RU2393429C1 - System for control of flight-navigation complex - Google Patents

Abstract

FIELD: instrument making. ^ SUBSTANCE: system comprises functional converters, summators for four inputs, converters of coordinates, divider, subtraction circuits, comparators and logic circuit OR. Using measured values of speed vector and angular coordinates of aircraft for analogue and frequency output signals of Doppler metre, accuracy and credibility of movable object condition control is provided. ^ EFFECT: control accuracy. ^ 2 cl, 3 dwg

Description

The invention relates to the field of aviation technology and can be used for ground and flight control of the flight-navigation complex of an airplane, helicopter, unmanned aerial vehicle. In an equipment redundancy complex of an aircraft, it fully checks the operability and accuracy of its main meters - the inertial system and the Doppler meter - without increasing weight, dimensions, power consumption, cost and introducing additional control sensors into it.

A control device for a flight-navigation complex containing an inertial system and a Doppler speed meter is known according to the correspondence of the supply currents and voltages to their nominal values (Altukhov V.Yu., Stadnik V.V. Gyroscopic devices, automatic airborne control systems for aircraft and their technical operation. M .: Mashinostroenie, 1991. P.42; Kozaruk VV Navigation and flight complex of the TU-154 aircraft and its operation. M: Mashinostroyenie, 1993. S.53-54). In this case, it is assumed that the controlled flight-navigation complex is functioning properly if the voltage and currents supplying the device in phases do not go beyond the tolerance field. Such control is implemented in inertial navigation systems using threshold elements, relays, included in the power circuit of the device under test. The greatest application for gyroscopes was found by the power voltage signaling device (SNP-1). Similarly, the control of the Doppler speed meter is performed by a circuit breaker (gas station) and circuit breakers of a single-phase network (AZF) [1, p. 49]. The advantage of such control is ease of implementation, reliability, low weight, size and cost. The disadvantages include the impossibility of detecting malfunctions of signal, corrective and other low-current circuits, the indirect nature of control. Reliability and accuracy of control are not defined here, the output signals of the inertial system and the Doppler meter, which enter the flight-navigation complex, are not checked.

A device for the integrated control of the Doppler speed meter (Aviation radio navigation: Handbook. / A.A.Sosnovsky, I.A. Khaimovich, E.A. Lutin, I.B.Maksimov. Edited by A.A.Sosnovsky. - M .: Transport, 1990. P.233), containing a generator of a low-frequency test signal that simulates the measured useful signal of the Doppler frequency. The test signal modulates in amplitude the high-frequency antenna signal that has leaked from the transmitting path. In the Doppler speed meter calculator, this signal is processed like a useful aircraft speed signal and then goes to an indicator, which, when the instrument is in good working order, should show the pilot a specific speed and drift angle value. The control device works only occasionally when the Doppler speed meter cannot work according to its principle of operation. This is the so-called “Memory” mode. The control is manual, episodic, at one point of the operating range. The accuracy of the speed control is σ _W = 5.56 m / s (2% W), the angle is 1.5 angular degrees. [ 2, p.125], where W is the speed of the aircraft.According to experimental data, over five years of operation of the Doppler speed and drift angle meter (DISS-013), the reliability of the control is the probability of detecting precisely a failure in the flight of the Doppler meter, and not its controlling means here no more than 0.66. Information performance of control [3, p.13] as the degree of completeness of information control there is only 0.096 bit / s in the flight-navigation complex.Certain failures with such control of the Doppler meter are determined only by the pilot.

A device for flight control of a Doppler speed and drift angle meter (DISS-016) with a four-beam antenna system (Flerov A.G., Timofeev V.T. Doppler devices and navigation systems. M .: Mashinostroenie, 1987. P. 92), containing a calculator for the ratio of the output frequencies of narrow-band filtering. The device uses the well-known relationship when the sum of the differences of the Doppler frequencies of the antennas that are skew-symmetric with respect to the plane of symmetry of the apparatus, referred to the sum of the Doppler frequencies of the antennas located on one side of this plane, is a relatively small value determined by the error of the narrow-band filtering system. Monitoring is ongoing. In horizontal flight, the accuracy of the Doppler speed meter is checked. However, the accuracy of this control in terms of speed is 8.33 m / s (4% W), and in terms of angle - 1.5 angles. hail. [2, p.162] worse than the previous analogue. The accuracy of the control depends on the operating conditions of the device, the slip angles and rolls of the device, the asymmetry of the errors of the narrow-band filtering channels and the natural fluctuation of the Doppler frequencies of the antennas, including due to the properties of the earth's surface. Frequency signals that enter the flight and navigation system are not checked, control is indirect. The introduction of control means into the tested Doppler meter complicates its design, and therefore reduces its reliability so that the experimental value of the control reliability is not more than 0.62. The information performance of the control is small - 0.096 bit / s.

A device for monitoring two identical gyroscopic sensors for pitch and roll of the flight-navigation complex (Bondarchuk I.E., Kharin V.I. Aviation and radio-electronic equipment of the Yak-40 aircraft. M .: Transport, 1982. P.205), which contains two identical channels for comparing pitch and roll signals of the same name - the main one being checked and the gyroscopic sensors. The comparison and limit roll unit (BSPK) compares the output electrical signals of two selsyn sensors of gyroscopic verticals. If one of them fails, the readings of the devices become uneven. There is a mismatch between the signals of selsyn sensors and selsyn receivers. It goes to the input of the relay amplifier, which performs the function of a comparator, reporting a failure of devices. The control accuracy here is 7 ± 2 angles. hail. The modern implementation of such control by comparison in an on-board computer, for example, of the TsVM-80 type, provides the reliability of determining the failure of a duplicate inertial system of the inertial directional type IKV-802 level of 0.86. The device relatively accurately controls the instruments on the ground and in flight, has high reliability and, as a result, increased reliability of failure detection. However, for its implementation, duplication of all tested devices of the complex is necessary, which doubles its weight, dimensions, cost, energy consumption. If we take into account the highest cost of the tested Doppler meter and inertial system, the burdensomeness of such a solution becomes especially obvious. The information performance of pitch and roll control is 0.424 bps.

A device for integrated flight control of three inertial navigation systems (or three Doppler speed meters), built according to the majority control method (Altukhov V.Yu., Stadnik VV Gyroscopic devices, automatic on-board control systems for aircraft and their technical operation. M .: Engineering, 1991. P.38, 122; Vorobyev V.G., Glukhov V.V., Kadyshev IK. Aviation devices, information-measuring systems and complexes. M: Transport, 1992. P.194, 295) . It contains quorum elements and voltage detectors, which continuously compare the output signals of each of the three devices under test with their averaged signal received at the output of the quorum element. If one of the devices fails, its output signal will differ significantly from the output signal of the quorum element. This allows the corresponding voltage detector, which serves as a comparator, to identify a failure. Control devices built according to the majority method are widely used for flight control of aircraft instruments. They have a high accuracy of 7 ± 2 angles. grad., provide fault tolerance for receiving instrument information about the orientation and flight speed of the pilot in case of individual device failures. Reliability of control is 0.9. The information performance of one majorized parameter during control is 0.242 bit / s. However, three-fold redundancy of the relatively inexpensive and unreliable instrumentation equipment of the flight-navigation complex is advisable only on heavy passenger aircraft, where safety is of paramount importance even with a significant deterioration in the weight, size, cost, and energy consumption of the equipment. However, even there, due to the very high cost of the Doppler meter and inertial system, their redundancy, above the previously mentioned duplication, is practically not found.

The closest of the known technical solutions is the "Device for monitoring the builder of the vertical and speed sensors of the aircraft" (Pat. 2187141 RF, MKI G05B 23/00, G05D 1/04. // B.I. 2002, No. 22), which contains a vertical builder with pitch and roll outputs, a vertical speed sensor, a sensor for projecting the velocity vector onto the longitudinal axis of the connected coordinate system, a sensor for projecting the velocity vector onto the normal axis of the connected coordinate system, a sensor for projecting the velocity vector onto the transverse axis of the connected coordinate system, there are four multipliers, four functional converters and a four-input adder so that the input of the first multiplier is connected to the output of the first functional converter connected to the output of the vertical builder roll, the second input is to the output of the second functional converter connected to the vertical builder pitch output, the input of the second multiplier connected to the output of the sensor of the projection of the velocity vector on the longitudinal axis of the associated coordinate system, the second input to the third functional converter, connected the pitch to the vertical builder’s pitch output, and the output - with the first adder input to four inputs, the second subtracting input of which is connected to the output of the vertical speed sensor, the input of the third multiplier is connected to the output of the velocity vector projection sensor on the transverse axis of the associated coordinate system, the second input - the output of the first multiplier, and the output with the third subtracting input of the adder to four inputs, the input of the fourth multiplier, through the fourth functional converter, is connected to the roll output of the vertical builder, the second the input is with the output of the second functional converter, and the output is with the input of the fifth multiplier, the second input of which is connected to the output of the sensor for projecting the velocity vector onto the normal axis of the associated coordinate system, and the output is with the fourth input of the adder to four inputs, the output of which is connected to the comparator, which is the output of the device. For the practical implementation of such control on the previously mentioned IKV-802, DISS-016 and TsVM-80, the control reliability is equal to 0.86, information performance is 0.625 bit / s.

A disadvantage of the known prototype device is the impossibility of complete control of the inertial system and the Doppler meter included in the flight and navigation complex of the aircraft, according to all output signals with high reliability, lowest weight, dimensions, cost and power consumption of the complex without introducing hardware redundancy into it. The reason that impedes the obtaining of the technical result indicated below when using the known prototype device is the use of a vertical speed sensor and a vertical builder to measure only part of the output signals of the inertial system for monitoring. This made it impossible to control the flight-navigation complex by the signals of the horizontal projections of speed, the gyroscopic course of the inertial system and the signals of the projection of speed and the sliding angle of the Doppler meter.

The main task, which the claimed object device is aimed at, is to increase flight safety, while the pilot is continuously receiving true flight information, by means of full automatic ground and flight control of the flight and navigation complex of the aircraft, including an inertial system and a Doppler meter, without introducing hardware redundancy and manual manipulations with checked devices.

The technical result is: increasing the completeness of control, expressed by the information performance of the proposed device, the reliability of detecting a possible failure of a flight-navigation complex containing an inertial system and a Doppler meter, and not controlling means, expressed by the reliability of control, the accuracy of control is higher than that of known means at the minimum possible weight, dimensions, energy consumption and cost of aircraft on-board equipment.

The specified technical result is achieved by the fact that the first and second functional converters, the inputs of which are connected to the pitch output of the inertial system, the third and fourth functional converters, the inputs of which are connected to the roll output, into the system for monitoring the flight-navigation complex containing the inertial system and the Doppler meter inertial system, an adder for four inputs and a comparator, the first and second quadrators, an adder, a divider, the first, second, third coordinate converters are introduced t, fifth, sixth, seventh, eighth functional converters, second, third adders for four inputs, first, second, third, fourth, fifth, subtraction schemes, second, third, fourth, fifth comparators, the outputs of which, like the output of the first comparator, connected to the inputs of the OR circuit, with the input of the first quadrator, like the first input of the first coordinate transformer, connected to the output of the northern component of the speed of the inertial system, the second and third inputs of the first coordinate transformer are connected respectively to the outputs the sixth and sixth functional transducers, the inputs of which are connected to the gyroscopic heading of the inertial system, the fourth input of the first coordinate transducer - with the output of the vertical component of the inertial system speed, the fifth input of the first coordinate transformer, as well as the input of the second quadrator - with the output of the western component of the speed of the inertial system, the outputs of the first and second quadrators are connected to the inputs of the first adder, the first and second outputs of the first coordinate transformer are connected respectively with the first and second inputs of the divider, the output of which is connected to the input of the seventh functional converter, the first subtraction circuit and the first comparator, the third output of the first coordinate converter is connected to the first input of the second coordinate converter, the second and third inputs of which are connected respectively to the outputs of the first and the second functional transducers, the fourth and fifth inputs of the second coordinate transformer - with the second and first outputs of the first transformer dynamite, the first input of the third coordinate converter is connected to the third output of the second coordinate converter, the second and third inputs of the third coordinate converter are connected respectively to the outputs of the third and fourth functional converters, and the fourth and fifth inputs are connected to the first and second outputs of the second coordinate converter, the output of the first adder through the eighth functional converter is connected to the input of the second subtraction circuit, the second input of which is connected to the output of the horizontal projection of the speed and a Doppler meter, and the output is with the input of the second comparator, the first output of the third coordinate converter is connected to the third subtraction circuit, the third comparator, the second output of the third coordinate converter is connected to the fourth subtraction circuit, the fourth comparator, the third output of the third coordinate converter is connected with the fifth subtraction circuit, the fifth comparator connected in series, the second input of the first subtraction circuit is connected to the angle output the slip of the Doppler meter, the second input of the third subtraction circuit is connected to the output of the first adder to four inputs, the first subtracting input of which is connected to the output of the first frequency of the Doppler meter, the second summing input - to the output of the second frequency of the Doppler meter, the third summing input - to the output of the third frequency of the Doppler the meter, the fourth subtracting input - with the output of the fourth frequency of the Doppler meter, the second input of the fourth subtraction circuit is connected to the output of the second adder for four input re, the first summing input of which is connected to the output of the first frequency of the Doppler meter, the second subtracting input - with the output of the second frequency of the Doppler meter, the third summing input - with the output of the third frequency of the Doppler meter, the fourth subtracting input - with the output of the fourth frequency of the Doppler meter, the second input the fifth subtraction circuit is connected to the output of the third adder to four inputs, the first summing input of which is connected to the output of the first frequency of the Doppler meter, the second input to the output house of the second frequency of the Doppler meter, the third input - with the output of the third frequency of the Doppler meter, the fourth input - with the output of the fourth frequency of the Doppler meter, the output of the OR circuit is the output of the system.

The specified technical result in particular cases is achieved by the fact that in the system for monitoring the flight and navigation complex according to claim 1, the coordinate transformer comprises a first multiplier connected in series, the first input of which is connected to the first input of the coordinate transformer, the second input to the second input of the coordinate transducer, and the second adder, the second input of which is connected to the output of the second multiplier, and the output to the first output of the coordinate transformer, the third multiplier connected in series, the first input which is connected to the first input of the coordinate transformer, the second input to the third input of the coordinate transformer, and the sixth subtraction circuit, the summing input of which is connected to the output of the third multiplier, the subtracting input to the output of the fourth multiplier, and the output to the second output of the coordinate transducer, the fourth the input of the coordinate transformer is connected to its third output, the fifth input to the first inputs of the second and fourth multipliers, the second inputs of which are connected respectively to the third and second inputs of the converter For coordinates.

The set of essential features of the invention provides a technical result achieved during the implementation of the invention, a system for monitoring the flight-navigation complex containing an inertial system and a Doppler meter. The essence of the invention consists in generating evaluation signals proportional to the glide angle, horizontal velocity projection, velocity projections on the axis of the associated coordinate system, from the output signals of the inertial system and comparing them with the output signals of the analog outputs of the Doppler meter — the angle of glide, the horizontal projection of the aircraft’s speed and accurate frequency signals from the outputs of the Doppler meter. The latter are functionally related to the velocity projections on the axis of the associated coordinate system, along which exact navigation signals are generated in the flight-navigation complex, which are proportional to the aircraft velocity projections. In the event of a malfunction or inaccuracy in the operation of the inertial system or the Doppler meter, the equality of the signal estimates and their values is violated and the system records the failure of the flight-navigation complex.

The analysis of the prior art carried out 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 system for controlling the flight-navigation system, 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 exception due to its presence of the function, and the achievement of the usual result for such an exception;

- 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 the known device is an analogue 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 connection between them are based on known rules and the technical result achieved is due only to the known properties of the parts of this device and the connections 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 meets "Inventive step".

The invention is illustrated by drawings, where figure 1 shows a structural diagram of a system for monitoring the flight-navigation complex and the following notation:

1 - inertial system;

2 - Doppler meter;

3-1, 3-2 - the first, second quadrators;

4-1 - the first adder;

5-1, 5-2, 5-3, 5-4, 5-5 - the first, second, third, fourth, fifth schemes of subtraction;

6-1, 6-2, 6-3, 6-4, 6-5 - the first, second, third, fourth, fifth comparators;

7 - divider;

8-1, 8-2, 8-3 - the first, second, third coordinate converters;

9-1, 9-2, 9-3, 9-4, 9-5, 9-6, 9-7, 9-8 - the first, second, third, fourth, fifth, sixth, seventh, eighth functional converters;

10-1, 10-2, 10-3 - the first, second, third adders for four inputs;

11 is an OR diagram;

ψ, υ, γ - yaw, pitch, roll angles, measured by the inertial system;

ψ _Г = K-ψ - gyroscopic course;

K - orthodromy course;

V _ξ , V _η , V _ζ are the projections of the aircraft's speed vector on the axis of a geographically oriented, horizontal coordinate system, measured by inertial system 1; V _ξ is the northern component of the velocity; V _η is the western component of the velocity; V _ζ is the vertical component of velocity;

V _X0 , V _Y0 , V _Z0 - projection of the aircraft's flight velocity vector on the axis of the orthodromic coordinate system;

V _XC , V _Y1 , V _Z0 - projection of the aircraft's flight speed vector on the axis of the coordinate system X _C , Y ₁ , Z ₀ after rotation through the pitch angle υ;

,

,

- оценки проекции вектора скорости полета самолета на оси связанной системы координат X_C, Y_C, Z_C, после поворота на угол крена γ;

,

,

- estimates of the projection of the aircraft’s flight velocity vector on the axis of the associated coordinate system X _C , Y _C , Z _C , after rotation through a roll angle γ;

W _XC , W _YC , W _ZC - projections of the aircraft’s flight velocity vector on the axis of the associated coordinate system X _C , Y _C , Z _C obtained from the frequencies of the Doppler meter 2;

F ₁ , F ₂ , F ₃ , F ₄ - the first, second, third, fourth frequencies of the Doppler meter 2.

V _G is the horizontal projection of the aircraft’s speed vector relative to the Earth, measured by Doppler meter 2;

US - the angle of slip or the angle between the horizontal projection of the longitudinal axis of the aircraft OX _C and the horizontal projection V _G of the velocity vector, measured by the Doppler meter 2.

Figure 2 shows the structural diagram of the transducers 8-1, 8-2, 8-3 coordinates, where the following notation:

4-2 - the second adder;

5-6 - the sixth subtraction scheme;

12-1, 12-2, 12-3, 12-4 - the first, second, third, fourth multipliers.

Figure 3 shows the relative position of the coordinate systems. The following notation is accepted:

Oξηζ - geographically oriented, horizontal coordinate system implemented by inertial system 1;

Оξ (N) - axis of a geographically oriented, horizontal coordinate system, oriented in the north (N) direction;

Oη {W) - axis of a geographically oriented, horizontal coordinate system, oriented in the west (W) direction;

Oζ - axis of a geographically oriented, horizontal coordinate system, oriented vertically places;

OX _C Y _C Z _C - the associated coordinate system of the aircraft, the axes of which are measured speed Doppler meter 2;

OX _C - the longitudinal axis of the associated coordinate system, oriented along the aircraft construction axis in the plane of its symmetry;

OY _C is the normal axis of the associated coordinate system, oriented perpendicular to OX _C in the plane of symmetry of the aircraft;

OZ _C is the transverse axis of the associated coordinate system, oriented perpendicular to the plane of symmetry of the aircraft towards the right wing;

OX _op Y _op Z _op - the orthodromic coordinate system rotated relative to the geographically oriented horizontal coordinate system Oξηζ by the angle K of the orthodromy course;

- вектор скорости полета самолета относительно Земли.

is the vector of the aircraft’s flight speed relative to the Earth.

так, чтоIn this case, the projection of the projection V _G of the velocity vector onto the horizontal plane ξOη measured by the Doppler meter 2 is obtained immediately from the output signals V _{ξ of the} north and V _η west velocity components measured by the inertial system 1. For this, signals proportional to the velocity components are squared, summarized and, having passed the functional transducer, give a projection estimate

so that

, измеряемого доплеровским измерителем 2, необходимо определить проекции вектора скорости на горизонтальные оси X₀, Z₀. Поэтому сигналы, пропорциональные проекциям скорости на оси Oξηζ, измеряемые инерциальной системой 1, подаются на преобразователь координат 8-1, где вычисляются проекции:The subsequent comparison of this estimate with the output signal of the Doppler meter 2 allows us to evaluate the correct operation of the flight-navigation complex using the signals V _ξ , V _η , V _G. To get a glide angle estimate

measured by the Doppler meter 2, it is necessary to determine the projection of the velocity vector on the horizontal axis X ₀ , Z ₀ . Therefore, signals proportional to the velocity projections on the Oξηζ axis, measured by inertial system 1, are fed to the coordinate transformer 8-1, where the projections are calculated:

- матрица поворота на угол ψ_Г гироскопического курса. Ее реализация, как и реализация матриц поворота на углы тангажа А_ϑ и крена А_γ, возможна по схеме, показанной на фиг.2, тогдаWhere

- matrix rotation through the angle ψ _{G of the} gyroscopic course. Its implementation, as well as the implementation of rotation matrices at pitch angles A _ϑ and roll A _γ , is possible according to the scheme shown in figure 2, then

;

;

;

;

,

- тригонометрические функции углов тангажа ϑ, крена γ, гироскопического курса ψ_Г, полученные на вторых и третьих входах преобразователей координат 8-2, 8-3, 8-1 с выходов функциональных преобразователей 9-1, 9-2, 9-3, 9-4, 9-5, 9-6. Тогда определение, с учетом (2), оценки угла скольжения

по преобразованным в преобразователе координат 8-1 сигналам инерциальной системы 1 будет

where sinϑ, cosϑ, sinγ, cosγ,

,

- trigonometric functions of pitch angles ϑ, roll γ, gyroscopic heading ψ _Г , obtained at the second and third inputs of coordinate transformers 8-2, 8-3, 8-1 from the outputs of functional transformers 9-1, 9-2, 9-3, 9-4, 9-5, 9-6. Then the definition, taking into account (2), the estimation of the slip angle

the signals of the inertial system 1 transformed in the coordinate converter 8-1 will be

угла скольжения и его измеренное значение УС с доплеровского измерителя 2. Схемы вычитания 5-1 и 5-2 совместно с компараторами 6-1, 6-2 проводят оценку исправности инерциальной системы 1 по сигналам тангажа, крена, гироскопического курса, северной, западной составляющих скорости и аналоговым выходам горизонтальной проекции скорости, углу скольжения доплеровского измерителя 2. Для оценки работоспособности и точности четырехлучевого доплеровского измерителя 2 по его первому, второму, третьему, четвертому частотным выходам, сигналы F₁, F₂, F₃, F₄ подаются на входы первого, второго, третьего сумматоров на четыре входа, где в соответствии с известными зависимостями [2, с.38, (2.9)] формируются сигналы, пропорциональные проекциям W_XC, W_YC, W_ZC вектора скорости полета самолета на оси связанной системы координат X_C, Y_C, Z_C, полученные по выражениям:The operation of dividing the speeds is implemented in the divider 7, and the function arctg in the functional converter 9-7 so that the estimate 5-1 receives the estimate

the slip angle and its measured value of the DC from the Doppler meter 2. Subtraction schemes 5-1 and 5-2, together with the comparators 6-1, 6-2, evaluate the health of the inertial system 1 by the signals of pitch, roll, gyroscopic course, northern, western components the speed and analog outputs of the horizontal projection of speed, the glide angle of the Doppler meter 2. To assess the health and accuracy of the four-beam Doppler meter 2 by its first, second, third, fourth frequency outputs, signals F ₁ , F ₂ , F ₃ , F ₄ p are fed to the inputs of the first, second, third adders to four inputs, where, in accordance with the known dependences [2, p. 38, (2.9)], signals are generated that are proportional to the projections W _XC , W _YC , W _ZC of the aircraft’s flight speed vector on the axis coordinate systems X _C , Y _C , Z _C obtained by the expressions:

where Г ₀ , В ₀ are the installation angles of the beams of the antenna of the Doppler meter; λ is the length of the radio wave. For a three-beam Doppler meter, in accordance with the known dependences [2, p. 38, (2.10)], the structure and signs of the signals in Fig. 1 do not change, since the expressions for the W _XC , W _YC , W _ZC projections of the aircraft’s flight speed vector have the form:

,

,

проекций вектора скорости по сигналам инерциальной системы получаются в соответствии с выражениями вида:Grades

,

,

projections of the velocity vector by the signals of the inertial system are obtained in accordance with expressions of the form:

bringing projections of aircraft speed from a geographically oriented, horizontal coordinate system to a coordinate system associated with the measuring axes of the Doppler meter. This transformation is performed by coordinate converters 8-1, 8-2, 8-3 and functional converters 9-1, 9-2, 9-3, 9-4, 9-5, 9-6 for all output signals of the inertial system 1 : V _ξ - the northern component of the velocity, V _η - the western component of the velocity, V _ζ - the vertical component of the velocity, ϑ - pitch, γ - roll, ψ _Г - gyroscopic course. In general terms, this can be written as

The output signals of the coordinate converter 8-3, as well as the output signals of the adders 10-1, 10-2, 10-3 to four inputs, are fed to the inputs of the subtraction schemes 5-3, 5-4, 5-5, where the equality of the same names is evaluated signals received from the inertial system and the Doppler meter. In the event that the signal difference exceeds the permissible value, for example, due to a failure of the inertial system, the Doppler meter, and a decrease in their accuracy, the comparators 6-3, 6-4, 6-5 issue a signal / signals of failure to the OR logic circuit, which is device output.

The specified technical result in particular cases is achieved by the fact that in the device for monitoring the flight-navigation complex according to claim 1, the coordinate converter 8-1, 8-2, 8-3, shown in figure 2, implements the following relations between its input: X ₁ , X ₂ , X ₃ , X ₄ , X ₅ and output: Y ₁ , Y ₂ , Y ₃ signals

гироскопического курса, либо тангажа ϑ, либо крена γ с функциональных преобразователей 9-5, 9-6 или 9-1, 9-2, или 9-3, 9-4, то, учитывая (2), (3), (11), (12), уравнения в преобразователе координат 8-1 будут:Given that the second and third inputs of the coordinate transformers 8-1, 8-2, 8-3 always receive a signal proportional to the trigonometric function, respectively, sin and cos or angle

gyroscopic course, or pitch ϑ, or roll γ from functional transducers 9-5, 9-6 or 9-1, 9-2, or 9-3, 9-4, then, given (2), (3), ( 11), (12), the equations in the coordinate converter 8-1 will be:

in coordinate converter 8-2 will be:

in the coordinate converter 8-3 will be:

Thus, estimates of the projections of the velocity vector on the axis of the associated coordinate system are obtained from the output signals of the inertial system. If there is a malfunction or inaccuracy in the inertial system 1 or Doppler meter 2, the equality of the signal estimates and their values is violated and the system records the failure of the flight-navigation complex.

The general algorithm of the control system of the flight-navigation complex has the following form:

- функции точности контроля и пороги срабатывания компараторов, U_Ki - выходной сигнал i-го компаратора; U_O - выходной сигнал схемы ИЛИ 11, являющийся дизъюнкцией сигналов компараторов.where k _10-1 , k _10-2 , k _10-3 - are given, in accordance with the expressions (5) ÷ (7) or (8) ÷ (10), the gain values of the adders 10-1, 10-2, 10-3 on four inputs, respectively, for a four- or three-beam Doppler meter 2; f _i

- functions of control accuracy and thresholds for comparators, U _Ki - output signal of the i-th comparator; U _O - the output signal of the circuit OR 11, which is the disjunction of the signals of the comparators.

The system for monitoring the flight-navigation complex (Fig. 1), containing an inertial system 1 and a Doppler meter 2, has a first quadrator 3-1. The input of the first quadrator 3-1 is connected to the output of the northern component V _{ξ of the} speed of the inertial system 1, the input of the second quadrator 3-2 is connected to the output of the western component V _{η of the} speed of the inertial system 1, and their outputs are connected to the inputs of the adder 4-1. One input of the subtraction circuit 5-1 is connected to the output of the Doppler meter 2, and the output is connected to the input of the first comparator 6-1. The horizontal projection output V _{G of the} Doppler meter 2 is connected to the input of the subtraction circuit 5-2, the output of which is connected to the input of the second comparator 6-2. The outputs of the subtraction circuits 5-3, 5-4, 5-5 are connected respectively to the inputs of the comparators 6-3, 6-4, 6-5. The first input of the divider 7 and its second input is divisible, respectively, are connected to the first and second outputs of the first coordinate transformer 8-1, the first input of which is connected to the output of the northern component V _{ξ of the} inertial system 1. The output of the pitch and inertial system 1 is connected to the inputs of the functional converters 9 -1, 9-2, the roll output γ of the inertial system 1 is connected to the inputs of the functional converters 9-3, 9-4, and the gyroscopic output ψ _{Г of the} inertial system 1 is connected to the inputs of the functional converters 9-5, 9-6. The second input of the coordinate converter 8-1 is connected to the output of the functional converter 9-5, the third input is connected to the output of the functional converter 9-6, the fourth input is connected to the output of the vertical component V _{ζ of} speed, and the fifth input is connected to the output of the western component V _η of inertial speed system 1. The output of the divider 7 through the seventh functional Converter 9-7 is connected to another input of the subtraction circuit 5-1. The third output of the coordinate transformer 8-1 is connected to the first input of the coordinate transformer 8-2, the second and third inputs of which are connected respectively to the outputs of the functional transducers 9-1 and 9-2. The fourth and fifth inputs of the transducer 8-2 coordinates are connected respectively with the second and first outputs of the transformer 8-1 coordinates. The first input of the coordinate converter 8-3 is connected to the third output of the converter 8-2, the second and third inputs are respectively connected to the outputs of the functional converters 9-3 and 9-4, the fourth input is the first output of the coordinate converter 8-2, and the fifth input is with the second output of the converter 8-2. The input of the functional converter 9-8 is connected to the output of the adder 4-1, and the output is connected to another input of the subtraction circuit 5-2. One input of the third subtraction circuit 5-3 is connected to the first output of the coordinate converter 8-3, the other input is connected to the output of the first adder 10-1 to four inputs. One input of the fourth subtraction circuit 5-4 is connected to the second output of the coordinate converter 8-3, the other input is connected to the output of the second adder 10-2 to four inputs. One input of the fifth subtraction circuit 5-5 is connected to the third output of the coordinate converter 8-3, the other input is connected to the output of the third adder 10-3 to four inputs. The first subtracting input of the first adder 10-1 to four inputs and the first summing inputs of adders 10-2, 10-3 to four inputs are connected to the output of the first frequency of the Doppler meter 2. The second summing inputs of adders 10-1 and 10-3 to four inputs and the second subtracting input of the adder 10-2 to four inputs connected to the output of the second frequency of the Doppler meter 2. The third summing inputs of the adders 10-1, 10-2 and 10-3 to four inputs connected to the output of the third frequency of the Doppler meter 2. Fourth subtracting inputs of the adders 10-1 and 10-2 for four input and the fourth summing input of the adder 10-3 to four inputs connected to the output of the fourth frequency of the Doppler meter 2. The outputs of the comparators 6-1, 6-2, 6-3, 6-4, 6-5 are connected to the inputs of the circuit OR 11, output which is the output of the system.

The Converter 8-1, 8-2, 8-3 coordinates (figure 2) contains a series-connected multiplier 12-1, the first input of which is connected to the first input of the Converter 8-1, 8-2, 8-3 coordinates, the second input is with the second input of the transducer 8-1, 8-2, 8-3 coordinates, an adder 4-2, the second input of which is connected to the output of the multiplier 12-2, and the output is with the first output of the transducer 8-1, 8-2, 8- 3 coordinates, connected in series by a multiplier 12-3, the first input of which is connected to the first input of the transducer 8-1, 8-2, 8-3 coordinates, the second input - with the third input of the transducer 8-1, 8-2, 8-3 coordinates, a subtraction circuit 5-6, the summing input of which is connected to the output of the multiplier 12-3, the subtracting input is connected to the output of the multiplier 12-4, and the output is the second output of the converter 8-1, 8-2 , 8-3 coordinates, the fourth input of the transducer 8-1, 8-2, 8-3 coordinates connected to its third output, the fifth input to the first inputs of the multipliers 12-2, 12-4, the second inputs of which are connected respectively to the third and the second inputs of the Converter 8-1, 8-2, 8-3 coordinates.

The practical implementation of the system for monitoring the flight-navigation complex is possible on an analog [4] or digital circuitry base [4-6]. At the same time, as the inertial system 1, one can consider both the platform I-11, MIS, I-21, and the strapdown inertial system LINS-2000, LTN-92, I-42, etc., or the inertial directional line IKV-1, IKV-8 , IKV-72, Ts-060, LCR-93, IKV-802, and as a Doppler meter 2 - a four-beam or three-beam continuous radiation meter with an unmodulated or frequency-modulated signal DISS-3, DISS-7, DISS-013, DISS-016 , P-11, SHO-13, DISS-015 [7-10]. Algorithmic implementation of the system is preferable on V-144 on-board computers (flight control and navigation complex NPK-144, KN-23), TsVM20-ХХХ, TsVM80-30ХХХ, BTsVM-386/486 [7, p.337-341; 10, p. 258; 11, p. 95; 12, p. 549]. The conversion of the Doppler frequencies F ₁ , F ₂ , F ₃ , F ₄ , and in particular their addition for the implementation of adders 10-1, 10-2.10-3 to four inputs, is possible according to the schemes [2, p.115; 10, p. 255-269].

скорости полета самолета на оси географически ориентированной, горизонтальной системы координат: V_ξ - северной составляющей скорости, V_η - западной составляющей скорости, V_ζ - вертикальной составляющей скорости. Одновременно доплеровский измеритель 2 выдает сигналы, пропорциональные горизонтальной проекции V_Г скорости, углу УС скольжения, доплеровским частотам F₁, F₂, F₃, F₄. Сигналы, пропорциональные северной V_ξ составляющей скорости, вертикальной составляющей V_ζ скорости, западной V_η составляющей скорости, поступают на первый, четвертый, пятый входы преобразователя 8-1 координат. На входы функциональных преобразователей 9-5 и 9-6 поступает сигнал, пропорциональный углу гироскопического курса ψ_Г с инерциальной системы 1. Тогда на второй и третий входы преобразователя 8-1 координат с выходов функциональных преобразователей 9-5 и 9-6 поступают сигналы, пропорциональные sinψ_Г и cosψ_Г соответственно. После преобразования на первом, втором и третьем выходах преобразователя 8-1 координат получаются сигналы вида (17), (18), (19), пропорциональные проекциям скорости на оси OX_opY_opZ_op частной ортодромической системы координат. Сигналы с первого и второго выходов преобразователя 8-1 координат поступают на делитель 7, где формируется отношение горизонтальных проекций V_ZO/V_XO вектора скорости. Пройдя через функциональный преобразователь 9-7, на его выходе получается сигнал arctg(V_ZO/V_XO), пропорциональный оценке

угла скольжения самолета. Вычитая из этой оценки измеренное доплеровским измерителем 2 значение УС угла скольжения в схеме 5-1 вычитания, получаем сигнал пропорциональный функции контроля Ф₁ по выражению (26). Сигналы, пропорциональные северной V_ξ составляющей скорости и западной V_η составляющей скорости, с выходов инерциальной системы 1 поступают соответственно на входы первого 3-1 и второго 3-2 квадраторов. Выходные сигналы последних поступают на входы сумматора 4-1 и далее на функциональный преобразователь 9-8 так, что после его прохождения получается сигнал пропорциональный

, то есть оценка горизонтальной проекции вектора скорости полета. Вычитая из этой оценки измеренное доплеровским измерителем 2 значение V_Г горизонтальной проекции вектора скорости в схеме 5-2 вычитания, получается сигнал пропорциональный функции контроля Ф₂ по выражению (27). Сигнал, пропорциональный углу ϑ тангажа, с инерциальной системы 1 поступает на входы первого 9-1 и второго 9-2 функциональных преобразователей так, что на их выходах соответственно получаются сигналы, пропорциональные тригонометрическим выражениям sinϑ и cosϑ. Они поступают на второй и третий входы преобразователя 8-2 координат, на первый, четвертый, пятый входы которого одновременно поступают сигналы V_YO, V_ZO, V_XO, пропорциональные проекциям вектора

скорости самолета на оси частной ортодромической системы координат. После преобразования на первом, втором и третьем выходах преобразователя 8-2 координат получаются сигналы вида (20), (21), (22), пропорциональные проекциям скорости V_XC, V_Y1, V_ZO на оси системы координат OX_CY₁Z_O. Сигнал, пропорциональный углу γ крена, с инерциальной системы 1 поступает на входы третьего 9-3 и четвертого 9-4 функциональных преобразователей так, что на их выходах соответственно получаются сигналы, пропорциональные тригонометрическим выражениям sinγ и cosγ. Они поступают на второй и третий входы преобразователя 8-3 координат, на первый, четвертый, пятый входы которого одновременно поступают сигналы V_ZO, V_XC, V_Y1, пропорциональные проекциям вектора

скорости самолета на оси системы координат OX_CY₁Z_O. После преобразования на первом, втором и третьем выходах преобразователя 8-3 координат получаются сигналы вида (23), (24), (25), пропорциональные оценкам проекций вектора скорости

,

,

на оси связанной системы координат OX_CY_CZ_C. Сигналы, пропорциональные доплеровским частотам F₁, F₂, F₃, F₄, c доплеровского измерителя 2 поступают соответственно на первые, вторые, третьи, четвертые входы сумматоров 10-1, 10-2, 10-3 на четыре входа. На первый и четвертый вычитающие входы сумматора 10-1 на четыре входа приходят сответственно сигналы первой и четвертой доплеровской частоты, а на второй и третий суммирующие входы - сигналы второй и третьей доплеровской частоты с доплеровского измерителя 2. На второй и четвертый вычитающие входы сумматора 10-2 на четыре входа приходят сответственно сигналы второй и четвертой доплеровской частоты, а на первый и третий суммирующие входы - сигналы первой и третьей доплеровской частоты с доплеровского измерителя 2. На первый, второй, третий и четвертый суммирующие входы сумматора 10-3 на четыре входа приходят соответственно сигналы первой, второй, третий и четвертой доплеровской частоты с доплеровского измерителя 2. Это позволяет, в соответствии с выражениями (28), получить в пилотажно-навигационном комплексе точные значения проекций W_YC, W_ZC, W_XC скорости на оси связанной системы координат, которые измерены доплеровским измерителем 2. Вычитая из оценок

,

,

, на выходах преобразователя 8-3 координат измеренные доплеровским измерителем 2 значения соответственно проекций вектора скорости W_YC, W_ZC, W_XC в схемах 5-3, 5-4, 5-5 вычитания, на выходах схем 5-3, 5-4, 5-5 вычитания получаем сигналы, пропорциональные функциям контроля Ф₃, Ф₄, Ф₅, представленным выражениями (29)-(31). Учитывая ограниченную точность приборов пилотажно-навигационного комплекса, ожидаемые нулевые значения сигналов функций контроля Ф₁, Ф₂, Ф₃, Ф₄, Ф₅ следует сравнивать соответственно в компараторах 6-1, 6-2, 6-3, 6-4, 6-5 с соответствующими пороговыми значениями

,

,

,

,

. При отличии даже одного (или нескольких) из выходных сигналов схем 5-1, 5-2, 5-3, 5-4, 5-5 вычитания от допустимого порога происходит срабатывание соответствующего компаратора (или компараторов), что через схему ИЛИ сообщает сигналом U_O об отказе, представленном выражениями (32), либо инерциальной системы 1, либо доплеровского измерителя 2 контролируемого пилотажно-навигационного комплекса.A device for monitoring the flight-navigation complex works as follows. Inertial system 1 provides signals to the flight-navigation complex proportional to the angles of roll γ, pitch ϑ, gyroscopic course ψ _Г , and projections of the vector

the flight speed of the aircraft on the axis of a geographically oriented horizontal coordinate system: V _ξ is the northern component of speed, V _η is the western component of speed, V _ζ is the vertical component of speed. At the same time, the Doppler meter 2 provides signals proportional to the horizontal projection of V _G speed, the angle of the slip angle, Doppler frequencies F ₁ , F ₂ , F ₃ , F ₄ . Signals proportional to the northern component V _{ξ of the} velocity, the vertical component V _{ζ of the} velocity, the western component V _{η of the} velocity, arrive at the first, fourth, fifth inputs of the transducer 8-1 coordinates. At the inputs of the functional converters 9-5 and 9-6, a signal is proportional to the angle of the gyroscopic heading ψ _Г from the inertial system 1. Then, signals are received at the second and third inputs of the coordinate converter 8-1 from the outputs of the functional converters 9-5 and 9-6, proportional to sinψ _Г and cosψ _Г, respectively. After conversion at the first, second and third outputs of the coordinate converter 8-1, signals of the form (17), (18), (19) are obtained, which are proportional to the projections of the velocity on the axis OX _op Y _op Z _{op of the} particular orthodromic coordinate system. The signals from the first and second outputs of the coordinate transformer 8-1 are sent to a divider 7, where the horizontal projection ratio V _ZO / V _XO of the velocity vector is formed. Having passed through functional converter 9-7, the output arctg signal (V _ZO / V _XO ) is proportional to the estimate

angle of the aircraft. Subtracting from this estimate the value of the slip angle measured by the Doppler meter 2 in the subtraction scheme 5-1, we obtain a signal proportional to the control function Ф ₁ according to expression (26). Signals proportional to the northern V _ξ velocity component and the western V _η velocity component, from the outputs of the inertial system 1, are supplied to the inputs of the first 3-1 and second 3-2 quadrants, respectively. The output signals of the latter go to the inputs of the adder 4-1 and then to the functional converter 9-8 so that after its passage a proportional signal is obtained

, that is, an estimate of the horizontal projection of the flight speed vector. Subtracting from this estimate the value V _{G of the} horizontal projection of the velocity vector measured by the Doppler meter 2 in the subtraction scheme 5-2, a signal is obtained proportional to the control function Ф ₂ according to expression (27). A signal proportional to pitch angle с from inertial system 1 is supplied to the inputs of the first 9-1 and second 9-2 functional transducers so that signals corresponding to the trigonometric expressions sinϑ and cosϑ are obtained at their outputs, respectively. They enter the second and third inputs of the transducer 8-2 coordinates, the first, fourth, fifth inputs of which simultaneously receive signals V _YO , V _ZO , V _XO , proportional to the projections of the vector

aircraft speed on the axis of a private orthodromic coordinate system. After the conversion, at the first, second and third outputs of the coordinate converter 8-2, signals of the form (20), (21), (22) are obtained, which are proportional to the projections of the velocity V _XC , V _Y1 , V _ZO on the axis of the coordinate system OX _C Y ₁ Z _O . A signal proportional to the angle of heel γ from the inertial system 1 is fed to the inputs of the third 9-3 and fourth 9-4 functional converters so that their outputs respectively receive signals proportional to the trigonometric expressions sinγ and cosγ. They arrive at the second and third inputs of the 8-3 coordinate transducer, the first, fourth, fifth inputs of which simultaneously receive signals V _ZO , V _XC , V _Y1 , proportional to the projections of the vector

aircraft speed on the axis of the coordinate system OX _C Y ₁ Z _O. After conversion at the first, second and third outputs of the coordinate converter 8-3, signals of the form (23), (24), (25) are obtained, which are proportional to the estimates of the projections of the velocity vector

,

,

on the axis of the associated coordinate system OX _C Y _C Z _C. The signals proportional to the Doppler frequencies F ₁ , F ₂ , F ₃ , F ₄ , c of the Doppler meter 2 are supplied respectively to the first, second, third, fourth inputs of adders 10-1, 10-2, 10-3 to four inputs. The first and fourth subtracting inputs of the adder 10-1 receive four signals respectively of the first and fourth Doppler frequency, and the second and third summing inputs receive the signals of the second and third Doppler frequency from the Doppler meter 2. The second and fourth subtracting inputs of the adder 10- 2, the signals of the second and fourth Doppler frequency respectively come to four inputs, and the signals of the first and third Doppler frequency from the Doppler meter come to the first and third summing inputs 2. To the first, second, third and four Werth summing input of the adder 10-3 on four input signals, respectively, come first, second, third and fourth Doppler frequency from the Doppler meter 2. This enables, in accordance with the expressions (28) to receive the flight control and navigation systems accurate values projections W _YC, W _ZC , W _{XC are the} velocities on the axis of the associated coordinate system, which are measured by the Doppler meter 2. Subtracting from the estimates

,

,

, at the outputs of the 8-3 coordinate converter, the values measured by the Doppler meter 2, respectively, of the projections of the velocity vector W _YC , W _ZC , W _XC in subtraction schemes 5-3, 5-4, 5-5, at the outputs of schemes 5-3, 5-4 , 5-5 subtraction we obtain signals proportional to the control functions Ф ₃ , Ф ₄ , Ф ₅ , represented by expressions (29) - (31). Given the limited accuracy of the flight and navigation complex instruments, the expected zero values of the control functions signals Ф ₁ , Ф ₂ , Ф ₃ , Ф ₄ , Ф ₅ should be compared in comparators 6-1, 6-2, 6-3, 6-4, respectively 6-5 with corresponding thresholds

,

,

,

,

. If even one (or several) of the output signals of the subtraction schemes 5-1, 5-2, 5-3, 5-4, 5-5 is different from the allowable threshold, the corresponding comparator (or comparators) is triggered, which, through the OR circuit, gives a signal U _O about the failure represented by expressions (32), either of the inertial system 1, or of the Doppler meter 2 of the controlled flight and navigation complex.

As follows from the foregoing, the achievement of the technical result - effective control of the flight-navigation complex containing an inertial system and a Doppler meter is provided by introducing into the device adopted as a prototype and containing the first, second, third, fourth functional converters, the inputs of which are connected respectively to the pitch outputs and roll of the inertial system, an adder for four inputs and a comparator, the first and second quadrators, the adder, the first, second, third, fourth, fifth We subtraction divider, the first, second, third transducer coordinates of the fifth, sixth, seventh, eighth functional converter, second, third, fourth, fifth comparator, second and third adders of four inputs and the OR circuit with constraints specified in the claims.

угл. град.; σ_ϑ,γ=0,75÷1 угл. град. и в наибольшей мере зависит от точности инерциальной системы и доплеровского измерителя, которая для рассматриваемого состава: ИКВ-802 (σ_V=2 м/с; σ_ϑ,γ,ψ=7,5÷15 угл. мин.) и ДИСС-016 (σ_W=(0,12÷0,25%) W=0,05÷0,9 м/с; σ_УС=7,5÷10 угл. мин. [7, 9] типовых приборов комплекса имеет возможность для повышения. Достоверность контроля такой конфигурации комплекса Р_Д=0,86, что больше ранее рассмотренных аналогов, но равняется наибольшему значению, имеющему место только при дублировании приборов. Заявляемая система контроля не требует для своей работы встраивания специальных измерителей в проверяемые приборы пилотажно-навигационного комплекса, а значит не увеличивает их сложность и не снижает надежность, как в аналогах. Она реализуется программными средствами штатной БЦВМ, напрмер ЦВМ-80 [7], а значит не приводит к росту стоимости, веса, габаритов, энергопотребления комплекса. Стоимостной показатель реализации контроля здесь особенно важен, так как стоимость контролируемых инерциальной системы (приближенно 72000 у.е.) и доплеровского измерителя (105000 у.е.) велика. Даже простое их дублирование ведет к значительному повышению стоимости пилотажно-навигационного комплекса, а если это делается для контролепригодности, то это недопустимо. Практика создания высоконадежных пилотажно-навигационных комплексов указывает на плодотворность комплексирования, в том числе для решения задач контроля, на основе применения разных по физическому принципу работы приборов. Это и реализуется в заявляемой системе для электромеханической инерциальной системы и радиотехнического доплеровского измерителя.The system has high efficiency automatic, without the participation of the pilot, monitoring the performance and accuracy of the flight-navigation complex containing an inertial system and a Doppler meter, according to all output signals of these devices. So, if the prototype checked roll, pitch, vertical speed of the inertial system, as well as the longitudinal, normal and transverse components of the velocity vector on the axis of the connected coordinate system from the Doppler meter, then the roll, pitch, gyroscopic course, and the northern component of speed are checked in the inventive system, the western component of the velocity, the vertical velocity of the inertial system, as well as the longitudinal, normal, transverse components of the velocity vector on the axis of the associated coordinate system at exact, frequency outputs, the horizontal projection of the velocity vector and the slip angle by analog outputs from the Doppler meter. The completeness and information performance of the control [3, p.13] in the inventive system is 0.929 bit / s, which is 1.5 times more than in the prototype. Of particular note here is the ability to accurately control the gyroscopic rate ψ _G. Known devices for controlling this parameter in the flight-navigation complex are either primitive and inaccurate [13, p. 75, 162, 171, 172, 210], or have large dimensions, weight, complexity [8, p. 295] with relatively low accuracy 3 ÷ 7 ang. hail. and three times the composition of inertial systems of the complex. The inventive system implements an inertialess and fairly versatile control algorithm for the flight-navigation complex, which can contain platform and strapdown inertial systems, vertical and gyro vertical and course systems, vertical-velocity bar-radio meters and aerometric navigational aids with three or four-beam Doppler speed and drift angle meters. The accuracy of multi-parameter control of the flight-navigation complex in the inventive system is σ _{W, V} = 2.11 m / s;

angle hail.; σ _{ϑ, γ} = 0.75 ÷ 1 angle hail. and to the greatest extent depends on the accuracy of the inertial system and the Doppler meter, which for the composition under consideration: IKV-802 (σ _V = 2 m / s; σ _{ϑ, γ, ψ} = 7.5 ÷ 15 ang. min.) and DISS- 016 (σ _W = (0.12 ÷ 0.25%) W = 0.05 ÷ 0.9 m / s; σ _US = 7.5 ÷ 10 arc min. [7, 9] of typical devices of the complex has the ability The reliability of control of such a configuration of the complex is R _D = 0.86, which is greater than the previously considered analogues, but equals the highest value that occurs only when duplicating devices. The inventive control system does not require special embedding for its work x meters in the tested instruments of the flight-navigation complex, which means it does not increase their complexity and does not reduce reliability, as in the analogs. It is implemented by the software of a standard computer, for example, TsVM-80 [7], and therefore does not lead to an increase in cost, weight, dimensions, energy consumption of the complex The cost indicator of the implementation of control is especially important here, since the cost of the controlled inertial system (approximately 72000 cu) and the Doppler meter (105000 cu) are high. Even their simple duplication leads to a significant increase in the cost of the flight-navigation complex, and if this is done for controllability, then this is unacceptable. The practice of creating highly reliable flight-navigation systems indicates the fruitfulness of integration, including for solving control problems, based on the use of instruments different in physical principle. This is implemented in the inventive system for an electromechanical inertial system and a radio engineering Doppler meter.

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

- a tool embodying the device of the invention in its implementation, is intended for use in aeronautical engineering and, in particular, for monitoring the flight-navigation complex containing an inertial system and a Doppler meter. It can be used to improve flight safety;

- for the claimed invention in the form 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 has been 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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2. Flerov A.G., Timofeev V.T. Doppler devices and navigation systems. M .: Transport, 1987.191 s.

3. Bodner V.A. Control systems for aircraft. M.: Mechanical Engineering, 1973. 506 p.

4. Analog and Digital Integrated Circuits: Reference Guide / Ed. S.V.Yakubovsky. M .: Radio and communications, 1984. 432 p.

5. Digital signal processing processors: Handbook / A. G. Ostapenko, S. I. Lavlinsky, A. B. Sushkov, etc. Ed. A.G. Ostapenko. M .: Radio and communications, 1994.264 s.

6. Design of digital devices on single-chip microprocessors / V.V. Stashin, A.V. Urusov, O.F. Mologontsev. M .: Energoatomizdat, 1990.224 s.

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8. Vorobev V.G., Glukhov V.V., Kadyshev I.K. Aviation devices, information-measuring systems and complexes. M .: Transport, 1992.399 s.

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10. Kolchinsky V.E., Mandurovsky I.A., Konstantinovsky M.I. Autonomous Doppler devices and aircraft navigation systems. Ed. V.E.Kolchinsky. M .: Sov. Radio, 1975.432 s.

11. Bedretdinov I. Sturmovik SU-25 and its modifications. M .: Publishing. column Bedretdinov and Co., 2002.400 s.

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13. Bogdanchenko N.M. Course systems and their operation on airplanes. M .: Transport, 1983. 224 p.

Claims (2)

1. A system for monitoring the flight-navigation complex, comprising an inertial system and a Doppler meter, first and second functional converters, the inputs of which are connected to the pitch output of the inertial system, third and fourth functional converters, the inputs of which are connected to the roll output of the inertial system, an adder for four input and comparator, characterized in that the first and second quadrators, adder, divider, first, second, third coordinate converters, fifth, sixth, seventh, are introduced into it 8th functional converters, second, third adders for four inputs, first, second, third, fourth, fifth subtraction schemes, second, third, fourth, fifth comparators, the outputs of which, like the output of the first comparator, are connected to the input of the OR circuit, and the input the first quadrator, as well as the first input of the first coordinate transformer, are connected to the output of the northern component of the speed of the inertial system, the second and third inputs of the first coordinate transducer are connected respectively to the outputs of the fifth and sixth functional transducers whose inputs are connected to the output of the gyroscopic heading of the inertial system, the fourth input of the first coordinate transformer - with the output of the vertical component of the inertial system speed, the fifth input of the first coordinate transformer, like the input of the second quadrator - with the output of the western component of the inertial speed, the outputs of the first and the second quadrators are connected to the inputs of the first adder, the first and second outputs of the first coordinate transformer are connected respectively to the first and second the strokes of the divider, the output of which is connected to the input of the seventh functional converter, the first subtraction circuit and the first comparator, the third output of the first coordinate converter is connected to the first input of the second coordinate converter, the second and third inputs of which are connected respectively to the outputs of the first and second functional converters, the fourth and the fifth inputs of the second coordinate transformer - with the second and first outputs of the first coordinate transformer, the first input of the third the coordinate converter is connected to the third output of the second coordinate converter, the second and third inputs of the third coordinate converter are connected respectively to the outputs of the third and fourth functional converters, and the fourth and fifth inputs are connected to the first and second outputs of the second coordinate converter, the output of the first adder through the eighth functional converter is connected with the input of the second subtraction circuit, the second input of which is connected to the output of the horizontal projection of the speed of the Doppler meter and the output is with the input of the second comparator, the first output of the third coordinate converter is connected to the third subtraction circuit, the third comparator, the second output of the third coordinate converter is connected to the fourth subtraction circuit, the fourth comparator, the third output of the third coordinate converter is connected to series-connected the fifth subtraction circuit, the fifth comparator, the second input of the first subtraction circuit is connected to the output of the Doppler slip angle and measuring device, the second input of the third subtraction circuit is connected to the output of the first adder to four inputs, the first subtracting input of which is connected to the output of the first frequency of the Doppler meter, the second summing input - to the output of the second frequency of the Doppler meter, the third summing input - to the output of the third frequency of the Doppler meter, the fourth subtracting input - with the output of the fourth frequency of the Doppler meter, the second input of the fourth subtraction circuit is connected to the output of the second adder to four inputs, the first summing the input of which is connected to the output of the first frequency of the Doppler meter, the second subtractive input - with the output of the second frequency of the Doppler meter, the third subtractive input - with the output of the third frequency of the Doppler meter, the fourth subtractive input - with the output of the fourth frequency of the Doppler meter, the second input of the fifth subtraction circuit is connected to the output of the third adder to four inputs, the first summing input of which is connected to the output of the first frequency of the Doppler meter, the second input to the output of the second frequency of the Doppler meter, the third input - with the output of the third frequency of the Doppler meter, the fourth input - with the output of the fourth frequency of the Doppler meter, the output of the OR circuit is the output of the system. 2. The control system for the flight navigation system according to claim 1, characterized in that the coordinate transformer comprises a first multiplier connected in series, the first input of which is connected to the first input of the coordinate transformer, the second input to the second input of the coordinate transducer, and the second adder, the second the input of which is connected to the output of the second multiplier, and the output to the first output of the coordinate transformer, the third multiplier connected in series, the first input of which is connected to the first input For coordinates, the second input is with the third input of the coordinate converter, and the sixth subtraction circuit, the summing input of which is connected to the output of the third multiplier, the subtractive input is with the output of the fourth multiplier, and the output is with the second output of the coordinate converter, the fourth input of the coordinate converter is connected to its the third output, the fifth input - with the first inputs of the second and fourth multipliers, the second inputs of which are connected respectively to the third and second inputs of the coordinate transformer.

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