RU2385468C1 - Method of navigating moving objects - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: method involves using a reference map drawn using a known method before movement of the objects, selection of an area (measured area) of the reference map, drawing a current map through multibeam measurement of parametres of the measured area using waves with storage of the multibeam measurement results of slant distances using waves and increasing dimensions of the uncertainty square in the direction of movement of the moving objects within the limits of the measured area, comparison of the obtained values of the measured area of the current and reference maps, calculation of the motion path correction signal based on determination of the difference in multibeam measurement results, controlling movement of the objects by correcting their position when passing through the measured area.

EFFECT: increased reliability with calculation of the position correction signal of the method of navigating moving objects without increasing requirements for information content of the topography of the measured area.

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Description

The invention relates to the field of navigation and can be used in the construction of various location systems designed to determine the location of moving objects using waves emitted in the form of rays, and the waves are electromagnetic and other types of waves that propagate in air, water and airless environments , and control the movement of moving objects.

To ensure the navigation of moving objects (TO) determine the location of DO by measuring their current coordinates. The location of DOs is determined using waves for use in location navigation systems.

Navigation systems are based on correlation-extreme navigation methods (KESN), which ensure the search and tracking of the optimal mode of movement of DO [1]. KESN provide measurement of indicators of the extreme regime of BS, processing of this information and the development of control actions to correct the coordinates of the location of BS. Most often they use map-matching KESN for geophysical fields, based on a comparison of current maps of the area obtained using radio waves with reference maps of the same area, a priori located on the BS, based on determining the location of the BS with the subsequent control of the BS motion by correcting their location. Reference cards are installed on the DO until the moment the movement begins on a given surface of the terrain, and the current cards are received during the movement of the DO. The deviation of the reference terrain maps from the current at a given point of the trajectory of movement to determine the deviation of the actual trajectory from the given. As a result of comparing the reference and current terrain maps, corrections to the coordinates of the BS are generated to control the movement by correcting the location of the BS.

Comparison of the reference and current cards is carried out on the basis of the calculation of the functionals that reach the global extremum with full combination of images of these cards. To process the information obtained during the motion of DOs, difference algorithms are used based on the calculation of the differences in the measured heights of the current map.

A known method of navigation of moving objects [2], used in correlation-extreme navigation systems and consisting in determining the location of DO using radio waves emitted in the form of a single beam (hereinafter referred to as radio waves in the form of a beam), allows you to take information at the current point.

The implementation of the method [2] is as follows.

Use the information of the reference map of the area about the navigational field of the earth, which is located before the start of movement.

Choose a plot of land (measured plot).

(индекс «т» принадлежит текущей карте) от ДО до рельефа мерного участка в i точках (i=1, 2, 3, … N) траектории движения ДО (трассы

).Heights are measured using a single beam of radio waves

(the “t” index belongs to the current map) from the BS to the relief of the measuring section at i points (i = 1, 2, 3, ... N)

)

высот

, измеренные с помощью радиоволн, от высот H_oi, измеренных бародатчиком (абсолютная высота), в точках i траектории движения ДОAfter passing BEFORE the measured area, deviations are calculated

heights

measured using radio waves from the heights H _oi measured by the bar sensor (absolute height), at points i of the trajectory of motion DO

после прохождения мерного участка, то есть получают карту высот рельефа мерного участка (плановые координаты мерного участка), для составления которой используют данные о скорости ДО и углах эволюции (тангаж, крен и курс).Draw up a current map for the measured area based on the calculated elevation heights

after passing the measured section, that is, they receive a map of the elevation of the relief of the measured section (planned coordinates of the measured section), for compiling which data are used on the velocity of DO and the angles of evolution (pitch, roll and course).

(индекс «э» означает эталонную карту), направленные вдоль мерного участка с шагом j (j=1, 2, 3, … N) поперек мерного участка, соответствующим шагу эталонной карты (плановые координаты эталонной карты).Determined on the basis of a reference map of the terrain of the route

(index “e” means a reference map) directed along the measured section with a step j (j = 1, 2, 3, ... N) across the measured section corresponding to the step of the reference map (planned coordinates of the reference map).

Combine the current and reference maps of the study area.

и эталонное

значения путем корреляционно-экстремальной обработки реализаций с использованием разностных алгоритмов КЭСН.Compare current

and reference

values by correlation-extreme processing of implementations using KESN difference algorithms.

The BS location correction signal is calculated based on an analysis of the mutual displacements of the reference and current terrain maps of the measured area.

Control the movement of DO by correcting its location.

In this KESN, the DO trajectory is divided into two consecutive sections: measurement and correction.

The disadvantages of the method [2] are as follows:

generation of a correction signal only after the passage of the entire measured area.

The need to measure the absolute height of DOs above the zero level H _{O of the} reference map, and additional calculations are needed to determine the average elevation levels of the measured map and the reference map. Carrying out such calculations does not allow for the operational processing of data during the movement of DOs over a measured section.

Low accuracy of compiling the current map using a single beam, since to measure the height to the studied area, the beam width of the radio waves should be wide enough. This reduces the accuracy of determining the range to individual points on the surface and, accordingly, decreases the accuracy of compiling the current map.

Lack of information about the current location of BS in the process of moving over the measured section, since the processing of the measured information is carried out after the passage of the entire measured section.

High requirements for the information content of the relief of the measured area using a single beam, because the length of the measuring section is limited.

A known method of navigation of moving objects [3], selected for the prototype.

The implementation of the method [3] is as follows.

Use the information of the reference map of the area about the navigational field of the earth, which is located before the start of movement.

Choose a plot of land (measured plot), which is determined by the magnitude of the permissible deviations of the distance.

The current map of the area is represented by the matrix H (n _x , n _y ) of size N _x × N _y , and the reference map is represented by the matrix N _Э (n _x , n _y ) of size N _xE × N _uE . The discrete values of n _sx and n _sy correspond to the horizontal and vertical displacement of the current map relative to the reference and are counted from the lower left corner of the reference map, for which n _sx = n _sy = 0.

Make up the current map by measuring the parameters of the measured area using radio waves. Radio waves are emitted in the form of rays, the number of which is at least three and is determined by the permissible time for measuring the location of moving objects when moving over a measured area.

The inclined ranges to the surface under study are measured using radio waves, the first to emit a beam located in a plane orthogonal to the plane of the horizon of the surface to be studied (first beam), the next to emit rays whose propagation directions do not coincide with the direction of propagation of the first beam, and the propagation directions of one part rays are located to the left (in the direction of movement of moving objects) from the first ray, and the other part - to the right (in the direction of movement of moving objects) from ray, and the number of rays to the right and left of the first ray is the same.

Based on the obtained data on inclined ranges, as well as on the angles of evolution of the BS, the coordinates of the measurement points in the coordinate system associated with the BS, and the heights at these points are calculated.

The local coordinates of the projection of the current point of the trajectory DO on the plane of the planned coordinates are calculated.

The measurement differences of the first and all left rays, the first and all right rays in the current dimension are determined, and the measurement differences of the first ray in the current measurement and in the previous one are also calculated.

The current map is obtained sequentially as individual parts of the measured area are passed, and information about the measured area is received until its complete passage at the rate of receipt of the measured information.

Using the reference map for each possible position of moving objects within the uncertainty square (hypothesis), the position of the coordinates at each point is determined, for which the elevation of the terrain in the measuring section is calculated.

The differences of measurements of the first and all left rays, the first and all right rays in the current measurement are determined, and the differences of measurements of the first ray in the current measurement and in the previous one from the reference map for each hypothesis are calculated.

For all hypotheses inside the square of uncertainty, the terms of the proximity indicator are calculated.

The expression for the proximity indicator has the form

- разность измеренных в k-м измерении значений высоты по левому и центральному лучам;

- разность измеренных в k-м измерении значений высоты по правому и центральному лучам;

- разность значений высоты измеренных в k-м и (k-1)-м измерениях;

- разность определенных для некоторой гипотезы (для определенного значения n_hx и n_hy) значений высоты по данным эталонной карты на k-м измерении по левому и центральному лучам;

- разность определенных для некоторой гипотезы значений высоты по данным эталонной карты на k-м измерении по правому и центральному лучам;

- разность определенных для некоторой гипотезы значений высоты по данным эталонной карты на k-м и (k-1)-м измерениях по центральному лучу.Here n _hx and n _hy are the displacements of the point O _r for various hypotheses; k is the number of measurements;

- the difference of the height values measured in the kth measurement along the left and central rays;

- the difference of the values of height measured in the k-th measurement along the right and central rays;

- the difference in height values measured in the k-th and (k-1) -th dimensions;

- the difference of the height values determined for a certain hypothesis (for a specific value of n _hx and n _hy ) according to the data of the reference map in the kth dimension along the left and central rays;

- the difference of the height values determined for a certain hypothesis according to the data of the reference map in the kth dimension along the right and central rays;

- the difference of the height values determined for a certain hypothesis according to the data of the reference map at the k-th and (k-1) -th measurements along the central ray.

At the end of all measurements, an extremum of the proximity indicator is searched. The BS location correction signal is calculated based on an analysis of the mutual displacements of the reference and current terrain maps of the measured area.

Control the movement of DO by correcting its location.

The disadvantages of the method [3] are the following:

high requirements for the information content of the relief of the measured area to ensure high reliability of the search for the extremum of the proximity indicator when calculating the signal for correcting the location of DO (the reliability of the search for the extremum of the proximity indicator is determined by the values of the proximity indicators at the points of the main and maximum side minimums, depending on the information content of the relief of the measured area).

The technical result of the invention is to increase the reliability of the calculation of the location correction signal for the method of navigation of moving objects without increasing the information requirements of the relief of the measured area due to the fact that when compiling the current map, multipath measurements are accumulated.

The technical result is achieved by the fact that in the method of navigation of moving objects, which consists in using a reference map of the area as a priori information about the navigation field, selecting a plot of terrain (measured section) located within the reference map, compiling the current map by calculating the planned coordinates of the measured section based on multipath measurements of inclined ranges using radio waves, comparing the values of the planned coordinates of the current and reference maps, calculating the signal of the correction of the motion path and controlling the movement of moving objects by correcting their location, when compiling the current map, the results of multi-beam measurements of inclined ranges are accumulated using waves emitted in the form of rays, and the waves are electromagnetic and other types of waves that propagate in air, water and airless environments and the accumulation of the results of multipath measurements of the inclined ranges of moving objects is ensured by an increase in the size of the square of uncertainty in the direction of motion Nia moving objects within the dimensional plot.

The technical result is achieved by the fact that, when implementing the navigation method, the compilation of the current map is ensured by the accumulation of the results of multi-beam measurements of inclined ranges, in which as the motion increases, the size of the square of uncertainty in the direction of movement of moving objects while maintaining the dimensions of the measured area, and the waves act as electromagnetic and other types of waves that propagate in various environments (air, water and airless).

The navigation method TO explain the following drawings:

- figure 1 shows the coordinate system when determining the location of DO;

- figure 2 shows the measurement of the slant range for individual beams of radio waves;

- figure 3 describes the process of changing the size of the square of uncertainty;

- figure 4 shows the extremum of the proximity indicator.

The navigation method DO is as follows.

Use the information of the reference terrain map, which was originally installed on the BS, about the navigation field of the earth.

A site of terrain (a measured site) is selected on a known (given) reference map of the area on which the coordinate grid is superimposed. The measured area is defined as the elevation of the relief at the nodes of the coordinate grid.

Use the property of reflection of waves, which are electromagnetic and other types of waves, including radio, acoustic waves and optical radiation, which propagate in air, airless and aqueous media. In the future, for definiteness, we will use the radiation of electromagnetic waves in the range of radio waves, the reflection property of which is used to measure slant ranges when determining the location of DOs.

A current map is compiled by calculating the planned coordinates of the measuring area based on measurements of slant ranges using the multi-beam measurement mode using radio waves emitted in the form of rays that emit in the following sequence.

In each step of multipath measurements, a beam is first emitted, the propagation direction of which is located in a plane orthogonal to the plane of the horizon of the investigated surface, which will be the first beam. Then, rays are emitted whose propagation directions do not coincide with the propagation direction of the first ray, and the propagation directions of one part of the rays are to the left (in the direction of the DO) from the first ray, and the other part to the right (in the direction of the DO) of the first ray. The number of rays to the right and left of the first ray is the same.

Differences in the results of multipath measurements are determined to calculate the proximity indicator of data: the differences in the measurements of the first and all left rays, the first and all right rays in the current measurement are determined, and the differences in the measurements of the first ray in the current measurement and in the previous one are also calculated.

The accumulation of the results of multipath measurements of inclined ranges using radio waves is carried out. In the first step of calculations, the differences of measurements of the first step of calculations are used: the differences of measurements of the first and all left rays in the second dimension, the first and all right rays in the second dimension, as well as the differences of measurements of the first ray in the second dimension and in the first. In the second calculation step, in addition to the measurement differences of the first calculation step, the measurement differences of the second calculation step are used: the measurement differences of the first and all left rays in the third dimension, the first and all right rays in the third dimension, as well as the differences of the measurements of the first ray in the third dimension and in the second . In the Kth measurement step, in addition to the measurement differences of the first, second and subsequent calculation cycles, up to the (K-1) -th step, the measurement differences of the Kth calculation step are used: the measurement differences of the first and all left rays in (K + 1 ) -th dimension, the first and all right rays in the (K + 1) -th dimension, as well as the difference in the dimensions of the first ray in the (K + 1) -th dimension and in the Kth.

The current map is obtained sequentially as individual parts of the measured area are passed, and information about the measured area is received until its complete passage at the rate of receipt of the measured information.

Calculations are performed similar to those described above, using a reference map for each possible position of the DO within the uncertainty square, the initial dimensions of which are determined by the error in determining the location of the DO at the time the location is started. To ensure the accumulation of the results of multipath measurements of inclined ranges, an increase in the size of the square of uncertainty in the direction of motion of the DO within the measured section is performed.

For all hypotheses inside the square of uncertainty, the terms of the proximity indicator are calculated.

Search for the extremum of the proximity indicator.

The BS location correction signal is calculated based on an analysis of the mutual displacements of the reference and current terrain maps of the measured area.

Control the movement of DO by correcting its location.

The navigation method is implemented as follows.

The initial data for calculations in KESN are:

- a reference map, which is an array of terrain data, the elements of which are the elevation of the elevation in the nodes of the coordinate grid with a step Δ of the reference map on the plane O _r x _r y _r ;

- data on the law of approximation of the relief of the reference map between the nodes of the coordinate grid;

- data determined by the angle between the rays α _{R of the} radio waves;

- measurement data, different from those obtained with the help of radio waves, arriving with each measurement result: values of roll angle α _z , course angle α _x , pitch angle α _t , velocity ν DO;

- the current map, which is a set of values of inclined ranges for all three rays received in each dimension.

Select a terrain (measured area) on a known (specified) reference map of the area on which the original coordinate grid is superimposed. The reference map is a two-dimensional data array.

Make up the current map. We will consider the implementation of the navigation method for moving objects using an example of compiling a current map using radio waves by calculating the planned coordinates of the measured area based on measurements of slant ranges using a three-beam measurement mode. Rays emit in the following sequence. First, a beam is emitted whose propagation direction is located in a plane orthogonal to the horizon plane of the surface under study, which will be the first beam. Then, rays are emitted whose propagation directions do not coincide with the propagation direction of the first ray, and the propagation directions of one ray are to the left (in the direction of motion of the DO) from the first ray, and the other to the right (in the direction of motion of DO) of the first ray. When conducting three-beam measurements, the beam on the left is the second beam, and the beam on the right is the third beam.

The measured values of the inclined ranges to the underlying surface elements D _j (j∈ [1, 3] is the number of the radio wave beam) determine the coordinates of the measurement points in the coordinate system associated with the DO, as well as the measured values of the relief height H _j .

When determining the coordinates of the points we will apply the following coordinate systems shown in figure 1, for:

- a reference map of the terrain (large rectangle in figure 1);

- square of uncertainty (square in figure 1);

- possible DO positions inside the uncertainty square at the time of the beginning of measurements (points in FIG. 1) and points of the DO trajectory at which measurements are made (diamonds in FIG. 1).

The local planning coordinate system is the left rectangular Cartesian coordinate system O _r x _r y _r z _r with the origin O _r . In this case, the axes O _r x _r and O _r y _r lie in the plane of the local horizon, that is, x _r and y _r are the planned coordinates of BS. Relative to the plane O _r x _r y _r determine the elevation of the terrain and BS. Thus, the indicated heights are the corresponding values of the coordinate z _r . The origin of the coordinates O _{r is} chosen so that the axis O _r y _{r is} directed to the calculated point of the appearance of BS over the area corresponding to the reference map. The axis O _r y _r is considered collinear with respect to the horizontal component of the calculated velocity vector DO (Fig. 1). The local planning coordinate system is fixed and connected to the reference map.

In order to attach the planned coordinates to the reference map, use the discrete planned coordinate system. In this case, the axes N _x and N _{y are} aligned with the axes of the local system O _r x _r y _r (Fig. 1). Zero indices in the discrete coordinate system correspond to the lower left corner of the reference map. The assumed value of the discrete coordinates of DO at the time of the beginning of data collection O _{r is} denoted as (n _xrЭ , n _урЭ ). The relationship between the coordinates of the discrete and local planning coordinate systems is determined by expressions of the form

where Δ is the grid step of the reference map.

When determining the coordinates of measurement points in the form of intersection points of the underlying surface and the rays of radio waves, a coordinate system is used that is associated with the current position of the DO. The origin of this system (point O _a ) will be placed at the current projection point of the DO trajectory on the plane of the planned coordinates. On the x axis _and the direction _and coincides with the current direction to the velocity vector.

For each ray j, the system of equations using figure 2, we obtain in the following form

The obtained data on the speed and evolution angles determine the coordinates of the projection of the point of the trajectory DO on the plane of the planned coordinates.

For the first measurement, these coordinates are considered to be zero (that is, the position of DO during the first measurement coincides with the origin of the system O _r x _r y _r )

,

,

The local coordinates of the BS during the following measurements are calculated using recurrence relations

и

- координаты проекции текущего положения ДО на плоскость плановых координат,

- курс ДО в текущей точке измерений (угол между вектором скорости ДО и осью O_rx_r), Т_с - период поступления измеренных данных, i=1, 2, … - номер текущего измерения.Where

and

- the coordinates of the projection of the current position of DO on the plane of the plan coordinates,

- DO course at the current measurement point (angle between the DO velocity vector and the axis O _r x _r ), Т _с - period of receipt of measured data, i = 1, 2, ... - number of the current measurement.

Knowing the coordinates of the measurement points in the coordinate system associated with DO, (O _a x _a y _a ) and the local coordinates of the origin O _a , determine the coordinates of the measurement points in the planned coordinate system

The accumulation of the results of multi-beam measurements of inclined ranges using waves. In the first cycle of calculations, the differences of measurements of the first cycle of calculations are used: the differences of measurements of the first and second rays in the second dimension, the first and third rays in the second dimension, as well as the differences of measurements of the first ray in the second dimension and in the first. In the second calculation step, in addition to the measurement differences of the first calculation step, the measurement differences of the second calculation step are used: the measurement differences of the first and second rays in the third dimension, the first and third rays in the third dimension, as well as the measurement differences of the first ray in the third dimension and in the second. In the Kth calculation step, in addition to the measurement differences of the first, second and subsequent calculation cycles, including the (K-1) -th cycle, the measurement differences of the Kth calculation cycle are used: the measurement differences of the first and second rays in (K + 1) - m dimension, the first and third rays in the (K + 1) -th dimension, as well as the difference in the measurements of the first ray in the (K + 1) -th dimension and in the Kth.

For each of the possible BS positions within the uncertainty square, the coordinates of the measurement points in the planned coordinate system are calculated, which are defined as

where n _hx and n _hy are the displacements of the point O _r for various hypotheses, defined at the nodes of the coordinate grid of the reference map.

The difference between the multipath measurements is calculated to calculate the proximity indicator of the data on the reference map for each possible position of the DO within the uncertainty square, the initial dimensions of which are determined by the error in determining the location of the DO at the time the location is started.

For each of the possible DO positions within the square of uncertainty (for all hypotheses), the terms of the proximity indicator are calculated.

For all hypotheses inside the uncertainty squared, the terms of the proximity indicator P _REZ are determined by the expression

Here P (k) - values of the proximity indicator, defined as follows (figure 4).

For the first cycle of calculations, the proximity indicator has the form

The expression for P (1) is defined as

Similarly to (11), the proximity indicator will be determined for all subsequent measurements, including the last. Moreover, for subsequent measurements to ensure the accumulation of the results of multi-beam measurements of inclined ranges, the dimensions of the square of uncertainty in the direction of motion of the DO will increase within the measured area (figure 3) from N ₁ to N _R.

A condition for increasing the size of the square of uncertainty per step of the coordinate grid in the direction of motion of the DO is the transition of the coordinates of the measurement points in the planned coordinate system through the coordinate grid.

For the first measurement, we obtain P (1) = P (n _hx, n _hy ) | k = 1, for the second measurement, P (2) = P (n _hx , n _hy ) | k = 2 (in the absence of a transition of the coordinates of the measurement points in the planned coordinate system through the coordinate grid) or in general we get

For the second cycle of calculations, the proximity indicator has the form

The expression for P (2) has the form

For the Kth step of the calculations (calculate the difference of the height values measured in the (K + 1) th measurement), the proximity indicator has the form

The expression for P (K) is defined as

- разность измеренных в k-м измерении значений высоты по первому и второму лучам;

- разность измеренных в k-м измерении значений высоты по первому и третьему лучам;

- разность значений высоты, измеренных в k-м и (k-1)-м измерениях;

- разность определенных для некоторой гипотезы (для определенного значения n_hx и n_hy) значений высоты по данным эталонной карты на k-м измерении по первому и второму лучам;

- разность определенных для некоторой гипотезы значений высоты по данным эталонной карты на k-м измерении по первому и третьему лучам;

- разность определенных для некоторой гипотезы значений высоты по данным эталонной карты на k-м и (k-1)-м измерениях по первому лучу.Here K is the number of clock cycles of calculations;

- the difference measured in the k-th measurement of the height values for the first and second rays;

- the difference of the height values measured in the k-th measurement in the first and third rays;

- the difference in height values measured in the k-th and (k-1) -th dimensions;

- the difference of the height values determined for a certain hypothesis (for a specific value of n _hx and n _hy ) according to the data of the reference map in the kth dimension according to the first and second rays;

- the difference of the height values determined for a certain hypothesis according to the data of the reference map in the kth dimension according to the first and third rays;

- the difference of the height values determined for a certain hypothesis according to the data of the reference map on the k-th and (k-1) -th measurements on the first ray.

A search is made for the extremum of the proximity indicator (in the case of the differential-difference algorithm — the minimum), which is a function of the location of DOs in the planned coordinates at the time the measurements begin inside the uncertainty square. The proximity indicator may, for example, have the form shown in FIG. 4. The arguments of the indicator at which the global extremum is reached are the values (in the grid nodes of the reference map) of the corrections to the coordinates.

A BS position correction signal is calculated.

Control the movement of DO by correcting its location.

The method is based on the accumulation of the results of multi-beam measurements of inclined ranges, in which, as the moving objects move, the size of the uncertainty square increases in the direction of their movement while maintaining the dimensions of the measured section. In this case, the trajectory of the DO motion is synthesized in the measured section necessary for measurements.

The effect is achieved due to the fact that the results of multipath measurements of inclined ranges are accumulated with an increase in the number of DO positions in which multipath measurements of inclined ranges are accumulated during calculations (the path of the DO required for measurements is lengthened).

Reliability is calculated based on the expression

where C _max = 1 is the maximum value of the data proximity indicator, C _min0 and C _min1 are the values of the data proximity indicator at the points of the main and maximum incidental minima.

To verify the proposed method of navigation, BS studies were conducted. For this, the processes occurring in the navigation system were simulated. The results obtained were compared with the results obtained using the prototype method.

When comparing the reliability of calculations using the proposed navigation method, it was chosen as the initial one and was considered equal to 100%.

The research results showed that the reliability of the search for the extremum of the proximity indicator in the calculation of the signal for correcting the location of DO reaches:

- 63% with a standard deviation of the surface (RMS) equal to 20 m (low informational content of the relief);

- 85% at RMS = 50 m (average informational content of the relief);

- 88% at RMS = 100 m (high information content of the relief).

Thus, experimental studies by modeling methods of navigation BEFORE showed that the proposed method improves the reliability of the search for the extremum of the proximity indicator in the calculation of the signal location correction:

- by 58.7% compared with the prototype method with low information content of the relief;

- by 17.6% compared with the prototype method with an average information content of the relief;

- 13.6% compared with the prototype method with high information content of the relief.

It is important to note that the greatest gain (more than one and a half times) is obtained with a low information content of the relief.

The research results confirmed that the increase in reliability in the calculation of the signal for correcting the location of the navigation method of moving objects in comparison with the prototype is achieved regardless of the informativeness of the relief of the measured area.

Thus, this method of navigation DO has a significant difference from the known methods of navigation, provides high reliability search for the extremum of the proximity indicator in the calculation of the signal for correcting the location of DO.

Therefore, the method of navigation of moving objects has advantages over analog and prototype.

LITERATURE

1. Beloglazov I.N., Dzhangava G.I., Chigin G.P. Fundamentals of navigation through geophysical fields. - M .: Nauka, 1985 .-- 328 p. (p. 10-11, 19-22, 25-34).

2. Potapov A.A. On the theory of functionals of stachostic backscattering fields. // Radio engineering and electronics. - 2007. - March. - T.52. - N3. - C.261-310.

3. RF patent 2284544, IPC G01S 5/02, G01C 21/20. The way to navigate aircraft. / Khrustalev A.A., Koltsov Yu.V., Ryndyk A.G., Pluzhnikov A.D., Potapov N.N., Egorov S.N. // Inventions. - 2005. - N27 from 09/27/2006 (prototype).

Claims (1)

A method of navigating moving objects, which consists in using a reference map of the area as a priori information about the navigation field, selecting a plot of the terrain (measured area) within the reference map, compiling the current map by calculating the planned coordinates of the measured area based on multi-beam measurements of slant ranges using radio waves , comparing the values of the planned coordinates of the current and reference maps, calculating the signal of the correction of the trajectory of motion and controlling the movement of moving objects correction of their location, characterized in that when compiling the current map, the results of multipath measurements of inclined ranges are accumulated using waves emitted in the form of rays, and the waves are electromagnetic and other types of waves that propagate in air, water and airless environments, and the accumulation of the results of multipath measurements of the inclined ranges of moving objects is ensured by an increase in the size of the square of uncertainty in the direction of motion of moving objects within the measured area.

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