value, the comparator 23-2 generates an output signal, which, through the OR circuit 24, also arrives at the output of the comparator unit 6. The appearance of the signal at the output of the unit 6 of the comparators informs about the violation of a given horizontal orientation of the apparatus.

The practical implementation of the method and device for controlling the horizontal orientation of the apparatus is possible on an analog and digital circuitry base. On a small remotely piloted aircraft, for example, of the Eleron type (Enix CJSC, Kazan), Lastochka (Design Bureau Design Bureau Topaz, Moscow), ZALA 421-01-04 (Moscow), etc. ., as gyroscopic sensors 11, 12, 13 of the angular speeds of pitch, roll, yaw, you can use micromechanical devices such as MGK-01, MGDM-01, MGV-01 [10] or a three-axis sensor block type DUS-MMG [11]. It is preferable to use measuring units of high integration, including micromechanical sensors 11, 12, 13 of angular velocities of pitch, roll, yaw, three-dimensional vector accelerometer 1 of apparent accelerations along the longitudinal a _X , normal a _Y and transverse a _Z axes of the associated coordinate system, for example, of the type IIB-1-2 [12]. An even greater degree of integration is possible with the use of a system, for example, of the SIVPP-V type, in which both the angular pitch velocities ω _Z , the roll ω _X , the yaw ω _Y (sensors 11, 12, 13 angular velocities) and the apparent accelerations along the longitudinal a are measured _X , normal a _Y , transverse to a _Z axes (accelerometer 1), and angles of attack α, slip β (sensor 18 of angle of attack, sensor 20 of angle of slip), and longitudinal V _X , normal V _Y , transverse V _{Z of} speed (sensor 8 longitudinal linear velocity, sensor 9 normal linear velocity, transverse linear velocity sensor 10) [13]. For aerometric measurements of measuring the linear velocities of the apparatus, micro-SHS of the MVD-1 type can also be used, which has very small weight and overall characteristics [14]. The sensor 18 of the angle of attack and the sensor 20 of the angle of glide can preferably be performed on small-sized, vane-free pneumomechanical DAU-P, hot-wire anemometer DAU-14I, TDAU, ion-tagged DAU-17M meters [15]. Subtraction unit 2, orientation component determination unit 4, comparator unit 6, gravity acceleration adjuster 5, horizontal orientation adjuster 7, computing operations in the absolute linear acceleration sensor 3 of the apparatus (FIG. 3), normal linear velocity sensor 9 and transverse sensor 10 speeds (Fig. 4) are realized by simple algorithmic operations of a digital computer of the apparatus, for example, a type of digital computer 80-30301, SB-3580, CREDO-486 [16]. To implement a horizontal orientation control device, for example, with an AGB-3K command horizon, on a MI-8 helicopter, the output signals of a standard radio engineering Doppler system DISS- can be used as a sensor 8 for longitudinal linear speed, a sensor 9 for normal linear speed and a sensor 10 for lateral linear speed 15 [17]. For the helicopter KA-50, KA-52 is DISS-32. As the sensor 11 of the pitch angular velocity, the sensor 12 of the angular roll velocity, the sensor 13 of the angular velocity of yaw, gyroUSES of type 1209 can be used, and for the three-dimensional vector accelerometer 1 — MP-95 sensors from the standard autopilot AP-34B and BUR-1-2. Sensors 8, 9, 10 can also be implemented on a satellite navigation system of the type K-161, SNS-2, SN-3704 (3715), AT-1304 (1305). Computational operations here are also possible on a digital computer of type CVM 80 ÷ 90. At the same time, there is no need to install a relatively large unreliable comparison unit and the maximum roll of the BSPK on board the helicopter. In the analog microcircuit design, the horizontal orientation control device is constructed so that the multipliers 16-1, 16-2, 16-3, 16-4, 16-5, 16-6, 16-7, 16-8, 16-9 are made on K525PS2 chip [18, p.321], dividers 23-1, 23-2 - on K525PS1 and K140UD7 microcircuits [18, p.322], adders 15-1, 15-2, 15-3, differentiators 14-1, 14-2, 14-3, subtraction unit 2 and inverter 21 - on the operational amplifier K140 UD8 [18, p.286], comparators 23-1, 23-2 - on the chip 521CA1 or K554 CA1 [18, p.310] , functional converters 19-1, 19-2, 19-3,19-4, 19-5 - on active diode functional converters [19, p. 116], OR circuit - on chip K 564LE5 [18, p.145].

The increased accuracy of horizontal orientation control by the claimed method and device depends on the sensitivity thresholds of the meters - the accelerometer and the absolute linear acceleration sensor of the apparatus. Its largest value is 0.21 angles. sec on the threshold of the accelerometer, for example, type A-15 [8, p. 131], or 1 ÷ 7 ang. min by the threshold for determining accelerations using the satellite navigation system SNA [3, p.118; 6, p. 111]. This is much better (15 ÷ 20 arc. Min) than the classic gyroverticals AGB, MGV-1, MGV-4. Monitoring the position of the apparatus can be carried out with higher accuracy than in devices BSPK, BKK, where the threshold for the operation of the failure comparators is 7 ± 2 angles. hail, but for two or three gyro-verticals [20, p. 38]. The implementation of the absolute linear acceleration sensor of the device using the airspeed sensor along the longitudinal axis of the connected coordinate system MVD-1 and the sensors of angle of attack and slip gives the worst control accuracy of 2.8 angles. hail (wind ± 1 m / s, speed 120 m / s) [8, p.112]. This is significantly worse than in the version of the SNA, however, there is the greatest autonomy and reliability of the orientation control for a small apparatus. So, the mean time between failures, determined by the reliability of the TsVM 80, IIB, MVD-1, is 6,200 hours, which for an average flight time of 2 hours ensures the reliability of horizontal orientation control P = 0.9997. When implementing the method and device on the SNA, similar indicators are equal: 666 ÷ 2000 h, P = 0.997 ÷ 0.999 [6, p. 111]. These values are commensurate with the reliability of 3000 hours of classical gyro-verticals AGB-3K, MGV-1, MGV-4. A significant positive effect for the proposed method and device in a redundant configuration of the sensors is obtained by comparison by weight - less than 3.5; 3.6; 1.2 times; in size - less than 3; 6.1; 1.9 times; energy consumption - less than 14.7; eleven; 13.6 times than the aforementioned AGB-3K, MGV-1, MGV-4 [8, p.119]. The resulting positive effect on accuracy, weight, dimensions, energy consumption with high reliability, as well as the wide functionality of the system is of particular importance for small-sized remotely piloted vehicles. All sensors of the system are included in the standard composition of the instrumentation equipment of any modern aircraft. Given the modern micromechanical implementation of accelerometers and angular velocity sensors, the claimed device can be structurally created on the SNS board. This extends its functionality not only as a navigation system, but also as a system of angular orientation of the apparatus on which it is used. The system determines all flight and navigation flight parameters without mechanical rotary-cardan gyroscopic meters or additional antenna structures [23, p.119] on the device. The software implementation of the method and device includes the simplest, inertia-free arithmetic operations without integrating the measurement information, which is much simpler and more reliable than the known algorithms for the operation of serial strapdown systems with quaternions [21, p. 314-316] and can be used as a control relation [22, p. 105 ] to detect malfunctions in the main complex gyro-inertial orientation system of the aircraft. From a physical point of view, the claimed method and device represent an attempt to create a mathematical pendulum unperturbed by the accelerations of the active forces acting on the apparatus in a wide dynamic range of measurements by the absolute linear acceleration sensor on the SNA [23, p. 73, 119, 131]. Of undoubted practical interest is the implementation of an integrated system for controlling the horizontal orientation of increased reliability, which simultaneously includes aerometric and radio engineering options for measuring the absolute linear acceleration of the apparatus [24, p.32].

Thus, the above information shows that when implementing the claimed invention, the following conditions are met:

- a tool embodying the invention in its implementation, is intended for use in the field of complex control of horizontal orientation of a small remotely piloted aircraft or the main complex gyro-inertial flight-navigation system for roll and pitch, namely in a device for controlling the horizontal orientation of the device;

- for the claimed invention as described in the independent claim, the possibility of its implementation using the described or other means known prior to the filing date of the application is confirmed;

- a tool embodying the claimed invention in its implementation, is able to provide the specified technical result.

Therefore, the claimed invention meets the condition of patentability "industrial applicability".

Information sources

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Claims (6)

1. A method of controlling the horizontal orientation of the apparatus, based on measuring the magnitude and direction of the apparent linear acceleration, characterized in that the current magnitude and direction of the absolute and apparent linear acceleration of the apparatus are simultaneously measured, the magnitude and direction of the difference of the apparent and absolute linear acceleration of the apparatus are determined, and then the ratio of the projection of the difference between the apparent and absolute linear acceleration of the apparatus on the longitudinal axis of the associated coordinate system to the value of the acceleration of gravity and elations projection apparent difference and absolute linear acceleration to a lateral axis coordinate system related to the difference between the projection and the apparent absolute linear acceleration associated to a normal axis of the coordinate system, and then determine the horizontal orientation of the controlled apparatus according to relations:

Where

,

- assessment of pitch, roll of controlled horizontal orientation of the apparatus, ang. hail;
Δ _X , Δ _Y , Δ _Z - projection of the magnitude and direction of the difference between the apparent and absolute linear acceleration of the apparatus on the longitudinal, normal and transverse axis of the associated coordinate system, m / s ² ;
g is the value of the acceleration of gravity at the point of location of the apparatus, m / s ² , and compare it with the given values. 2. A device for controlling the horizontal orientation of the apparatus, comprising a series-connected accelerometer and a subtraction unit, characterized in that the device further comprises an absolute linear acceleration sensor of the apparatus, the output of which is connected to the second subtracting input of the subtraction unit, as well as a gravity acceleration value sequentially connected, a unit for determining orientation components, the second input of which is connected to the output of the subtraction unit, and a comparator unit, the second input is connected to the rear horizontal orientation tchikom apparatus. 3. The device for monitoring the horizontal orientation of the apparatus according to claim 2, characterized in that the absolute linear acceleration sensor of the apparatus contains sensors of longitudinal, normal and transverse linear velocity of the apparatus, sensors of angular pitch, roll, yaw of the apparatus, three differentiators, three adders, six multipliers so that the first inputs of the first differentiator, the first and second multipliers are connected to the longitudinal longitudinal velocity sensor of the apparatus, the first inputs of the second differentiator, the third and fourth multiply lei are connected to the device’s normal linear velocity sensor, the first inputs of the third differentiator, fifth and sixth multipliers are connected to the transverse linear velocity sensor of the device, the second inputs of the first and third multipliers are connected to the output of the pitch angular velocity sensor, the second inputs of the second and sixth multipliers are connected to the sensor output the yaw rate, the second inputs of the fourth and fifth multipliers are connected to the output of the roll angular velocity sensor, the first summing input of the first adder is connected to the output of the first differentiator, the second subtractive input with the output of the third multiplier, the third summing input with the output of the sixth multiplier, and the output with the output of the longitudinal component of the absolute linear acceleration of the apparatus, the first summing input of the second adder is connected to the output of the second differentiator, the second subtracting input is with the output of the fifth multiplier, the third summing input with the output of the first multiplier, and the output with the output of the normal component of the absolute linear acceleration of the apparatus, the first summing input rubs its adder output coupled to a third differentiator, a second subtracting input - with the output of the second multiplier, a third summing input - with the output of the fourth multiplier, and an output - with a transverse component of the absolute yield of linear acceleration apparatus. 4. The device for monitoring the horizontal orientation of the apparatus according to claim 3, characterized in that the longitudinal longitudinal velocity sensor of the apparatus is made in the form of an air velocity sensor along the longitudinal axis of the associated coordinate system, and the device further comprises a series of connected angle of attack sensors, a first functional converter, seventh a multiplier, the second input of which, through the second functional converter, is connected to the output of the slip angle sensor, an eighth multiplier, the second input of which is connected to the output the airspeed sensor along the longitudinal axis of the associated coordinate system, and the output forms the transverse linear velocity of the apparatus, the angle of attack sensor connected in series, the third functional converter is the inverter, the ninth multiplier, the second input of which is connected to the output of the airspeed sensor along the longitudinal axis of the connected coordinate system, and the output forms the normal linear speed of the apparatus. 5. The device for controlling the horizontal orientation of the apparatus according to claim 2, characterized in that the unit for determining the components of the orientation contains the first, second division diagrams, fourth, fifth functional converters so that the first input of the unit for determining the components of orientation is connected to the first input of the divider of the first division scheme , the second input of the dividend which is connected to the input of the difference of the longitudinal apparent and absolute linear accelerations at the second input of the unit for determining the orientation components, the output of the first division circuit, without a fourth functional converter, connected to the output of the pitch estimation of the controlled horizontal orientation of the apparatus, the first input of the divider of the second division circuit is connected to the input of the difference of the normal apparent and absolute linear accelerations, the second input of the dividend to the input of the difference of the transverse apparent and absolute linear accelerations at the second input of the determination unit orientation components, the output of the second division circuit, through the fifth functional converter, is connected to the output of the roll assessment of the controlled horiz ntalnoy device orientation. 6. The device for controlling the horizontal orientation of the apparatus according to claim 2, characterized in that the comparator unit contains a first, second comparators and an OR circuit, the first input of which is connected to the output of the first comparator, one input of which is connected to the first input of the pitch assessment comparators, and another input with a second input of the comparator unit of a given horizontal orientation in pitch, the second input of the OR circuit is connected to the output of the second comparator, one input of which is connected to the first input of the roll assessment comparator unit, the other input d with the second input of the comparator a predetermined horizontal orientation roll, OR circuit output is the output of the horizontal orientation of the control device.

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