RU2427000C1 - Method and device to locate radio radiation sources - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: invention may be used at radio radiation check sites to locate radio radiation sources unknown a priori. First, range finder antenna system {θ_"П",β_"П"} and video camera {θ_k,β_k} are unidirected in azimuthal plane and that of angle of location, respectively. Initial angular parameters of {θ_"П",β_"П"} are converted to initial video camera angular parameters. Corrected initial orientation range finder is defined by orientation azimuth θ_"ПО" and angle of location β_"ПО" via accounting the difference in their mutual orientation and consecutive transition from one system of coordinates to another. In operation, angular parameters of radio radiation signals θ_i and β_i are measured and valued θ_"ПО" and β_"ПО" are allowed for to readjust video camera to values θ'_i=θ_i +θ_"ПО", β'_i=β_i.+β_"ПО" to allow required detection. Proposed device comprises two-channel phase interferometre, correction unit, two adders, video camera control unit, video camera, memory unit, control and indication unit.

EFFECT: higher accuracy of location.

3 cl, 7 dwg

Description

The claimed inventions are united by one inventive concept, relate to radio engineering and can be used in radio monitoring systems in limited areas to determine the location of a priori unknown sources of radio emission (IRI) and to visually clarify the measurement results.

A known method for identifying bearings of radio emission sources in goniometric on-off passive radar systems (see US Pat. RF No. 2253126, IPC G01S 3/72, publ. May 27, 2005). It consists in the fact that, based on the values of the spatial parameters of the IRI signals measured in each of the two receiving positions: azimuth θ and elevation angle β, as well as the own coordinates of the receiving positions, the IRI height is found with respect to each of the receiving positions. Then find the difference of these heights. Based on the variances of errors in determining the elevation angle β on the IRI, the value of the identification threshold is determined in each of the receiving positions. Based on the results of comparing the mentioned height difference with the identification threshold, a decision is made on whether the bearings, measured by different receiving positions, belong to the same IRI.

The analogue method allows, with a given accuracy, to identify bearings θ on IRI obtained from two or more spatially separated meters, using the values of β for this purpose. However, the method has a number of disadvantages. The analogue loses its efficiency when performing measurements on flat terrain (the parameter β on the IRI located on the surface of the earth becomes uninformative, β = const; β = 0 °). The method is characterized by hardware redundancy. To determine the location of Iran on rough terrain, two or more meters are required. In addition, in the absence of a priori information about the IRI, it is difficult to bind it to the object it serves.

Closest to the technical nature of the claimed method is a method for determining the location of the IRI (see Baron AR et al. - Microwave J., 1982, v.25, No. 9). It includes the reception of IRI signals in a given frequency band ΔF placed orthogonally to the plane of the direction finding zone, measuring the spatial information parameters of the detected signals: azimuth θ _i and elevation angle β _i in the coordinate system of the antenna system at time t _i , determining the distance from the direction finder d _i and IRI coordinates {X ₀ , Y ₀ , Z ₀ } in the Cartesian coordinate system based on the a priori known location of the direction finder {B, H, L}, where B, L and H are the latitude, longitude and height of the direction finder, respectively, the Cartesian transformation to rdinat IRI into geographical coordinates {B _0, H _0, L _{0} i.}

The prototype method allows you to determine the location of the IRI from one point and at the same time is easy to implement.

The disadvantage of the prototype is the relatively low accuracy of positioning. This disadvantage is due to the fact that the accuracy of the measurements in the prototype method in the elevation plane β substantially depends on the removal of the direction finder located orthogonally to the plane of the control zone (see figa, b). For the first case (see figa), the measurement accuracy β depends on the height H of the location of the direction finder. In the second case (see fig.1b), the accuracy of the measurement β is determined by the parameters of the control zone in a vertical plane (for example, the height of the controlled building).

Known digital direction finder Pat. RF №2115135, IPC 6 G01S 3/14, publ. 10.10.1998, containing an antenna system, a three-channel receiving device, a discrete Fourier transform unit, an analog-to-digital converter, three buffer drives, a weight processing unit, a bearing calculation unit, a reference frequency unit, a control unit, a covariance matrix forming unit, a matrix unit processing and forming weights.

In the direction finder, increasing the accuracy of measurements is achieved by highlighting the maximum component of the signal spectrum. A positive effect became possible as a result of the use of time averaging of covariance matrices and the application of the Pisarenko method.

The disadvantage of the analogue is the low accuracy of measurements in a complex signal-noise environment.

Known multi-channel direction finder according to Pat. RF №2096793, G01S 3/14, publ. 1997. The analogue contains an antenna array, a switch, two-channel ones: a receiver, an analog-to-digital converter, a Fourier transform unit, a storage device, a convolution calculator, as well as a bearing calculator and a clock generator.

The disadvantages of this analogue include the narrow measurement accuracy during scanning in a wide frequency range and the inability to measure the slope of the wave front (elevation angle β).

The closest in its technical essence to the claimed device for determining the location of the IRI is the device according to US Pat. RF №2263327 "Method of direction finding of radio signals and direction finder for its implementation", G01S 3/14, publ. 10/27/2005, bull. No. 30.

The prototype device contains an antenna array made of N> 3 identical non-directional antenna elements located in the direction-finding plane, an antenna switch, N inputs of which are connected to the corresponding N outputs of the antenna array, the signal and reference outputs of the switch are connected respectively to the signal and reference inputs of a two-channel receiver made according to the scheme with common local oscillators, an analog-to-digital converter made two-channel, respectively, with signal and reference channels, and the signal the ln and reference outputs of the intermediate frequency of the two-channel receiver are connected respectively to the signal and reference inputs of the analog-to-digital converter, the Fourier transform unit, made two-channel, respectively, with the signal and reference channels, the signal and reference inputs of which are connected respectively to the signal and reference outputs of the analog-to-digital converter, first and second storage devices, a subtraction unit, a unit for generating reference values of primary spatial information parameters ditch (PPIP), PPIP calculation unit, the first information input of which is connected to the signal output of the Fourier transform unit, and the second information input is connected to the reference output of the Fourier transform unit, the group of information outputs of the calculation unit is connected to the group of information inputs of the first storage device, the group of information outputs which is connected to the group of inputs of the subtracted subtraction block, the group of inputs of which is reduced which is connected to the information outputs of the second storage device, inform the input inputs of which are connected to the information outputs of the PPIP reference values generating unit, the group of information inputs of which is the input mounting bus of the direction finder, a multiplier, an adder, a third storage device, an azimuth and elevation determination unit, and the first and second group of information inputs of the multiplier are bitwise combined and connected to the group of information outputs of the subtraction unit, a clock generator, the output of which is connected to the control input switch, synchronization inputs of an analog-to-digital converter, Fourier transform unit, first, second and third storage devices, a subtraction unit, a multiplier, an adder, an azimuth and elevation determination unit, a PPIP reference value generating unit and a PPIP calculation unit, and the first and second groups of information outputs of the azimuth and elevation determining unit are the first and second output buses of the device.

The prototype device also has relatively low accuracy of measuring the location of the IRI in a complex signal-jamming environment and rough terrain (in urban areas).

The aim of the claimed technical solutions is to develop a method and device that provides increased accuracy in determining the location of sources of radio emission due to visual clarification of the location of the IRI.

,

и в соответствии с ними перестраивают видеокамеру. Отожествляют параметры местоположения ИРИ с изображением ИРИ объекта, считанными с видеокамеры. Запоминают время измерений t_i, пространственные и частотные параметры сигналов ИРИ совместно с изображением объекта. Заносят результаты измерений в базу данных.This goal is achieved by the fact that in the known method, including the reception of IRI signals in a given frequency band ΔF with a direction finder located orthogonally to the plane of the control zone, measuring the spatial information parameters of the detected signals: azimuth θ _i and elevation angle β _i in the coordinate system of the antenna system in moment of time t _i , at the preparatory stage, the direction finder antenna system {θ _P , β _P } and the video camera {θ _k , β _k } are unidirectionally oriented in the azimuthal and elevation planes, respectively. Next, the initial angular parameters of the antenna system of the direction finder {θ _P , β _P } are transformed in order to bring them into line with the original angular parameters of the video camera. For this, the angular orientation parameters of the antenna system of the direction finder θ _P and β _{P are} transformed into a Cartesian coordinate system {X _P , Y _P , Z _P }. The vector {X _c , Y _c , Z _c } in Cartesian coordinates takes into account the displacement of the coordinate centers of the antenna system of the direction finder and the video camera, while the video camera is placed above the antenna array of the antenna system or in its center. The angles of rotation vector take into account the mutual angles of the corresponding coordinate axes. After that, the specified vector of rotation angles is determined by successively multiplying the vector [X _P -X _c , Y _P -Y _c , Z _P -Z _s ] ^T by the corresponding rotation Euler angles. The adjusted initial orientation of the antenna system of the direction finder is determined through its azimuth θ _PO and elevation angle β _PO by translating the updated vector of rotation angles {R ', P', T '} into a spherical coordinate system. Given the values of θ _PO and β _PO according to the measured angular parameters θ _i and β _i specify the values

,

and in accordance with them rebuild the camcorder. Identify the location parameters of the IRI with the image of the IRI of the object read from the video camera. Remember the measurement time t _i , spatial and frequency parameters of the IRI signals together with the image of the object. Enter the measurement results in the database.

Thanks to the new combination of features in the inventive method, it is possible to increase the accuracy of determining the location of IRI detected in the controlled area by acquiring their images, which ensures a positive effect.

In the inventive device for determining the location of the IRI, the goal is achieved by the fact that in the known device consisting of an antenna array made of N> 3 identical antenna elements located in the direction-finding plane, an antenna switch, N inputs of which are connected to the corresponding N outputs of the antenna array, and the signal and reference outputs of the switch are connected respectively to the signal and reference inputs of a two-channel receiver, made according to the scheme with common local oscillators, analog-to-digital convert For a channel made with two channels, respectively, with signal and reference channels, the signal and reference outputs of the intermediate frequency of a two-channel receiver connected to the signal and reference inputs of an analog-to-digital converter, a Fourier transform unit, made with two channels, respectively, with a signal and reference channels, whose signal and reference inputs connected respectively to the signal and reference outputs of the analog-to-digital converter, the first and second storage devices, the first a subtraction unit, a unit for generating reference values of primary spatial information parameters (PPIP), a PPIP calculation unit, the first information input of which is connected to the signal output of the Fourier transform unit, and the second information input - with the reference output of the Fourier transform unit, the group of information outputs of the PPIP calculation unit connected to the group of information inputs of the first storage device, the group of information outputs of which is connected to the group of inputs of the subtracted first block of the subtraction a group of inputs of which is reduced which is connected to a group of information outputs of a second storage device, a group of information inputs of which is connected to a group of information outputs of a block for generating reference values of PPIP, a group of information inputs of which is the first input installation bus of a device for determining the location of IRI, connected in series with the first multiplier an adder, a third storage device, a unit for determining the azimuth and elevation, the first and second g the information inputs of the first multiplier are combined bitwise and connected to the group of information outputs of the first subtraction unit, a clock generator, the output of which is connected to the control inputs of the antenna switch, the first, second and third storage devices, synchronization inputs of the analog-to-digital converter, Fourier transform unit, the first block subtraction, the first multiplier, the first adder, the block for determining the azimuth and elevation, the block for the formation of the reference values PPIP and block calculation PPIP, according to the invention, a correction unit is also introduced for converting the angular parameters of the antenna system of the IRI location device {θ _П , β _П }, second and third adders, a video camera control unit, a video camera located above or in the center of the antenna array, unit control and indication, designed to display the detected IRI and the formation of a control signal to record it, and a fourth storage device, the first and second groups of information outputs of the block EFINITIONS azimuth and elevation angle respectively connected to first and second groups of information inputs of the fourth memory device and the correction unit. The third and fourth groups of information inputs of the correction unit are, respectively, the second and third input installation buses of the device for determining the location of the IRI. The synchronization input of the correction unit is connected to the output of the clock generator, and the first group of information outputs is connected to the second group of information inputs of the second adder. The first group of information inputs of the second adder is combined with the first group of information inputs of the correction unit, and the group of information outputs of the second adder is connected to the first group of information inputs of the control unit of the video camera. The second group of information inputs of the camera control unit is connected to the group of information outputs of the third adder, the first group of information inputs of which is combined with the second group of information inputs of the correction unit. The second group of information outputs of the correction unit is connected to the second group of information inputs of the third adder. The synchronization input of the third adder is combined with the synchronization inputs of the second adder and the correction unit. The group of information outputs of the camera control unit is connected to the group of control inputs of the video camera, the video output of which is connected to the third group of information inputs of the fourth storage device and the group of information inputs of the control and display unit. The group of information outputs of the control and indication unit is connected to the group of address inputs of the fourth storage device, the fifth group of information inputs of which are connected to the group of information outputs of the two-channel receiver, through which its frequency value is supplied. It should be noted that in the antenna array of the device for determining the location of the IRI use directional antenna elements.

In this case, the correction unit is made up of the first and second cos-function calculation blocks, the first and second sin-function calculation blocks, the second, third, fourth and fifth multipliers, the second, third and fourth subtraction blocks, the fifth and sixth storage devices, and a computer for for determining the specified vector of rotation angles, the first and second dividers, the fourth adder, the square root calculation unit, the first and second arctg-function calculation units, moreover, the information input groups of the second cos-function calculation unit second calculation unit sin-bitwise functions are combined and a second group of information inputs correction block. The group of information outputs of the second cos-function calculation unit is combined with the first group of information inputs of the third multiplier and the second group of information inputs of the second multiplier. The first group of information inputs of the second multiplier is connected to the group of information outputs of the first cos-function calculation unit, the group of information inputs of which is bitwise combined with the group of information inputs of the first sin-function calculation unit and is simultaneously the first group of information inputs of the correction unit. The group of information outputs of the second multiplier is connected to the group of inputs of the reduced second subtraction unit, the group of inputs of the subtracted which is connected to the first group of information outputs of the fifth storage device. The group of information inputs of the fifth storage device is the third group of information inputs of the correction unit and the second input installation bus of the device for determining the location of the IRI. The second group of information outputs of the fifth storage device is connected to the group of inputs of the subtracted third subtraction unit, the group of inputs of which is reduced is connected to the group of information outputs of the third multiplier. The second group of information inputs of the third multiplier is connected to the group of information outputs of the first sin-function calculation unit. The third group of information outputs of the fifth storage device is connected to the group of the subtracted fourth subtraction block, the group of inputs of which is reduced is connected to the group of information outputs of the second block of the sin-function calculation. The group of information outputs of the fourth subtraction block is connected to the third group of information inputs of the calculator. The second group of information inputs of the calculator is connected to the group of information outputs of the third subtraction block. The first group of information inputs of the calculator is connected to the group of information outputs of the second subtraction unit, and the fourth group of information inputs of the calculator is connected to the group of information outputs of the sixth storage device. The group of information inputs of the sixth storage device is the fourth group of information inputs of the correction unit and the third input installation bus of the device for determining the location of the IRI. The first group of information outputs of the calculator is bitwise connected to the first and second groups of information inputs of the fourth multiplier and the second group of information inputs of the first divider. The group of information outputs of the first divider is connected to the group of information inputs of the second block of calculation of the arctg function. The group of information outputs of the second block of calculation of the arctg-function is the second group of information outputs of the block of correction. Moreover, the first group of information inputs of the first divider is bitwise connected to the second group of information outputs of the computer and the first and second groups of information inputs of the fifth multiplier. The group of information outputs of the fifth multiplier is connected to the second group of information inputs of the fourth adder. The first group of information inputs of the fourth adder is connected to the group of information outputs of the fourth multiplier, and the group of information outputs is connected to the group of information inputs of the square root calculation unit. In this case, the group of information outputs of the square root calculation unit is connected to the second group of information inputs of the second divider. The first group of information inputs of the second divider is connected to the third group of information outputs of the calculator, and the group of information outputs is connected to the group of information inputs of the first block of calculation of the arctg-function. The group of information outputs of the first arctg function calculation unit is the first group of information outputs of the correction unit. The synchronization input of the correction block is connected to the synchronization inputs of the second, third, fourth and fifth multipliers, the second, third and fourth subtraction blocks, a calculator, the first and second dividers, the fourth adder, the square root calculation block, the first and second arctg-function calculation blocks, and the inputs control of the fifth and sixth storage devices.

The listed new set of essential features due to the fact that new elements and connections are introduced allows to achieve the purpose of the invention: to increase the accuracy of determining the location of Iran located in the control zone.

The inventive objects are illustrated by drawings, which show: in Fig.1 - placement options of the antenna system of the device for determining the location of the IRI:

a) over the control zone;

b) on the earth;

figure 2 - options for possible joint placement of the antenna array and video camera:

a) a video camera above the antenna array;

b) a video camera in the center of the antenna array;

figure 3 is a generalized algorithm for determining the location of the IRI;

figure 4 is a structural diagram of a device for determining the location of the IRI;

figure 5 is a structural diagram of a correction block;

figure 6 - algorithm for calculating the reference values of the primary spatial information parameters;

Fig.7 is an algorithm for determining the adjusted initial orientation of the antenna system of the direction finder.

Existing methods and systems for positioning are designed to determine the coordinates of the IRI. However, the accuracy characteristics of the known methods substantially depend on the signal-to-noise ratio, meter placement geometry, completeness of using electromagnetic field parameters, the number of processing steps for spatial information parameters, etc. The effectiveness of these approaches in different situations differs from each other and, as a rule, is low. In the proposed method and device for solving the aforementioned problem, an IRI video image obtained by pointing a video camera at it is used. The guidance of the latter is carried out using the spatial parameters of the IRI signals {θ _i , β _i }. As a result, it becomes possible to refine the location results by analyzing the video image of the local area of the controlled area highlighted by the camera (the location of the detected IRI is visually accurately determined). The applicability of the proposed method and device is limited to the local zone (within line of sight).

The joint use of direction finder and video camera is inherent in the problem associated with the need for their unidirectional orientation. On figa shows the most common case of placing the camera outside the plane of the antenna array. The mismatch between the centers of the antenna array and the video camera, as well as errors in their mutual orientation, lead to camera setup errors and, as a result, errors in the visual display of the location of the IRI and the object it serves. These errors increase significantly in the near field. The aforementioned problems are further exacerbated by the separate placement (spatially spaced) of the antenna system of the direction finder and the video camera. Practical tests showed that the named problem is solved within the framework of the claimed method and device.

The essence of the proposed method for determining the location of the IRI is as follows. At the preparatory stage, the direction finder antenna and video camera are unidirectionally oriented. To this end, in a given frequency band ΔF, the product is calibrated using a testing generator, which is advisable to place in the center of the control zone. For this, the plane of the antenna array is set so that the angle θ _P is 0 °. Next, measure the elevation angle β _P for the direction-finding antenna and remember it. After that, orient the video camera on the given IRI. The values of θ _k and β _{k are} remembered, and the position of the camera relative to the plane of the antenna array is fixed.

Due to the fact that the centers of the coordinate system of the camera and the antenna array do not coincide (general case, figa), therefore, the orientation of the axes of their spatial coordinates also does not coincide. Therefore, it is necessary to transform the initial angular parameters of the antenna system of the direction finder {θ _P , β _P } in order to bring them into line with the original angular parameters of the video camera. This operation is conveniently performed in Cartesian coordinates. To this end, the angular orientation parameters of the antenna array of the direction finder {θ _P , β _P } are converted into Cartesian coordinates {X _P , Y _P , Z _P } as follows:

,

,

Using the vector [X _c , Y _C , Z _C ] in Cartesian coordinates, the center of the antenna array of the direction finder relative to the center of the camera is taken into account. In the case of placing the camera in the center of the antenna system (see fig.2b), the displacement vector [X _c , Y _c , Z _c ] coincides with the angular orientation vector of the direction finder antenna {X _P , Y _P , Z _P }. The procedure for calculating the mutual angles of the coordinate axes of the antenna array of the direction finder {X _P , Y _P , Z _P } and the camera {X _K , Y _K , Z _K } is known and is given by the rotation angle vector {R, P, T}. Here R is the angle between the coordinate axes OX _P and OX _{K of the} antenna array of the direction finder and the video camera, P is the angle between the coordinate axes OY _P and OY _K , T is the angle between the axes OZ _P and OZ _K (see the Mathematics Manual for engineers and students Technical colleges, Bronstein I.N., Semendyaev K.A. - M .: Nauka, 1981, pp. 234-237, Fig. 2.78). The presence of a priori information about the height H of the placement of the antenna array of the direction finder and the removal of the testing generator, as well as the value of the vector {X _c , Y _c , Z _c } allows us to calculate the elements of the vector {R, P, T}.

At the next stage, the updated vector of rotation angles {R ', P', T '} is determined by sequentially multiplying the vector [X _P -X _c , Y _P -Y _c , Z _P -Z _s ,} ^T by the corresponding rotation Euler angles:

At the final stage, the adjusted initial orientation of the antenna system of the direction finder is determined through its azimuth θ _PO and elevation angle β _PO by translating the updated vector of rotation angles {R ', P', T '} into a spherical coordinate system

.

.

The preparatory phase ends with the task of the working sector for the direction finder: θ _min , θ _max , β _min , β _max (see figa, b).

In the process, the mutual orientation of the antenna array and the camera remains unchanged. In this case, the orientation of the antenna array itself in space (relative to the north direction) does not matter. In the initial period of work, it is advisable that it is oriented with its plane in the direction of the center of the control zone. In the process, the direction of orientation of the antenna array can be refined in accordance with the tasks to be solved. This is true for the case when the antenna array and the camcorder are rigidly mutually fixed. Otherwise, for each rotation of the antenna system, a calibration operation is necessary.

. По уточненным значениям

и

перестраивают видеокамеру.When detecting IRI signals, their spatial parameters θ _i and β _i are measured. When they fall into a given sector, the obtained parameter values are specified

. According to the adjusted values

and

rebuild the camcorder.

At the final stage, the location of the IRI on the terrain is specified according to the results of its image read from the video camera. Remember the measurement time t _i , spatial and frequency parameters of the IRI signals together with the image of the object.

,

. В этом случае после выполнения операции коррекции можно считать, что θ_П=θ_К, β_П=β_К, что значительно упрощает рассмотренный алгоритм.When the control zone is significantly removed (hundreds of wavelengths) from the direction finder or if the IRI itself is removed in the control zone, the absolute value of the vector {X _P -X _c , Y _P -Y _c , Z _P -Z _s ,} ^T in expression (2) tends to zero, and therefore

,

. In this case, after performing the correction operation, we can assume that θ _P = θ _K , β _P = β _K , which greatly simplifies the considered algorithm.

Figure 3 shows a generalized algorithm for determining the location of the IRI in accordance with the claimed method.

Thus, in the proposed method for determining the location of the IRI, its video image is used to increase the accuracy of measurements, and to increase the accuracy of pointing the video camera, the differences in the spatial orientation of the antenna array of the direction finder and the video camera are taken into account.

The device for determining the location of the IRI contains an antenna array 5 made of N> 3 identical antenna elements located in the direction-finding plane of the antenna switch 6, N inputs of which are connected to the corresponding TU outputs of the antenna array 5, and the signal and reference outputs of the switch 6 are connected respectively to the signal and the reference inputs of the two-channel receiver 7, made according to the scheme with common local oscillators, analog-to-digital Converter 8, made two-channel, respectively, with the signal and reference to analogs, and the signal and reference outputs of the intermediate frequency of the two-channel receiver 7 are connected respectively to the signal and reference inputs of the analog-to-digital converter 8, the Fourier transform unit 9, made two-channel, respectively, with the signal and reference channels, the signal and reference inputs of which are connected respectively to the signal and reference the outputs of the analog-to-digital Converter 8, the first 11 and second 2 storage devices, a subtraction unit 12, a unit for generating reference values PIPP 3, the first block in calculating PPIP 10, the first information input of which is connected to the signal output of the Fourier transform unit 9, and the second information input is connected to the reference output of the Fourier transform unit 9, the group of information outputs of the calculation unit PPIP 10 is connected to the group of information inputs of the first storage device 11, the group of information outputs which is connected to the group of inputs of the subtracted first subtraction unit 12, the group of inputs of which is reduced which is connected to the group of information outputs of the second storage device TWA 2, the group of information inputs of which is connected to the group of information outputs of the PPIP reference values generating unit 3, the group of information inputs of which is the first input installation bus 4 of the IRI location device, the first multiplier 13, the first adder 14, the third storage device 15, the block are connected in series determining the azimuth and elevation angle 16, the first and second group of information inputs of the first multiplier 13 are combined bitwise and connected to the group of information outputs the ode of the first subtraction unit 12, the clock generator 1, the output of which is connected to the control inputs of the antenna switch 6, the first 11, second 2 and third 15 storage devices, the synchronization inputs of the analog-to-digital converter 8, the Fourier transform unit 9, the first 11, the second 2 and third 15 storage devices, a subtraction unit 12, a multiplier 13, an adder 14, a block for determining the azimuth and elevation angle 16, a block for generating reference values of PPIP 3 and a block for calculating PPIP 10.

To increase the accuracy of determining the location of the IRI, a correction unit 22 is also introduced, designed to convert the angular parameters of the antenna system of the IRI location device {θ _P , β _P }, the second and third adders 17 and 18, respectively, the control unit of the video camera 19, the video camera 20 located above antenna array 5 or in its center, a control and indication unit 25, designed to display the detected IRI and generate a control signal for recording it, and the fourth storage device 21, m, the first and second groups of information outputs of the azimuth and elevation determining unit 16 are connected respectively to the first and second groups of information inputs of the fourth storage device 21 and the correction unit 22. The third and fourth groups of information inputs of the correction unit 22 are the second 23 and third 24 input installation tires of the device for determining the location of Iran. The synchronization input block of the correction unit 22 is connected to the output of the clock generator 1, and the first group of information outputs is connected to the second group of information inputs of the second adder 17. The first group of information inputs of the second adder 17 is combined with the first group of information inputs of the correction unit 22, and the group of information outputs of the second adder 17 is connected to the first group of information inputs of the control unit of the video camera 19. The second group of information inputs of the control unit of the video camera 19 is connected to the information outputs of the third adder 18, the first group of information inputs of which are combined with the second group of information inputs of the correction unit 22. The second group of information outputs of the correction unit 22 is connected with the second group of information inputs of the third adder 18. The synchronization input of the third adder 18 is combined with the synchronization inputs of the second adder 17 and correction unit 22. The group of information outputs of the control unit of the video camera 19 is connected to the group of control inputs of the video camera 20, the video output is connected to the third group of information inputs of the fourth storage device 21 and the group of information inputs of the control and display unit 25. The group of information outputs of the control and display unit 25 is connected to the group of address inputs of the fourth memory device 21, the fifth group of information inputs of which is connected to the group of information outputs of the two-channel receiver 7, which receives the value of its frequency. It should be noted that in the antenna array 5 of the IRI positioning device, directional antenna elements are used.

Moreover, the correction unit 22 is made containing the first 26 and second 31 cos-function calculation blocks, respectively, the first 41 and second 42 sin-function calculation blocks, respectively, the second 27, third 32, fourth 35 and fifth 36 multipliers, respectively, second 28, third 33 and fourth 43 blocks of subtraction, respectively, fifth 29 and sixth 44 memory devices, respectively, a calculator 34 for determining the updated vector of rotation angles, the first 30 and second 39 dividers, respectively, the fourth adder 37, the square to 38, the first 40 and second 45 arctg-function calculation blocks, wherein the groups of information inputs of the second cos-function calculation block 31 and the second sin-function calculation block 42 are bitwise combined and are the second group of information inputs of the correction block 22. Information output group of the second block computing the cos-function 31 is combined with the first group of information inputs of the third multiplier 32 and the second group of information inputs of the second multiplier 27. The first group of information inputs of the second multiplier 27 formation outputs of the first cos-function calculation unit 26, the group of information inputs of which is bitwise combined with the group of information inputs of the first sin-function calculation unit 41 and at the same time is the first group of information inputs of the correction unit 22. The group of information outputs of the second multiplier 27 is connected to the group of inputs of the second a subtraction unit 28, the group of inputs of which is subtracted is connected to the first group of information outputs of the fifth storage device 29. The group of information inputs the fifth storage device 29 is the third group of information inputs of the correction unit 22 and the second input installation bus 23 of the IRI location device. The second group of information outputs of the fifth storage device 29 is connected to the group of inputs of the subtracted third subtraction block 33, the group of inputs of which is reduced is connected to the group of information outputs of the third multiplier 32. The second group of information inputs of the third multiplier 32 is connected to the group of information outputs of the first sin-function calculation unit 41 The third group of information outputs of the fifth storage device 29 is connected to the group of the subtracted fourth subtraction block 43, the group of inputs decreases which is connected to the group of information outputs of the second sin function calculation unit 42. The group of information outputs of the fourth subtraction block 43 is connected to the third group of information inputs of the calculator 34. The second group of information inputs of the calculator 34 is connected to the group of information outputs of the third subtraction block 33. The first group of information the inputs of the computer 34 is connected to the group of information outputs of the second subtraction unit 28, and the fourth group of the information inputs of the computer 34 is connected to the group nformatsionnyh sixth memory outputs 44. The group of information inputs of the sixth memory device 44 is a fourth group of information inputs of the correction unit 22 and a third input bus 24 of the mounting device location determination IRI. The first group of information outputs of the calculator 34 is bitwise connected to the first and second groups of information inputs of the fourth multiplier 35 and the second group of information inputs of the first divider 30. The group of information outputs of the first divider 30 is connected to the group of information inputs of the second block of calculation of the arctg function 45, the group of information outputs of which is the second group of information outputs of the correction unit 22. Moreover, the first group of information inputs of the first divider 30 is bitwise connected to the second a group of information outputs of the calculator 34 and the first and second groups of information inputs of the fifth multiplier 36. The group of information outputs of the fifth multiplier 36 is connected to the second group of information inputs of the fourth adder 37. The first group of information inputs of the fourth adder 37 is connected to the group of information outputs of the fourth multiplier 35, and the group information outputs connected to the group of information inputs of the square root computing unit 38. In this case, the group of information outputs of the square computing unit the adratic root 38 is connected to the second group of information inputs of the second divider 39. The first group of information inputs of the second divider 39 is connected to the third group of information outputs of the calculator 34, and the group of information outputs is connected to the group of information inputs of the first block of calculation of the arctg function 40. The group of information outputs of the block 40 is the first group of information outputs of the correction unit 22. The synchronization input of the correction unit 22 is connected to the synchronization inputs of the second 27, third 32, fourth 35 and fifth of 36 multipliers, respectively, of the second 28, third 33, and fourth 43 blocks of subtraction, respectively, of a calculator 34, of the first 30 and second of 39 dividers, respectively, of the fourth adder 37, the square root calculation block 38, the first 40 and second 45 arctg-function calculation blocks, inputs control of the fifth 29 and sixth 44 storage devices, respectively.

The device for determining the location of the IRI works as follows (see figure 4 and 5). In general terms, the claimed device is a phase interferometer (blocks 1-16), supplemented by blocks 22, 17 and 18, transforming the initial angular parameters of the antenna system of the direction finder (θ _P , β _P ) in order to bring them into line with the original angular parameters of the video camera {θ _K , β _K }. In addition, the device includes a video camera 20, a storage device 21 and a control and indication unit 25.

The operation of the phase interferometer (blocks 1-16) is similar to the prototype device (see Pat. RF No. 2263327, G01S 3/14 publ. 10/27/2005, bull. No. 30). At the preparatory stage, the following operations are performed. The mutual distances between the antenna elements A _{l, h of the} array 5 are measured when they are placed on a plane. The measurement results on bus 4 (see Fig. 4) are fed to the input of the unit for generating reference values of PPIP 3. The entire specified frequency range ΔF is divided into subbands, the sizes of which Δf are determined by the minimum transmission bandwidth of the receiving paths 7. Subbands, the number of which is V = ΔF / Δf, numbered v = 1, 2, ..., V. The average frequencies of all subbands are calculated by the formula f _v = Δ / (2v-1) / 2. Calculate the reference values PPIP (block 3) for the middle frequencies of all subbands f _v . As PPIP use the values of the phase difference of the signals Δφ _{l, h} (f _v ) for all possible pair combinations of antenna elements within the antenna array 5.

The choice of Δφ _{l, h} (f _v ) as the PPIP is based on the following. One of the most promising directions for the development of spatial parameter meters is the use of interferometric direction finders (see Klimenko N.N. Current status of the theory and practice of radio interferometry // Foreign Radio Electronics, No. 1, 1990, pp. 3-14). Interferometers exist of two types: phase and correlation. In the materials Pat. US No. 4728959 "Radio direction finding system", IPC G01S 5/04, publ. 08/08/1986, it is noted that in severely rugged terrain and urban conditions, the phase parameters of the signal are less subject to distortion. Also in the book Torrieri DJPrinciples of military communications system. Dedham. Massachusetts. Artech House, inc., 1981. - 298 p. It is noted that "the potential for estimating the angle of arrival of a signal by comparing the phase is higher than that of a correlation interferometer if the evaluated signal is narrow-band and has low carrier frequency instability."

In the process of calculating the reference PPIP in block 3, model the placement of the reference source alternately around the meter AC with discreteness Δθ and Δβ at a distance of several wavelengths. In block 3, according to the well-known algorithm (see US Pat. RF No. 2283505, G01S 13/46, publ. May 24, 2004, bull. No. 30), the phase differences Δφ _{l, h, et} (f _v ) are calculated, which are further stored in the second storage device 2 (see figure 4).

In addition, at the preparatory stage, the antenna array of the direction finder 5 and the camera 20 are unidirectionally oriented. For this purpose, the device is calibrated using a testing generator located in the control zone. For this, the plane of the antenna array 5 is oriented so that the angle θ _P is 0 °. Next, measure the elevation angle β _P and remember it. After that, the video camera 20 is oriented to the test generator. The values of the angles θ _K and β _{K are} stored, and the camera position relative to the plane of the antenna array is fixed.

The spatial difference in the coordinate centers of the antenna array 5 of the interferometer and the video camera 20 (Fig. 2a) entails a difference in the orientation of the axes of their spatial coordinates. Therefore, at the preparatory stage, it is necessary to transform the initial angular parameters of the antenna array 5 {θ _P , β _P } in order to bring them into line with the original angular parameters of the video camera 20. This operation, in accordance with expressions 1-3, is performed using the correction unit 22. At the first and the second group of information outputs of the block 22 form the values of the angles θ _software and β _software used later in the process of the device as corrections when setting up the camera 20.

The preparatory phase ends with the task of the working sector for the direction finder (blocks 1-16): θ _min , β _max , β _min , β _max . These values on the bus 4 are received in the block forming the reference values PPIP (see figure 4).

In the process of operation of the device using blocks 5-16, they search for and detect IRI signals in a given frequency band ΔF. The signals received by the grating 5 at a frequency f _v are supplied to the corresponding inputs of the antenna switch 6. The task of the latter is to provide synchronous connection in a single time interval of any pairs of antenna elements to the reference and signal outputs. As a result, the signals from all possible pairs of antenna elements (AE) of the array 5 are received sequentially in time at both signal inputs of the two-channel receiver 7. Moreover, all antenna elements periodically act as both signal and reference (provided that the full-access switch 6 is used ) This achieves the maximum set of statistics on the spatial parameters of the electromagnetic field.

The signals received at the inputs of the receiver 7, amplify, filter and transfer to an intermediate frequency, for example 10.7 MHz. At the same time, the value of the signal frequency f _v is determined by recalculating the number of the used subband v and its width Δf. From the reference and signal outputs of the intermediate frequency of block 7, the signals are fed to the corresponding inputs of the analog-to-digital converter (ADC) 8, where they are synchronously converted to digital form. The obtained digital samples of the signals of the antenna elements A _l and A _h in block 8 are multiplied by digital samples of two harmonic signals of the same frequency, shifted relative to each other by π / 2. As a result, in block 8, four sequences of samples are formed (quadrature components of the samples from two AEs A _l and A _h ). To implement the necessary impulse response of digital filters in the ADC 8, the operation of multiplying the samples of each quadrature component of the signal by the corresponding samples of the time window is performed. The order of these operations is described in detail in US Pat. RF №2263328 and US Pat. RF №2283505.

At the final stage, in block 8, two complex sequences of samples are formed by pairwise combining the corresponding samples of the corrected sequences, which are fed to the inputs of the Fourier transform unit 9.

получают две преобразованные последовательности, характеризующие спектры сигналов, принимаемых в АЭ А_l и A_h, а следовательно, и их фазовые характеристики. Однако этого недостаточно для измерения Δφ_l,h(f_v) в парах АЭ А_l и A_h. Последнее предполагает вычисление функции взаимной корреляции сигналов в соответствии с выражениемAs a result of execution in block 9 of the operation in accordance with the expression

get two converted sequences characterizing the spectra of the signals received in the AE A _l and A _h , and therefore their phase characteristics. However, this is not enough to measure Δφ _{l, h} (f _v ) in AE pairs A _l and A _h . The latter involves the calculation of the cross-correlation function of the signals in accordance with the expression

where l, h = 1, 2, ..., N, l ≠ h is the AE number. Based on it, Δφ _{l, h} (f _v ) is determined as

These functions are performed by the PPIP calculation unit 10. In the proposed device, the measured value Δφ _{l, h} (f _v ) is written by the next pulse of the generator 1 to the first memory 11. This operation is repeated until the PPIP values for all are written to the block 11 possible combinations of AE pairs. The execution of this operation corresponds to the formation of an array of measured PPIP Δφ _{l, h, ISM} (f _v ).

The main purpose of blocks 12, 13, 14, 15, 16 and 2, 3 is to assess the degree of difference between the measured parameters Δφ _{l, h, ism} (f _v ) from the reference values Δφ _{l, h, et} (f _v ), calculated for all directions of signal arrival Δθ _k and Δβ _c , and all f _v

By analogy with the prototype, this operation is as follows. The reference values Δφ _{l, h, et} (f _v ) stored in the storage device 2, are input to the reduced unit of subtraction 12 (see figure 4). The input of the subtracted block 12 receives the measured values Δφ _{l, h, ism} (f _v ) from the output of block 11. The subtraction operation is carried out in strict accordance with the order of formation of AE pairs.

In the next step, the differences obtained are squared in block 13. This operation is necessary so that all the results of the subtraction operation have a positive value. Otherwise, a situation could arise when the sum of positive and negative differences compensated each other. For squaring, each calculation result is multiplied by itself in block 13. The resulting squares of the differences are added to the adder 14 and written to the third storage device 15. As a result, in block 15, a data array H _{θ, β} (f _v ) is formed, based on which spatial parameters θ _i and β _i in the AS coordinate system. This operation is performed by block 16 by searching for the minimum sum min _{θ, β} (f _v ) in the data array H _{θ, β} (f _v ).

The values of θ _i and β _i go to the first groups of information

и

, которые поступают на соответствующие группы информационных входов блока управления камерой 19. В задачу последнего входит преобразование сигналов

и

в управляющее напряжение, обеспечивающее соответствующее изменение ориентации видеокамеры 20.the inputs of the second 17 and third 18 adders, respectively. After that, the contents of the first 11 and third 15 storage devices are zeroed and a new cycle of measuring spatial parameters θ _{i + 1} and β _{i + 1} begins. The second groups of information inputs of adders 17 and 18 are supplied with the values θ _software and β _software respectively from the first and second group of outputs of the correction unit 22. As a result, the output values of the angular parameters of the IRI are formed at the outputs of the blocks 17 and 18

and

that go to the corresponding groups of information inputs of the camera control unit 19. The task of the latter includes the conversion of signals

and

in the control voltage, providing a corresponding change in the orientation of the camera 20.

After setting the video camera 20 to the received control action from block 19, the image of the object is sent to the third group of information inputs of the fourth storage device 21 and the group of information inputs of the control and display unit 25. The task of the latter is to analyze the received image of the object and generate a command to record it in block 21 Analysis of the image of an object can be carried out both by the operator and automatically. Image analysis involves determining the value (information content) of the results obtained, clarifying the location of the observed object, for example, a person with IRI in a group of people, etc. According to the results of the analysis, a decision is made on fixing (recording) the results obtained in the fourth storage device 21.

In the case of making a positive decision, block 25 generates a control signal, which is fed to the group of address inputs of block 21. As a control action, information about the time t _{i of} the measurements taken is transmitted. As a result, in block 21, through the first and second groups of information inputs, the value of the spatial parameters of the IRI θ _i and β _i (from the outputs of block 16) and the signal frequency f _i arriving at the fifth group of information inputs (from the output of block 7) are recorded. As a result, in block 21, video information about the IRI is recorded in one block: the time of its observation t _i , which determines the information recording address, the spatial parameters of the IRI θ _i and β _i and the frequency f _i at which its operation was noted.

In the general case, the list of IRI parameters recorded in block 21 can be expanded, however, this will entail the introduction of additional blocks and links to the device. The synchronization of the blocks 17, 18 and 22 is carried out by the pulses of the generator 1.

In a device that implements the proposed method, using known elements and blocks described in the scientific and technical literature. Blocks from the first to 16 are implemented similarly to the corresponding blocks of the prototype device.

Options for the implementation of directional antenna elements and antenna array 5 are widely considered in the literature (see Saidov A.S. et al. Design of phase automatic direction finders. - M .: Radio and communications. 1997; Torrieri DJ Principles of military communications system. Dedham. Massachusetts Artech House, inc., 1981. - 298 p.). Depending on the tasks being solved and the frequency range used, for example, broadband three-band horn-microstrip antennas can be used (see US Pat. No. 2360338, US Pat. No. 2345453). The implementation of antenna switch 6 is widely known (see Veniaminov V.N. et al. Chips and their application. - M .: Radio and communications, 1989. - 240 s; Vaysblat A.V. Microwave Switching Devices on Semiconductor Diodes. - M .: Radio and communications, 1987. - 120 s).

The two-channel receiver 7 can be implemented using two professional receivers of the ICOM type IC-R8500 (see Communication Receiver IC-R8500. Instruction Manual). In this case, the first and second local oscillators of one of the receivers are used simultaneously as the first and second local oscillators, respectively, of the second receiver. In addition, other ICOM receivers can be used in pair as receiver 7: IC-R7000, IC-PCR1000.

The dual-channel ADC 8 and the Fourier transform unit 9, as well as the PPIP calculation unit 10, the first storage device 11 can be implemented using standard boards: the ADMDDC2WB and ADP60PCI v.3.2 digital reception submodule on the Shark ADSP-21062 processor (see the e- User Manual mail: insys@arc.ru , www-server www.insys.ru ).

The construction of the clock generator 1 is known and widely covered in the literature (see Radio receivers: a training manual for radio engineering. Special universities, Yu.T. Davydov et al .; M .: Higher school, 1989. - 342 s; Functional units of adaptive compensator interference: Part II. V.V. Nikitchenko. - L .: YOU. - 1990. - 176 s).

Using blocks 12, 13 and 14 implement the expression (6) of the description. Embodiments of the adder 14, the first subtraction block 12 are given, for example, in (Red E. Reference manual on high-frequency circuitry: Circuits, blocks, 50 ohm technology: Translated from German - M .: Mir, 1990. - 256 p. )

The second 2, third 15 and fourth 21 storage devices are implemented according to well-known schemes (see Large integrated circuits of storage devices: Reference book / A.Yu. Gordenov et al. - M .: Radio and communications, 1990. - 288 p .; O. Lebedev .N. Microcircuits of memory and their application. - M.: Radio and communication, 1990. - 160 p.).

The first multiplier 13 implements the operation of squaring (expression 6), and its implementation is covered in (Red E. Reference manual on high-frequency circuitry: Circuits, blocks, 50 ohm technology: Translated from German - M .: Mir, 1990. - 256 p.).

The unit for generating reference PPIP 3 is intended for creating tables of reference values of phase differences Δφ _{l, h, et} (f _v ) for various pairs of AE lattices 5 and various subbands v. At the preparatory stage on the input installation bus 4 set the following initial data:

processing sector in azimuth (θ _min , θ _max ) and elevation angle {β _min , β _max );

the accuracy of finding the angular parameters Δθ and Δβ;

removing reference source D;

AE placement topology {r _n }, where r _n = {X _n , Y _n , Z _n };

The task of block 3 is that for a given meter of each frequency subband ΔF for a given antenna array topology 5 with discreteness in azimuth Δθ and elevation angle Δβ, calculate ideal (reference) values of phase differences Δφ _{l, h, et} (f _v ) for all pairs of antenna elements, taking into account the fact that the reference source moves to remove D from the array. Block 3 can be implemented in the form of an automaton based on a microprocessor (see Shevkoples B.V. Microprocessor structures. Engineering solutions: Handbook. - 2nd ed., Revised and additional - M .: Radio and communications, 1990. - 512 s.) And operating in accordance with the algorithm shown in Fig.6. As the latter, it is advisable to use the 16-bit microprocessor K1810VM86.

The implementation of the block for determining the azimuth and elevation angle 16 is known and widely covered in the literature. Designed to search for the minimum sum H _{θ, β} (f _v ) and can be implemented according to the pyramid scheme using high-speed comparators (see Shevkoples BV Microprocessor structures. Engineering solutions: Handbook. - 2nd ed., Revised and add. - M.: Radio and Communications, 1990. - 512 p.).

Correction block 22 (see FIG. 5) is intended to bring into correspondence the angular parameters of the antenna system {θ _P , β _P } to the angular parameters of the video camera [θ _K , β _K ] and implements expressions 1-3. The operation of the correction unit is as follows. At the preparatory stage, the values of the displacement vector of the coordinate centers of the antenna system 5 and the video camera 20 {X _c , Y _c , Z _c } and the rotation angle vector {R, T, P}, respectively, are recorded in the storage devices 29 and 43, respectively. This operation is carried out by the next incoming pulse of the generator 1, received at the control inputs of blocks 29 and 43.

Let the value θ _{i be} supplied to the first group of information inputs of block 22, and the value β _i to the second group of information inputs. Using blocks 26, 27, 31, 32, 41 and 42, the operation of translating the angular parameters of the antenna system {θ _P , β _P } into Cartesian coordinates [X _P , Y _P , Z _P ) is implemented (expression 1). At the outputs of the multiplier 27 form the value of X _p at the outputs of the multiplier 33 - the value of Y _P , and at the outputs of the block 42 - Z _P. The named values are supplied to the inputs of the reduced blocks of subtraction 28, 33 and 43, respectively. The values of X _s , Y _s, and Z _s, respectively, from the information outputs of the storage device 29 are supplied to the inputs of the subtracted blocks. The subtraction results then follow the corresponding groups of information inputs of the calculator 34. The vector value [R, T, P] from the information outputs of the storage device 44.

Calculator 34 is designed to determine the updated vector of rotation angles {R ', T', P '} by sequentially multiplying the vector [X _P -X _c , Y _P -Y _s , Z _P -Z _s ,) ^T , the value of which came from the outputs blocks 28, 33 and 43, to the rotation matrix corresponding to the Euler angles (see expression 2).

The blocks 30, 35-40 are used to transfer rotation angles proximate the vector {R ', T', P '} in a spherical coordinate system, in accordance with (3), thereby determining an adjusted initial orientation direction finder antenna system through the azimuth values θ _ON and elevation angle β _ON .

The implementation of blocks 26-42 is known and widely covered in the literature. Cos-function calculation blocks 26 and 31, sin-function calculation blocks 41 and 42, multipliers 27, 32, 35 and 36, adder 37, arctg-function calculation blocks 40 and 45, dividers 30 and 39 can be implemented on discrete elements by well-known circuits (see Red E. Reference manual on high-frequency circuitry: Circuits, blocks, 50 ohm technology: Translated from German - M .: Mir, 1990. - 256 p.).

The storage devices 29 and 44 are buffer storage devices. They can be implemented according to well-known schemes (see Large Integrated Circuits of Storage Devices: Reference Book / A.Yu. Gordenov et al. - M.: Radio and Communications, 1990. - 288 p .; Lebedev O.N. Memory Chips and Their Application . - M.: Radio and Communications, 1990. - 160 s).

The calculator 34 is designed to determine the updated vector of rotation angles {R ', T', P '} in accordance with expression 2. The implementation of block 34 is not difficult, can be implemented on a programmable read-only memory device of the K541 or K500 series.

Adders 17 and 18 can be implemented on discrete elements of the TTLSh-series, for example K1533.

The camera control unit 19 and the video camera 20 can be implemented with an American Dynamic Speed Done Ultra8 22PAL 116 type product.

The control and display unit 25 is intended for analysis of the received image of the object. The latter involves the determination of the value of the results obtained for their subsequent refinement (detail). Based on the results of the analysis, the post operator or machine will check the location of the IRI and make a decision on recording the measurement results in the database in block 21. Block 25 can be made on the basis of a SAMSUNG type SyncMaster.F2380 monitor (see http: // www.samsung .com ) supplemented by a timer (digital clock). The value of the measurement time t _{i is} used as a control signal for the block 21 determining the address of the records in it of the current information (video images, θ _i , β _i , f).

To increase the speed of the claimed device, reduce the overall dimensions, and current consumption, it is advisable to implement blocks 2, 3, 17, 18, 21, and 22 on a specialized microprocessor TMS320c6416 (see TMS320c6416: http: // focus / ti / com / docs / prod / folders /print/TMS320с6416.html ), the algorithm of which is shown in Fig.6 and 7.

Testing of the proposed method and device was performed using a portable set of UHF equipment, combined with video surveillance equipment. As an antenna system, an eight-element antenna array with a maximum base of about one meter was used (see Fig. 2a). The video surveillance equipment was represented by a Speed Done Ultra8 22PAL 116 dome type product. The equipment was deployed in a window opening on the fourth floor of the building. Calibration is made from a point with good electromagnetic and visual accessibility. Next, the corrections θ _PO β _{PO were} calculated in accordance with expressions 1-3. During the experiment, the location of three IRIs moving along a controlled area in front of a building with an area of 300 m × 300 m was determined. The accuracy of measuring the parameters θ _i and β _i was about one degree at a frequency of 900 MHz, which made it possible to uniquely identify a person with IRI or a car and track them moving.

Claims (3)

1. The method of determining the location of sources of radio emission (IRI), which consists in the fact that they receive IRI signals in a given frequency band ΔF placed orthogonal to the plane of the direction finding zone, measure the spatial information parameters of the detected signals: azimuth θ _i and elevation angle β _i in the system antenna coordinate system at time t _i, characterized in that the preparatory step of unidirectionally orienting direction finder antenna system {θ _n, β _n} and {θ _k camcorder, β _k} in azimuth and elevation PLANE s respectively convert raw angular parameters of the antenna system finder {θ _n, β _n} in order to bring them into line-source angular parameters of cameras, for which the angular orientation parameters of the antenna system finder θ _n and β _n are converted into Cartesian coordinates {X _n, Y _P , Z _P }, the vector {X _s , Y _s , Z _s } in Cartesian coordinates take into account the displacement of the coordinate centers of the antenna system of the direction finder and the video camera, while the video camera is placed above the antenna array of the antenna system or in its center, and the vector of angles of rotation the orot take into account the mutual angles of the corresponding coordinate axes, determine the updated vector of rotation angles by successively multiplying the vector [X _P -X _s , Y _P -Y _s , Z _P -Z _c ,} ^T by the rotation matrix corresponding to the Euler angles, determine the adjusted initial antenna orientation direction finder system through the values of its azimuth θ _PO and elevation angle β _PO by translating the updated vector of rotation angles into a spherical coordinate system, taking into account the values of θ _PO and β _PO , specify the values according to the measured angular parameters

and in accordance with them, the video camera is rebuilt, the location of the IRI is determined in accordance with the image read from the video camera, the measurement time t _i , the spatial and frequency parameters of the IRI signals are stored together with the image of the object, and the results are entered into the database. 2. A device for determining the location of radio emission sources (IRI), containing an antenna array made of N> 3 identical antenna elements located in the direction-finding plane, an antenna switch, N inputs of which are connected to the corresponding N outputs of the antenna array, and the signal and reference outputs of the switch are connected respectively, to the signal and reference inputs of a two-channel receiver, made according to the scheme with common local oscillators, analog-to-digital converter, made two-channel, respectively, with channel and reference channels, and the signal and reference outputs of the intermediate frequency of the two-channel receiver are connected respectively to the signal and reference inputs of the analog-to-digital converter, the Fourier transform unit, made two-channel, respectively, with the signal and reference channels, the signal and reference inputs of which are connected respectively to the signal and reference the outputs of the analog-to-digital converter, the first and second storage devices, the first subtraction unit, the unit for generating reference values ne primary spatial information parameters (PPIP), the PPIP calculation unit, the first information input of which is connected to the signal output of the Fourier transform unit and the second information input - with the reference output of the Fourier transform unit, the group of information outputs of the PPIP calculation unit is connected to the group of information inputs of the first storage devices, the group of information outputs of which is connected to the group of inputs of the subtracted first subtraction block, the group of inputs of which is reduced to be connected to the groups th information outputs of the second storage device, the group of information inputs of which is connected to the group of information outputs of the PPIP reference values generating unit, the group of information inputs of which is the first input installation bus of the IRI location device, the first multiplier, the first adder, the third storage device, the determination unit azimuth and elevation, the first and second groups of information inputs of the first multiplier combined in a bit the bottom and are connected to the group of information outputs of the first subtraction unit, a clock generator, the output of which is connected to the control inputs of the antenna switch, the first, second and third storage devices, synchronization inputs of the analog-to-digital converter, Fourier transform unit, the first subtraction unit, the first multiplier, the first the adder, the azimuth and elevation determining unit, the PPIP reference value generating unit and the PPIP calculation unit, characterized in that an additional correction unit is introduced For converting the angular parameters of the antenna system determining device IRI locations {θ _n, β _n}, second and third adders, camera control unit, a video camera, a control and display unit for displaying a detected IRI and forming a control signal to record it, and a fourth storage device, the first and second groups of information outputs of the unit for determining the azimuth and elevation are connected respectively to the first and second groups of information inputs of the fourth memory device and correction unit, the third and fourth groups of information inputs of which are the second and third input installation buses of the IRI location device, the synchronization input of the correction unit is connected to the output of the clock generator, and the first group of information outputs is connected to the second group of information inputs of the second adder , the first group of information inputs of which is combined with the first group of information inputs of the correction block, and the group of info the rotation outputs of the second adder is connected to the first group of information inputs of the video camera control unit, the second group of information inputs of which is connected to the group of information outputs of the third adder, the first group of information inputs of which is combined with the second group of information inputs of the correction unit, the second group of information outputs of which is connected to the second group information inputs of the third adder, the synchronization input of which is combined with the synchronization inputs of the second adder RA and correction unit, the group of information outputs of the control unit of the video camera is connected to the group of inputs of the control of the camera, the video output of which is connected to the third group of information inputs of the fourth storage device and the group of information inputs of the control and indication unit, the group of information outputs of which are connected to the group of address inputs of the fourth storage device , the fifth group of information inputs of which is connected to the group of information outputs of a two-channel receiver, through which the value of its frequency comes in, and directional antenna elements are used in the antenna array of the IRI location device. 3. The device according to claim 2, characterized in that the correction unit is comprised of the first and second cos-function calculation blocks, the first and second sin-function calculation blocks, the second, third, fourth and fifth multipliers, the second, third and fourth subtraction blocks, fifth and sixth storage devices, a computer for determining the updated vector of rotation angles, the first and second dividers, the fourth adder, the square root calculation unit, the first and second arctg function calculation units, and the information input groups of the second the second cos-function calculation unit and the second sin-function calculation unit are bitwise combined and are the second group of information inputs of the correction unit, and the information output group of the second cos-function calculation unit is combined with the first group of information inputs of the third multiplier and the second group of information inputs of the second multiplier, the first group of information inputs of which is connected to the group of information outputs of the first unit of calculation of the cos-function, the group of information inputs of which is bitwise combined and with the group of information inputs of the first sin-function calculation unit and at the same time is the first group of information inputs of the correction unit, the group of information outputs of the second multiplier is connected to the group of inputs of the reduced second subtraction unit, the group of inputs of which is subtracted is connected to the first group of information outputs of the fifth storage device, the group information inputs which is the third group of information inputs of the correction unit and the second input installation bus device the location of the IRI, and the second group of information outputs of the fifth storage device is connected to the group of inputs of the subtracted third subtraction unit, the group of inputs of which is reduced is connected to the group of information outputs of the third multiplier, the second group of information inputs of which is connected to the group of information outputs of the first block of the sin-function calculation, the third group of information outputs of the fifth storage device is connected to the group of the subtracted fourth subtraction block, the group of inputs is mind The smallest of which is connected to the group of information outputs of the second sin-function calculation unit, and the group of information outputs is connected to the third group of information inputs of the computer, the second group of information inputs of which is connected to the group of information outputs of the third subtraction unit, the first group of information inputs of the computer is connected to the group of information outputs the second block of subtraction, the fourth group of information inputs of the computer is connected to the group of information outputs of the sixth stock a device, the group of information inputs of which is the fourth group of information inputs of the correction unit and the third input installation bus of the IRI location device, and the first group of information outputs of the calculator is bitwise connected to the first and second groups of information inputs of the fourth multiplier and the second group of information inputs of the first divider information outputs of which is connected to a group of information inputs of the second unit of calculation of the arctg-function, group inf whose output outputs is the second group of information outputs of the correction unit, and the first group of information inputs of the first divider is bitwise connected to the second group of information outputs of the computer, the first and second groups of information inputs of the fifth multiplier, the group of information outputs of which are connected to the second group of information inputs of the fourth adder, the first the group of information inputs of which is connected to the group of information outputs of the fourth multiplier, and the group of information x outputs is connected to the group of information inputs of the square root calculation unit, the group of information outputs of which is connected to the second group of information inputs of the second divider, the first group of information inputs of which is connected to the third group of information outputs of the calculator, and the group of information outputs is connected to the group of information inputs of the first calculation unit arctg-functions, the group of information outputs of which is the first group of information outputs of the correction block, synchronization input which is connected to the synchronization inputs of the second, third, fourth and fifth multipliers, the second, third and fourth subtraction blocks, a calculator, the first and second dividers, the fourth adder, the square root calculation block, the first and second arctg-function calculation blocks, the fifth control inputs and sixth storage devices.

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