RU2408848C1 - Method for determining aircraft carrier rolling and location of aircraft, and device for its implementation - Google Patents
Method for determining aircraft carrier rolling and location of aircraft, and device for its implementation Download PDFInfo
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- RU2408848C1 RU2408848C1 RU2010103437/28A RU2010103437A RU2408848C1 RU 2408848 C1 RU2408848 C1 RU 2408848C1 RU 2010103437/28 A RU2010103437/28 A RU 2010103437/28A RU 2010103437 A RU2010103437 A RU 2010103437A RU 2408848 C1 RU2408848 C1 RU 2408848C1
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Abstract
FIELD: instrument making.
SUBSTANCE: beacon image coordinates are determined on photomatrixes, beacon coordinates are calculated in the system of coordinates, which is related to the aircraft, and angles of aircraft orientation relative to aircraft carrier are calculated. At that, there used are signals of inertial navigation system of the aircraft, heading and rolling angles of aircraft carrier, coordinates of the aircraft location relative to aircraft carrier gravity centre points of stern shear of the runway and aircraft landing points are determined. Device includes module of laser beacons, two optic-and-location units, each containing photolens and photomatrix, computing device containing processing module of digital image of laser beacons, computing module of coordinates of beacons, computing module of matrix of directional cosines, computing module of rolling and heading angles of aircraft carrier and computing module of aircraft coordinates.
EFFECT: accuracy improvement.
2 cl, 5 dwg
Description
Claims (2)
,
,
,
где Y1υ, Z1υ, Y2υ, Z2υ - координаты изображений маяков, м, первый индекс обозначает номер фоточувствительной матрицы, второй индекс - номер маяка υ=1,2, для маяка M1 и М2 соответственно; F - фокусное расстояние фотообъектива, м; В - расстояние между первым и вторым ОЛБ, м, вычисляют углы ψχ, γχ, υχ ориентации ЛА относительно ПП:
,
,
,
где
,
,
,
, , , , , - известные координаты первого и второго маяков в системе координат, связанной с авианосцем, вычисляют матрицу направляющих косинусов
вычисляют углы качки Δυ, Δγ и курса ψα авианосца
Δυ=arcsinΔA12,
где ΔAij - элементы матрицы [ΔAψ] (i, j=1…3),
ΔA11=cosψ cosυ cosψχ cosυχ + sinυ sinυχ + sinψ cosυ sinψχ cosυχ,
ΔA12=cosψ cosυ (sinψχ sinγχ - cosψχ sinυχ cosγχ) + sinυ cosυχ cosγχ - sinψ cosυ (cosψχ sinγχ + sinψχ sinυχ cosγχ),
ΔА13=cosψ cosυ (sinψχ cosγχ + cosψχ sinγχ sinυχ) - sinυ cosυχ sinγχ - sinψ cosυ (cosψχ cosγχ - sinψχ sinυχ sinγχ),
ΔA21=(sinψ sinγ + cosψ sinυ cosγ)cosψχ cosυχ + cosυ cosγ sinυχ - (cosψ sinγ + sinψ sinυ cosγ)sinψχ cosυχ,
ΔA22=(sinψ sinγ - cosψ sinυ cosγ)(sinψχ sinγχ - cosψχ sinυχ cosγχ) + cosυ cosγ cosυχ cosγχ + (cosψ sinγ + sinψ sinυ cosγ)(cosψχ sinγχ + sinψχ sinυχ cosγχ),
ΔA23=(sinψ sinγ - cosψ sinυ cosγ)(sinψχ cosγχ + cosψχ sinγχ sinυχ) - cosυ cosγ cosυχ sinγχ + (cosψ sinγ + sinψ sinυ cosγ)(cosψχ cosγχ - sinψχ sinυχ cosγχ),
ΔA31=(sinψ cosγ + cosψ sinγ sinυ)cosψχ cosυχ - cosυ sinγ sinυχ - (cosψ cosγ - sinψ sinυ sinγ)sinψχ cosυχ,
ΔA32=(sinψ cosγ + cosψ sinγ sinυ)(sinψχ sinγχ - cosψχ sinυχ cosγχ) + cosυ cosγ cosυχ sinγχ + (cosψ cosγ - sinψ sinυ sinγ)(cosψχ sinγχ + sinψχ sinυχ cosγχ),
ΔA33=(sinψ cosγ + cosψ sinγ sinυ)(sinψχ cosγχ + cosψχ sinγχ sinυχ) - cosυ sinγ cosυχ cosγχ + (cosψ cosγ - sinψ sinυ sinγ)(cosψχ sinγχ - sinψχ sinυχ sinγχ),
при этом сигналы γ - угол крена, υ - угол тангажа, ψ - угол курса ЛА получают от ИНС,
вычисляют систематическую ψαo и случайную Δψ составляющие угла курса авианосца
, Δψ=ψα-ψαo,
где t - текущее время с момента начала измерений, вычисляют координаты ЛА , , относительно центра тяжести авианосца с учетом качки
,
вычисляют координаты , , относительно точки посадки учетом качки авианосца,
,
где
- вектор линейных перемещений точки посадки,
, , - известные координаты точки посадки, в связанной с авианосцем системе координат,
вычисляют координаты ЛА , , относительно точки кормового среза ПП с учетом качки авианосца,
,
где
- вектор линейных перемещений точки кормового среза ПП,
- известные координаты точки пересечения кормового среза с осевой линией полетной палубы, в связанной с авианосцем системе координат.1. The method of determining the roll of an aircraft carrier and the location of the aircraft, based on the registration of laser beacon radiation, processing of their digitized image and calculating the coordinates of the location of the aircraft (LA), characterized in that two identical laser beacons are used as radiation sources, and they also use signals inertial navigation system (ANN), register the radiation of each of the two laser beacons with known coordinates installed to the left and right of the flight deck (PP) of the aircraft the nose, by means of two spaced-apart optical-location blocks (OLBs) mounted on board the aircraft and each made in the form of a flat photosensitive matrix located in the focal plane of the photo lens, digitized images are taken from the photosensitive matrices to determine the coordinates of the images of the laser beacons, the coordinates are calculated the first , , and second , , laser beacons for aircraft:
,
,
,
where Y 1υ , Z 1υ , Y 2υ , Z 2υ are the coordinates of the images of the beacons, m, the first index indicates the number of the photosensitive matrix, the second index is the number of the beacon υ = 1.2, for the beacon M 1 and M 2, respectively; F is the focal length of the photo lens, m; In - the distance between the first and second ARS, m, calculate the angles ψ χ , γ χ , υ χ orientation of the aircraft relative to the PP:
,
,
,
Where
,
,
,
, , , , , - the known coordinates of the first and second beacons in the coordinate system associated with the aircraft carrier, calculate the matrix of guide cosines
the pitch angles Δυ, Δγ and the course ψ α of the aircraft carrier are calculated
Δυ = arcsinΔA 12 ,
where ΔA ij are the elements of the matrix [ΔA ψ ] (i, j = 1 ... 3),
ΔA 11 = cosψ cosυ cosψ χ cosυ χ + sinυ sinυ χ + sinψ cosυ sinψ χ cosυ χ ,
ΔA 12 = cosψ cosυ (sinψ χ sinγ χ - cosψ χ sinυ χ cosγ χ ) + sinυ cosυ χ cosγ χ - sinψ cosυ (cosψ χ sinγ χ + sinψ χ sinυ χ cosγ χ ),
ΔА 13 = cosψ cosυ (sinψ χ cosγ χ + cosψ χ sinγ χ sinυ χ ) - sinυ cosυ χ sinγ χ - sinψ cosυ (cosψ χ cosγ χ - sinψ χ sinυ χ sinγ χ ),
ΔA 21 = (sinψ sinγ + cosψ sinυ cosγ) cosψ χ cosυ χ + cosυ cosγ sinυ χ - (cosψ sinγ + sinψ sinυ cosγ) sinψ χ cosυ χ ,
ΔA 22 = (sinψ sinγ - cosψ sinυ cosγ) (sinψ χ sinγ χ - cosψ χ sinυ χ cosγ χ ) + cosυ cosγ cosυ χ cosγ χ + (cosψ sinγ + sinψ sinυ cosγ) (cosψ χ sinγ χ + sinψ χ sinυ χ cosγ χ ),
ΔA 23 = (sinψ sinγ - cosψ sinυ cosγ) (sinψ χ cosγ χ + cosψ χ sinγ χ sinυ χ ) - cosυ cosγ cosυ χ sinγ χ + (cosψ sinγ + sinψ sinυ cosγ) (cosψ χ cosγ χ - sinψ χ sinυ χ cosγ χ ),
ΔA 31 = (sinψ cosγ + cosψ sinγ sinυ) cosψ χ cosυ χ - cosυ sinγ sinυ χ - (cosψ cosγ - sinψ sinυ sinγ) sinψ χ cosυ χ ,
ΔA 32 = (sinψ cosγ + cosψ sinγ sinυ) (sinψ χ sinγ χ - cosψ χ sinυ χ cosγ χ ) + cosυ cosγ cosυ χ sinγ χ + (cosψ cosγ - sinψ sinυ sinγ) (cosψ χ sinγ χ + sinψ χ sinυ χ cosγ χ ),
ΔA 33 = (sinψ cosγ + cosψ sinγ sinυ) (sinψ χ cosγ χ + cosψ χ sinγ χ sinυ χ ) - cosυ sinγ cosυ χ cosγ χ + (cosψ cosγ - sinψ sinυ sinγ) (cosψ χ sinγ χ - sinψ χ sinυ χ sinγ χ ),
the signals γ are the angle of heel, υ is the pitch angle, ψ is the angle of the aircraft’s course from the ANN,
calculate the systematic ψ αo and random Δψ components of the aircraft carrier heading angle
, Δψ = ψ α -ψ αo ,
where t is the current time since the start of measurements, calculate the coordinates of the aircraft , , relative to the center of gravity of the aircraft carrier, subject to pitching
,
calculate the coordinates , , relative to the landing point, taking into account the roll of the aircraft carrier,
,
Where
is the vector of linear displacements of the landing point,
, , - known coordinates of the landing point, in the coordinate system associated with the aircraft carrier,
calculate the coordinates of the aircraft , , relative to the point of the feed cut of the PP, taking into account the roll of the aircraft carrier,
,
Where
is the vector of linear displacements of the feed cut point of the PP,
- known coordinates of the point of intersection of the aft section with the center line of the flight deck, in the coordinate system associated with the aircraft carrier.
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2486112C1 (en) * | 2011-10-19 | 2013-06-27 | Открытое акционерное общество "Ракетно-космическая корпорация "Энергия" имени С.П. Королева" | Device to control passive spacecraft orientation |
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2010
- 2010-02-02 RU RU2010103437/28A patent/RU2408848C1/en active
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2486112C1 (en) * | 2011-10-19 | 2013-06-27 | Открытое акционерное общество "Ракетно-космическая корпорация "Энергия" имени С.П. Королева" | Device to control passive spacecraft orientation |
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