RU2444451C2 - Mobile navigation and topographic precise positioning system - Google Patents

Abstract

FIELD: physics, navigation.

SUBSTANCE: invention relates to mobile equipment for navigation and topographic precise positioning. The mobile navigation and topographic precise positioning system is mounted on an off-road vehicle (1) with a van body (3) and electrical equipment (2). A navigation and topographic precise positioning system, an electric power supply system and a life support system (6) are mounted on the vehicle (1). The navigation and topographic precise positioning system (4) consists of a hardware and software system with computers, information display apparatus, information input, transmission and storage apparatus, standalone topographic precise positioning and navigation apparatus, GLONASS/NAVSTAR consumer stationary goniometric navigation apparatus, a control-adjustment station for a GLONASS/GPS mobile differential subsystem, communication and data transmission systems and remote positioning equipment. The computers of the software and hardware system include an onboard computer and a portable personal computer. The software and hardware system includes a matching unit and a remote switching unit. The mobile navigation and topographic precise positioning system is also fitted with a radiation dose metre.

EFFECT: invention increases efficiency of the system.

6 dwg

Description

The invention relates to military and special equipment and can be used in mobile navigation and topographic and geodetic reference points based on the chassis of vehicles, which are their transport, energy and information-analytical base.

A well-known unified mobile command post (see certificate for utility model RU No. 29600 U1, G06F 13/00, H04B 7/00, published on 05/20/03), which is designed for automated control in the movement and parking by the actions of air defense units and contains the following complexes:

- a computer complex with software - a hardware-software complex (PAC);

- navigation, topographic and orientation equipment;

- means of registration and documentation;

- a complex of means of communication and data transmission;

- power supply system;

- a set of means of life support;

- chassis.

The hardware and software complex includes:

- two “Baguette” computer system units with a set of additional modules that ensure the computer to interface with peripheral devices;

- hard disk drives for storing work programs and recording processes for the exchange and processing of information;

- two unified workstations in the composition: color LCD monitor, keyboard and trackball;

- Remote automated workstation consisting of: Baguet computer (notebook type), a block of autonomous power supplies, an interface expansion unit, an AC adapter block;

- a remote unit for interfacing with a radar station. Navigation, topographic and orientation equipment includes:

- navigation equipment of consumers of satellite navigation systems GLONASS and GPS, consisting of: receiver indicator, antenna unit;

- tank navigation equipment consisting of: gyro-pointer, control panel, voltage converter, mechanical speed sensor, coordinator, indicator tablet, direction indicator, distribution box;

- equipment for remote binding - periscopic artillery compass, sighting sight.

Registration and documentation tools include:

- voice recorder for recording voice information;

- a printing device for documenting and replicating results.

The complex of means of communication and data transmission includes:

- workplace of a communications operator;

- intercom and switching equipment;

- two sets of transceivers, designed to organize two open channels of exchange;

- multichannel data transmission equipment (ADF);

- two radio stations and seven ultra-short-wave radio receivers, designed for exchange with higher, interacting and subordinate command posts or combat vehicles;

- antenna mast device;

- a complex of wire communication.

The power supply system includes:

- diesel electric unit;

- rectifier device;

- remote control and junction boxes;

- protective disconnecting device;

- mass switch;

- accumulator battery;

- filter;

- chassis power supply system.

The life support complex includes:

- heating and ventilation installation ОВ-65:

- individual blower fans;

- filter and ventilation unit FVUA-100N-24;

- dose rate meter IMD-21B;

- car kit for special processing;

- military chemical reconnaissance device VPHR;

- fixtures;

- On-board set of special processing.

The disadvantages of the prototype are:

- high error of the measured topographic and geodetic parameters;

- insufficient amount of equipment for remote binding;

- low accuracy of initial orientation;

- insufficiently developed infrastructure of life support systems and household support, reducing the possibility of using a topographic device in conditions of long-term operation;

- the high complexity of the unified mobile command post.

The proposed invention solves the problem of increasing the combat effectiveness of mobile navigation points and topographic and geodetic reference.

The technical result obtained by the implementation of the invention is to create a mobile navigation and topographic and geodetic reference system with high energy, information and analytical potential, the ability to mobile move on all types of roads through the use of off-road vehicles, navigation equipment, auxiliary devices and new generation equipment corresponding to the requirements for modern weapons, increase operational comfort atation, which will increase the combat readiness and combat effectiveness of the armed forces as a whole.

The indicated technical result is achieved by the fact that in the proposed mobile navigation and topographic and geodetic reference complex containing a transport base, the technical facilities of the topographic and navigation complex as part of a hardware-software complex (PAK) equipped with computing means (AC) with a set of additional modules and workstations , software and means of registration and documentation, navigation equipment of consumers of satellite navigation systems, autonomous Topographic and navigation equipment (AATN) equipped with a mechanical speed sensor (DSM), equipment for remote binding, a complex of communication equipment and data transmission equipment (ADF), power supply system and life support system, the new is that a vehicle is used as a transport base off-road, equipped with a van, in the complex of topographic location and navigation (KTN) as an autonomous equipment of topographic location and navigation uses strapdown inertial navigation ion system (BINS-TP), KTN also includes: GLON-NASS / Navstar (VUNAP) remote goniometer navigation equipment, Doppler speed sensor (DSD), altitude detection system (SOV), GLONASS mobile differential subsystem control and correction station / GPS, connected via ADF and communication means - with external consumers of corrective information, DSM, DSD, SOV, navigation equipment of consumers of satellite navigation systems, BINS-TP are connected with the aircraft PAK (see 6), the equipment for remote binding (ODP) is additionally introduced: theodolite (T), laser rangefinder (LD), gyrocompass (CC), communication equipment is additionally equipped with two wearable radio stations (LDCs).

The use of an off-road vehicle equipped with a box body as a transport base allows:

- firstly, to fulfill the requirements for the composition and placement of the necessary equipment and equipment;

- secondly, to ensure compliance with the carrying capacity of the chassis and the mass of equipment and equipment;

- thirdly, to provide the necessary functional capabilities for four crew members;

- fourthly, to ensure mobility and patency of the complex under various conditions of the road surface;

- fifth, to ensure the connection of additional energy equipment;

- sixth, to ensure autonomous overcoming of heavily polluted and destroyed sections of the road.

The inclusion in the composition of the topographic and navigation complex of a hardware-software complex (PAC), which contains computing means (AC), information display facilities (SDI), input, transmission and storage of information (SVPHI), allows you to:

- firstly, to ensure the reception and processing of information from the following devices: BINS-TP (AATN), mechanical speed sensor DSM, speed sensor Doppler DSD, system for determining the height of the SOW, fixed and remote navigation equipment for GLONASS / GPS consumers, transmission equipment ADF data, documentation device (UD) (printer);

- secondly, to ensure the display of current information and the results of its processing;

- thirdly, to ensure the integration of navigation information received from sensors, the construction of which is based on various physical principles;

- fourthly, to provide a solution to service problems;

- fifthly, to ensure the solution of the tasks of remotely linking elements of combat formations of troops, work with the geodetic information system "Integration" with the ability to prepare maps and transfer them to consumers, solve routing problems.

Sun PAK are represented by the following devices.

The construction of information and computing systems that provide the possibility of implementing modern information technologies and the operation of MKNTP under specified operating conditions is carried out on the basis of the Baget series computers, additional modules and functional devices (including peripheral ones).

As the main onboard computer (BEWM) selected "Baguette-RSZB." The Baguette-RSZB computer is a high-performance electronic computer designed to solve communication, information and calculation problems as part of specialized automated mobile-based control systems, as well as to create software-hardware complexes of the required configuration on its basis under the control of a real-time operating system.

The main technical characteristics of the computer "Baguette-RS4":

- microprocessor type - Komdiv-64SMP;

- clock frequency - not less than 200 MHz;

- the capacity of the dynamic RAM of the CPU module is at least 256 MB;

- the capacity of the hard disk drive is at least 6 GB;

- The capacity of video RAM is at least 16 MB.

The personal portable computer (ППЭВМ) ES1866 as a part of the aircraft PAK MKNTP is intended for the organization by the commander of visual control of the results, the necessary calculations, work in information networks and the creation of basic means of automation of individual labor.

The main technical characteristics of the personal portable computer EC 1866:

- microprocessor type - Intel Mobile Pentium 4;

- clock frequency - 1.4 ... 2.4 GHz;

- monitor - liquid crystal type LCD TFT with a screen size diagonal of 15 inches.

SOI PAK are represented by the following means. For displaying information, a color liquid crystal video monitor (VIC) is used, in particular, a VMC-45ZHK serial video monitor for an operator, and an EU 1866 personal portable computer with a built-in monitor for the ICSTP commander.

The main technical characteristics of the color monitor VMC-45ZHK:

- computer interface - VGA;

- diagonal screen size - 450 mm;

- the number of screen elements - 1280 × 1024 pixels;

- the number of gradations of brightness is not less than 8;

- image viewing angles: vertically within ± 30 °; horizontally within ± 45 °.

For the reception and registration on paper of alphanumeric and graphic information received from a computer, a documenting device (UD) is used, in particular UD-M211.

The main technical characteristics of the documentation device UD-M211:

- The principle of printing - shock sign synthesis;

- printhead - nine-needle;

- information output speed - 120 characters per second in draft mode;

- string length - 203.2 mm (8 ");

- the maximum number of characters in a string is 160;

- interfaces - CENTRONICS, RS232C, specialized interface;

- paper - roll of paper 210 mm wide, A4 format blank.

SVPHI PAK is represented by the following means.

To enter information using the keyboard (K), in particular the keyboard KL-85. Keyboard KL-85 is designed to enter alphanumeric and control information.

Key technical characteristics of the KL-85 keyboard:

- 83 keys;

- connection to a computer via the RS-232C (RS-422) interface.

The graphic information manipulator (MGI), specifically the graphic information manipulator of the MG-1 series, is designed to control a tracking crosshair (cursor) on video monitors when working with graphic information and in the "menu".

The manipulator is built on the basis of a flat capacitive panel that is sensitive to the touch of a finger.

The main technical characteristics of the MG-1 graphic information manipulator:

- 4 buttons (for the right and left hands of the operator)

- connection to a computer via the RS-232C interface.

A CD-ROM 1B583 drive (H) is designed to read data stored on laser compact discs.

The drive (H) of the received information such as CD-ROM 1B583 is made as a separate device, placed in a housing equipped with a power supply from the on-board network, a fan and shock absorbers.

Main technical characteristics of the drive type CD-ROM 1B583

- capacity - 660 MB;

- SCSI-2 interface.

The device for recording and transferring information (UZPI) is designed to remove information obtained when using external equipment MKNTP. The UZPI device is a single-board wearable micro-computer with a built-in drive. The UZPI device includes the following functional units:

- microprocessor 1890 VM2T;

- system controller 1890 VG11T;

- random access memory;

- system reprogrammable read only memory;

- drive interface controller;

- flash drive;

- controllers of external interfaces.

The main technical characteristics of the device for recording and transferring information (USPI):

- information capacity - 2GB;

- connection to a computer - via Ethernet or RS-232C.

The coordination unit (BS) is used to ensure the connection of the primary navigation sensors of the topographic device (DSM and DSD) to the product.

BS provides control over the operation of sensors, reception and primary processing (conversion) of information coming from them, transmission of processed data to a computer via RS-232 interface, as well as generation of voltage supply necessary for operation of sensors.

The structure of the coordination unit includes the following functional units: a controller that controls the operation of the unit, a coordination scheme with the RS-232 interface, a buffered register of one-time input-output commands that provide the reception of sensor signals and control their operating modes, and a power module.

The PDV remote control is designed to remotely turn on the Baguette-RSZB computer.

The inclusion in the composition of the topographic and navigation complex of autonomous topographic and navigation equipment (AATN) - a strapdown inertial navigation system (BINS-TP) allows you to:

- firstly, to determine in real time the location and angular spatial orientation parameters of the CCST in the parking lot and in motion: coordinates and altitude, course angles, roll and pitch, linear and angular velocities and accelerations (in motion) in a given coordinate system at any time of day, at given geographical latitudes, in various weather conditions;

- secondly, to exchange information with a computer with data from external speed meters, a height determination system (SOV) and navigation equipment of a consumer of a space navigation system, as well as control commands.

The main technical and operational characteristics of BINS-TP:

- the time of the initial exhibition in the “compassing” mode - at a temperature of 5 ° C and above -11 min, at low temperatures 16 min;

- the frequency of the measured parameters - 1 Hz;

- range of measured linear velocities (along 3 axes) - ± 30 m / s;

- range of measured linear accelerations (along 3 axes) - ± 5 g;

- range of measured angular velocities (along 3 axes) - ± 40 deg / s;

- determination of orientation parameters in the "compassing" mode - azimuth (directional angle) - 2 angles. min, roll and pitch angles - 1 angle. min;

- determination of navigation parameters in an autonomous (inertial) mode - by horizontal coordinates - 50 m, by horizontal component of ground speed - 0.5 m / s;

- the system functions normally under the following conditions: changes in geographical latitude - 90 degrees, changes in geographical longitude - 180 degrees, changes in height in the range from -500 m to 3000 m relative to sea level, at ground speed - up to 100 km / h, changes in angles Orientations: azimuth (directional angle) - from 0 ° to 360 °, pitch - ± 90 °, roll - ± 180 °;

- change in linear accelerations along the normal (Y), lateral (Z) and longitudinal (X) axes of the object, g - ± 5.0;

- change in linear and angular velocities - not less than - 40 ° / s;

- time of continuous operation in operating conditions - not less than 24 hours

The operating principle of BINS-TP is based on measuring the parameters of the angular and linear displacements of the object by laser gyroscopes and accelerometers in the physical fields of the Earth, followed by processing the measured parameters in the BINS-TP digital computer according to a special algorithm. As a result of data processing, the necessary navigation parameters are formed: azimuth, roll and pitch angles, location coordinates, distance traveled and speed in a given coordinate system.

To correct the navigation parameters developed by BINS-TP, it is provided for its integration with data from external meters, SOW, satellite measurements.

The inclusion of the GLONASS / GPS (SUNAP) consumers' stationary goniometric navigation equipment into the topographic and navigation complex, which consists of a receiver-indicator unit (BPI) and an antenna system (AS), allows:

- firstly, to determine from the radio signals of the GLONASS and GPS space navigation systems the current location coordinates that make up the consumer’s velocity vector, heading (motion azimuth) in the coordinate system selected by the operator and in the form selected by the operator and outputting the results to the BPI display device;

- secondly, provide the received information via the RS232C interface;

- thirdly, determine the directional angle;

- fourthly, to link the consumer’s timeline to the UTC (SU) timeline in the operating mode for the GLONASS space navigation system or for the combined GLONASS / GPS navigation spacecraft grouping;

fifthly, to provide a solution to service problems: a direct geodesic problem, an inverse geodesic problem, solving triangles, calculating the approach of meridians, recalculating the parameters when changing the zone, calculating the correction to the directional angle for the transition from zone to zone, converting coordinates (recalculating coordinates from plane rectangular in geodesic ellipsoidal and vice versa), direct notch, reverse notch.

The “Grot-U” 14Ts23 system was selected as a SUNAP. The Grot-U system is a fully automatic device and can operate without operator intervention immediately after installation and switching on.

The main technical characteristics of the “Grot-U” 14TS823:

- 14TS823 has 12 reception channels intended for simultaneous operation with GLONASS, GPS or GLONASS + GPS orbital constellations (combined constellation), using PT and VT (GLONASS) signals, C / A code (GPS) in the 1.6 GHz band;

- the average time of the first determination of the coordinates, altitude, time and directional angle of the axis of the object should not exceed 3 minutes when working on the signals of the GLONASS and GPS systems from the moment they are ready for work;

- marginal errors of definitions when working on GLONASS in the parking lot (in motion): location coordinates - 30 (45) m, components of the velocity vector - 0.05 (0.07) m / s, directional angle - not more than 3 (10) ch. min

The inclusion in the complex of topographic location and navigation of the remote goniometric navigation equipment of the GLONASS / Navstar consumers (VUNAP) - the military navigation and geodetic complex (VNGK) allows:

- firstly, to conduct relative determinations of the coordinates and heights of fixed ground points in the post-processing (post-session processing) mode using the radio signals of space navigation systems;

- secondly, to ensure the accumulation and processing of navigation information received on the signals of the space navigation systems GLONASS or GPS, or on the signals of these two systems simultaneously;

- thirdly, to solve applied geodetic problems.

The “Grot-TK” 14TS824 system was selected as a remote VUNAP.

The composition of the “Grot-TK”: wearable receiver-indicator (NPI) “Grot-N” 14Ts820 of the space navigation system, a storage of navigation information (NNI), a geodetic antenna (AG), a packaging set.

The main technical characteristics of “GROT-TK” 14TS824:

- the standard error of determining the coordinates and heights of fixed ground points (at bases up to 45 km) in the post-processing mode does not exceed: 1 m for planned coordinates, 2 m for height;

- determination of geodetic (B, L, H) and spatial rectangular (X, Y, Z) coordinates in various coordinate systems;

- VNGK facilities provide the ability to mount and mount the AG above the observation points from 1 m to 1.5 m in height and centering with an error of not more than 5 mm;

- the time to bring the VNGK field set into working condition, taking into account the installation and centering of the AH over a defined point and the necessary connections (prepared by a calculation of 2 people) does not exceed 10 minutes.

The primary reception and processing of navigation information is provided by the AG and the NPI of the GLONASS / GPS space navigation system.

The main technical characteristics of the NPI "Grot-N" 14TS820:

- the frequency range of the received channels is 1.6 GHz;

- type of satellite signals used - GLONASS (PT and BT code) and GPS (C / A code);

- the number of independent (parallel) reception channels is 12;

- time of the first determination (cold start) - no more than 3 minutes;

- frequency of coordinates updating - 1 sec;

- used coordinate systems P3-90, SK-42, SK-95, WGS-84;

- errors of definitions when working on GLONASS in the parking lot (in motion): location coordinates - 10 (15) m, components of the velocity vector - 0.05 m / s.

The basis of the AG is the ASNM-4 antenna module.

The main technical characteristics of the ASNM-4 antenna module:

- bandwidth at the level of 1.5 dB - 15711579 MHz and 1592 - 1614 MHz;

- the maximum gain at the output is not less than plus 30 dB (at the zenith) and plus 24 dB (θ≤80 °).

The accumulation of navigation information from the NPI at the observation points and its storage is provided by the NII.

Main technical characteristics of NNI:

- the maximum amount of information in non-volatile memory - 128 MB;

- the maximum number of observation sessions is 126 (126 sessions lasting 26 minutes);

- time of continuous operation from freshly charged batteries - from 8 to 20 hours;

- the number of write-erase cycles of the memory is not less than 100,000 cycles;

- NNI provides an interface with the user's navigation equipment at a speed of 9600 bps when data is accumulated and with a user's computer at a speed of 115200 bps when reading accumulated sessions.

As a means of providing post-processing of navigation information and solving special problems, a PC and a computer are used.

Special software and mathematical support of VNGK provides:

- reading from the NII the accumulated information and the formation of data points of the reference point and data files of the reference and defined points;

- entering the coordinates of the reference point, the name (numbers) of the reference and defined points, the post-processing of navigation data;

- calculation of coordinates of observation points in the coordinate systems WGS-84 and P3-90;

- assessment of the accuracy of coordinate definitions at each defined point;

- the issuance and storage on magnetic media of the report file about the session in a text format;

- archiving measuring navigation information;

- recalculation of coordinates of defined points from one coordinate system to another;

- protection of special mathematical software from unauthorized use with an electronic protection key;

- The solution of additional geodetic problems on the plane and ellipsoid.

The inclusion of the track increment sensors (DPP) in the topographic and navigation complex: the mechanical speed sensor (DSM) and the Doppler speed sensor (DSD) allows you to obtain information about the increment of the mobile complex path by joint data processing with DSM and DSD.

At the beginning of the movement (as well as during braking) at a speed of up to 3 km / h, the reading of the increments of the path goes from the DSM. At speeds above 5 km / h, the reading of the increments of the path comes from the DDS.

The inclusion of the GLONASS / GPS mobile differential subsystem consisting of an information receiving and processing device (UPRI) and an antenna module (AM) in the topographic and navigation complex of the control and correction station (CCS) allows:

- firstly, to control the quality of the GLONASS and GPS navigation fields, generate corrective information and analyze its quality;

- secondly, to perform the functions of a reference station, an integral control station and a control station that exchanges information, manages the components of information-analytical complexes and provides external communication and the issuance of corrective information;

- thirdly, to receive the equipment signals of all located in the visibility range of the navigation spacecraft of the GLONASS and GPS navigation systems;

- fourthly, to register corrective information and its issuance at the request of the operator for a given time interval;

- fifthly, to carry out automated issuance of stored and incoming information to display devices;

- sixth, to archive and store measuring and service information.

As KKS the product 14Ts41 is used.

The main technical characteristics of KKS 14TS841:

- interval for updating and issuing measurement information to the PAC - not more than 1.0 s;

- the maximum frequency of issuing corrections to pseudorange and pseudo-speeds is not less than 1 Hz;

- root-mean-square hardware errors of measuring pseudorange to navigation spacecraft - not worse than 0.3 m;

- root-mean-square instrument errors of the carrier phase measurement - not worse than 2 mm;

- standard errors of the formation of amendments to pseudorange - not worse than 0.3 m;

- the standard errors of the formation of the rates of change of amendments to the pseudorange - not worse than 0.005 m / s;

- root-mean-square errors of determining the coordinates of the space station in the accumulation mode with post-processing of data at a time interval of 8 hours when working on the GLONASS space navigation system - not worse than 2 m, when working on the GPS space navigation system - not worse than 5 m;

- standard error of the binding of time scales - no worse than 50 ns;

- the time from the moment of occurrence of anomalous errors in navigation definitions for available navigation spacecraft to the formation and delivery of a message characterizing a malfunction - not more than 1.0 s;

- the time of obtaining measurements and differential corrections with specified accuracy in the presence of an almanac - not more than 3 minutes from the moment of switching on the KKS;

- the issuance of corrective information is carried out via the RS 232 interface with speeds from 0.05 to 9.6 kbit / s;

- the product 14TS841 ensures operability when the GLONASS or GPS space navigation systems are switched off by the signals of the remaining space navigation system, with a sufficient number of navigation spacecraft in the radio visibility zone;

- AM radiation pattern provides reception of signals from GLONASS and GPS space navigation systems, starting from an elevation angle of 6 °.

The main component of 14TS841, which implements the functionality, is a device for receiving and processing information (UPRI), which is a mobile enhanced computer (such as a "laptop").

The inclusion in the composition of the ICSTP a system for determining the height (SOW), consisting of a digital atmospheric pressure meter (ICAD), an air temperature sensor (DTV), a data processing unit (AML), allows

- firstly, to automatically measure the increment of the height of the object at the points of the route during short stops with support at the starting point of the route;

- secondly, using ICAD and DTV to provide continuous measurement of atmospheric pressure and air temperature in the area of the facility;

- thirdly, using the BOD to ensure the conversion of signals from the output of the sensors into a digital code, processing information, transmitting the processing results to the computer.

The inclusion in the topographic and navigation complex of a communication and data transmission system (DSPD), consisting of a loud-speaking transport device (TSU), data transmission equipment (ADF), channel-forming equipment (COO), two wearable radio stations (LDCs), allows providing ICSTP officials stable and reliable communication with both intraobject and interfaced objects (control centers of higher and interacting formations).

For the implementation of information relations in the ICSTP, the following types of communication are required:

- telephone communication over the air;

- Telecode communication over the air;

In addition, to ensure the interaction of crew members of cars with each other, the organization of internal communication is necessary.

TSU is designed to transmit voice information from the driver and commander to the truck body of the complex to operators and from operators to the cab.

The main technical characteristics of TSU:

- the output power of the amplifier with a nominal load resistance of 4 Ohms, with a nominal supply voltage of 28 V and a nominal input voltage at a frequency of 1000 Hz - not less than 6 W;

- the nominal input voltage of the amplifier at a frequency of 1000 Hz - 8 mV;

- harmonic distortion coefficient of the amplifier at a rated output power of 6 W in the frequency range from 300 to 1000 Hz - not more than 3%;

- the signal-to-noise ratio of the amplifier when powered by a source having ripple level up to 2.4 V in the frequency range from 100 to 1200 Hz - not less than 50 dB;

- TSU readiness time and operation after pressing the power button on the amplifier for no more than 5 s.

Composition of TSU: microphone (M) M-TSU, sound frequency amplifier (UHF), a set of dynamic speaker heads (GHD).

Data transmission equipment (ADF) is intended for the transmission, reception and distribution of all telecode information in the course of combat work, which is processed by the unit operator at its automated workstation, as well as for the technical interfacing of the automated workstation with CCW.

As APD in MKNTP used equipment T-236-B. Small-sized multichannel subscriber equipment T-236-B is designed for guaranteed classification, imitation protection, distribution, transmission and reception of data in automated systems and complexes. The equipment provides information exchange over communication channels in duplex and simplex modes.

The T-236-B equipment provides:

- automatic noise-free transmission and reception over the communication channels of a mixed data transfer network of information packets, transmission of control information in a special format and mode;

- work on roundabout routes, automatic protection against reproduction and looping of messages;

- transmission of messages of four categories of urgency when using service discipline with relative priority;

- automated transmission of unicast messages, multicast messages to a group of subscribers (up to 10 subscribers in a group), circular messages to groups of subscribers.

The main technical characteristics of the T-236-V equipment:

- channel interfaces: C1-I (from 1.2 to 64 kbit / s), C1-PM (1.2 kbit / s), C1-IPC (16 and 32 kbit / s);

- has the ability to build channel capacity;

- work with computers on the RS-232C or Manchester-2 interface. The KB-radio station, which is designed to provide radio communications with ICSTP correspondents, with senior commanders (commanders), attached and subordinate units, and intelligence technical equipment, serves as a COO.

The R-168-100KB radio station is used in the SPCD MKNTP - automated, transceiver, simplex, telephone and telegraph, designed to conduct adaptive address communications and fixed-frequency communications in the short-wave frequency range. HF networks duplicate those of the VHF range networks, the importance of which is greatest in a given combat situation. In addition, HF networks are the only means of radio communications in the conduct of hostilities in mountainous, mountainous-desert and mountainous-wooded areas.

Radio station control is automatic based on two built-in microelectronic computers - the basic one, which provides control of all types and modes of operation, and the peripheral one, designed to configure an automated matching device for all types of antennas.

Main technical characteristics of R-168-100KB:

- Transportable PC, provides radio communication of subscribers in the HF band in the parking lot and in motion at ranges up to 300 km (on a mast antenna);

- operating modes - simplex, software frequency adjustment, automated adaptive communication, scanning reception by 8 pre-prepared frequencies (RFL), manual and automated recording of radio data, transmission and reception of circular, address and tone calls, standby reception, remote control, operation control from external computer at the interface of RS-232C, automated performance monitoring;

- frequency range - 1.5 ... 29.999 MHz;

- step of the frequency grid -0.1 kHz;

- frequency instability - not more than ± (3 × 10 ^-7 );

- sensitivity in telephone modes - not more than 2.0 μV;

- sensitivity in telegraph modes - not more than 1.5 μV;

- output power (min / max.) - 10/50 W;

- the communication range to the antenna ASH-4 (in motion) - not less than 20 - 50 km;

- currents consumed by the radio station: in reception mode - not more than 5.5A, in transmission mode - not more than 15A;

- the range of operating temperatures is -50 ... + 60 ° C.

The main types of work:

- transmission and reception of an open and closed device for technical masking of speech information;

- transmission and reception of automatic telegraph information;

- transmission and reception of telegraph information for auditory reception;

- transmission and reception of telegraph information in the amplitude telegraphy channel;

- transmission and reception of digital information.

In addition, the mobile complex is equipped with two wearable radio stations (LDCs) of the meter range R-168-5UN-2, designed to provide open or technically secure confidential radio communications in the field.

PC R-168-5UN-2 provides the following types and modes of operation:

- simplex radio communication for any of 8 pre-prepared frequencies from the range from 30 to 107.975 MHz with a frequency grid step of 25 kHz or a multiple of it with the number of frequencies up to 256 and tuning speed up to 100 jumps per second;

- reception and transmission of analog information in an open mode with a passband of low frequencies from 300 to 3400 Hz;

- reception and transmission of confidential information closed with the help of technical masking with transmission rates of 2.4 and 16 kbit / s;

- reception and transmission of digital information from terminal equipment with transmission rates of 1.2; 2.4; 4.8; 9.6 and 16 kbps;

- alternately, every 0.5 s, viewing previously prepared frequencies in the scanning reception mode with fixing the call signal from the correspondent, as well as entering the transmission mode at the frequency of the calling correspondent;

- round-the-clock operation (in all modes) with a reception / transmission ratio of 5: 1, and transmission work of no more than 15 minutes continuously;

- relay when using two LDCs in the intermediate section of the radio link.

The main technical characteristics of the radio station R-168-5UN-2:

- operating frequency range - from 30 to 107.975 MHz with a discrete tuning step of 25 kHz;

- transmitter power at a load equivalent of 50 Ohms -8 W in the "full" power mode, 2 W in the "medium" power mode, 0.25 W in the "low" power mode;

- relative deviation of the operating frequency is not more than ± 1 × 10 ^-6 ;

- communication range depending on the type of antenna - (10 ... 20) km.

The inclusion of theodolite (T) in the equipment for remote sensing (ODP) allows the measurement of angles using sighting targets and terrain objects.

The main technical characteristics of the theodolite ZT5KP:

- UPC measurements with a single reception of the horizontal angle - 2 ";

- an increase in the telescope - 30x;

- the smallest sighting distance - 1.5 m;

- the smallest distance of sight with a nozzle on the lens - 0.9 m;

- the range of the self-aligning index of the vertical circle is 4 minutes;

- diameter of the limbs - 90 mm;

- the price of the division of the scale of the reading device is 1 ";

- reading accuracy - 0.5 ... 0.1 ";

- built-in optical plummet allows an increase of 2.5x;

- theodolite mass is 3.7 kg.

The inclusion of a laser range finder (LD) in the equipment for remote binding (ODP) allows you to measure the distance to the observed targets.

The main technical characteristics of binoculars - rangefinder 1D18-1:

- field of view angle - 6 °;

- increase the sight - 8 ^x ;

- the maximum measured range is not less than 5 km;

- minimum measured range - not more than 50 m;

- measurement error - no more than 10 m;

- resolution in range of not more than 60 m;

- display time of information about the measured range - 2 ... 8 s;

- the price of a small division of the goniometer grid of the sight is 0-05.

The inclusion of a gyrocompass (GC) in the equipment for remote reference (ODP) allows automatic determination of the azimuth (directional angle) of an orientation direction in the area in the range of geographical latitudes from minus 70 ° to plus 70 ° in all climatic regions of the globe.

The main technical characteristics of the gyrocompass 1G57-1:

- standard error of the azimuth determination: 2 'during the determination no more than 2 min, 1' during the determination no more than 8 min;

- the time of deployment of the product from the starting position to the working one with removal from the topographic device - no more than 2 minutes;

- the error in determining the reference directions is not more than 20 ".

Technical solutions with features distinguishing the claimed solution from the prototype are not known and do not follow explicitly from the prior art. This suggests that the claimed solution is new and has an inventive step.

The invention is illustrated by drawings, where figure 1 shows a General view of MKNTP; figure 2 - hardware composition of the PAK; figure 3 is the hardware composition of the JSPD; figure 4 - hardware composition KTH; figure 5 - the composition of the ODP; figure 6 is a structural diagram of MKNTP.

The mobile navigation and topographic and geodetic reference complex (MKNTP) is located on the basis of a cross-country vehicle 1, on which standard means of electrical equipment 2 and equipped with a van body 3 are installed. The following technical means are located on vehicle 1: topographic reference and navigation complex 4 (KTPN), power supply system 5 (SES), life support system 6 (SJO).

The topographic and navigation complex 4 consists of the following hardware: a hardware-software complex 7 (PAC), containing computing means 8 (BC), information display facilities 9 (SDI), input, transmission and storage of information 10 (SVPHI), autonomous equipment Topographic reference and navigation 11 (AATN) - strapdown inertial navigation system (BINS-TP), stationary goniometric consumer navigation equipment GLONASS / GPS 12 (SUNAP), consisting of a receiver-indicator unit 13 (BPI), antenna system 14 (AS), remote angle GLONASS / GPS 15 measuring navigation equipment (VUNAP) - a military navigation and geodetic complex (VNGK), consisting of a portable receiver-indicator 16 (NPI) of the space navigation system, navigation information storage 17 (NNI) and geodetic antenna 18 (AG), increment sensors track 19 (DPP): mechanical speed sensor 20 (DSM) and Doppler speed sensor 21 (DSD), control and correction station 22 (KKS) of the GLONASS / GPS mobile differential subsystem, consisting of a device for receiving and processing information 23 (UPRI), antenna module 24 (AM), height determination system 25 (SOV), consisting of a digital atmospheric pressure meter 26 (ICAD), air temperature sensor 27 (DTV) and data processing unit 28 (AML), communication and transmission systems data 29 (SSPD), consisting of a loud-speaking transport device 30 (TSU), data transmission equipment 31 (ADF), channel-forming equipment 32 (COO) and two wearable radio stations 33 (LDCs), equipment for remote binding 34 (ODP), which includes Panaromic orientation orienteering sight 35 (GP), artillery compass Series Panaromic 36 (BAP), gyrocompass 37 (GK), laser rangefinder 38 (LD), theodolite 39 (T).

The aircraft 8 PAK 7 include an onboard computer 40 (BEWM) and a personal portable computer 41 (PPEVM). SOI 9 PAK 7 include a color liquid crystal video monitor 42 (VIC) BEWM 40 and a built-in monitor PPEVM 41, a documenting device 43 (UD). SVPHI 10 PAK 7 include a keyboard 44, a manipulator of graphic information 45 (MGI), a drive 46 (H) of received information, a device for recording and transferring information 47 (USI). In addition, the PAK includes a coordination unit 48 (BS) and a remote control 49 (PDV).

The structure of TSU 30 SSPD 29 includes a microphone 50 (M), an audio frequency amplifier 51 (UZCH), a set of dynamic 52 speaker heads (GGD). KOO 32 SSPD 29 was made on the basis of two portable radio stations 53 (RSV), the set of which includes a transceiver 54 (PP), an automated matching device 55 (ACS), a remote control 56 (remote control), antenna 57 (A). The antenna (A) is mounted on the antenna lifting mechanism 58 (MPA), which is controlled by the control and monitoring panel 59 (PKiU).

SES 5 MKNTP consists of a generator 60 (G), a surge protector 61 (SF), a relay controller 62 (PP), two rechargeable batteries 63 (AB) and is additionally equipped with autonomous power supply equipment 64 (AAE). Distribution of the supply circuits of the components of MKNTP equipment is carried out using a distribution device 65 (UR), and the connection of external equipment is done using a distribution board 66 (ЩР)

The life support system 6 (SJO) consists of a heating and ventilation installation 67 (OVU), a filter and ventilation installation 68 (FVU), a local temperature control system for air in the crew work area 69 (LST), consisting of an outdoor unit 70 (NB), a cooling unit 71 ( BO), expansion tank 72 (BR). In addition, MKNTP is equipped with a dose rate meter 73 (IMD) of radioactive radiation.

In accordance with the invention, a mobile complex of navigation and topographic and geodetic reference provides:

- determination and indication in the parking lot of flat rectangular coordinates (X, Y) and altitude (H) of anchored points in the 1942 coordinate system in the Baltic height system;

- continuous determination in motion, a record for monitoring and indication on the tablet (display) of flat rectangular coordinates (X, Y) and height (H) of the location of the base chassis and its direction of movement;

- work in the control-correcting station (SCS) mode of the GLONASS space navigation system for the formation and transmission of differential corrections to consumers;

- determination and indication of directional angles of the longitudinal axis of the base chassis in the parking lot;

- continuous determination of the directional angle of the base chassis and the distance traveled;

- determination of the pitch and roll angles of the base chassis in the parking lot and in motion, the transfer of their values via standard interfaces;

- Indication of the location on a digital map of the area with scales of 1: 50000, 1: 100000, 1: 200000 with the ability to change the scale of the indication by the operator and automatically switch when leaving the borders of maps of any scale;

- determination of the coordinates and height of a point on a digital map of the area selected by the operator;

- automatic determination of the coordinates of points (objects) that are in direct visibility from MKNTP with fixing their location on a digital map of the area and storage in the database;

- the solution of service tasks in the amount regulated by the governing documents (instructions or manuals) on topographic and geodetic support of missile forces and artillery;

- automatic laying of the route at given points, taking into account the topography, weather conditions, time of year and day, displaying the route of movement at the automated workstation, as well as voice confirmation of the recommended speed and change of direction.

The crew of the ICSTP consists of four people: commander, driver, senior operator, operator. Upon receipt of the task, the commander orientates the personnel in the situation, sets him the task, organizes and manages the crew, using TSU 30 for this, reconciles KTH 4 and other devices, selects a location for the installation of the mobile complex during the execution of the task, selects the route of movement, the start and end points, if they were not indicated by the senior chief, determine and record the coordinates of the start and end points, prepare the complex for work; instructs the driver to move and stop, at each anchor point determines its coordinates and height, and if necessary, the directional angle of the orientation direction; at the end point determines the discrepancy between the coordinates taken from the indicators PAK 7 and from the map, and compares them with the acceptable; if necessary, converts the coordinates of the attached points to an adjacent zone, upon completion of work, compiles a list of coordinates of the attached points and reports on the completion of the task to the commander of the serviced unit. The driver starts the engine and monitors the operating mode of the vehicle 1 and equipment; It drives the car along the route with the highest possible speed under the given conditions, while avoiding sharp braking and sharp turns. The driver monitors the state of operation of the generator 60.

The senior operator is the deputy commander and, on his instructions, works on KTN 4 equipment. When working at MKNTP, he determines the coordinates of the start and end points of the route of travel on the map, turns the equipment on and off, prepares PAK 7 for work, determines the directional angle of the machine axis, and gives the command on the movement and stop of the vehicle 1, reads the readings from the indicators PAK 7 and keeps a logbook, reports the necessary data to the commander. When working on the GK 37, together with the operator, sets the GK 37 on the specified point and prepares it for work, observes the reversion points and takes readings, checks the correctness of the entries and calculations in the journal and reports the directional angle (azimuth) of the orientation direction to the commander. After the end of work, together with the operator, the GC 37 is put into the traveling position.

The operator, in addition to working at radio stations 33, 53, control and corrective station 22 (KKS), helps the senior operator in preparing the GK 37 for work and laying it, writes down the readings in the observation log and performs calculations; fixes GK 37 standing points and reference points on the ground.

In accordance with the tasks set, the technology of the ICSTP is divided into: work at the starting point, work in the process of movement, work at the final point, maintenance of the ICSTP.

The work of the ICSTP at the starting point.

At the starting point, the following is performed: turning on the equipment of the mobile complex, entering from the keyboard 44 PAK 7 rectangular coordinates of the place and height of the ICSTP in the Baltic altitude system. The coordinates of the place and the height of the complex must be previously determined either according to BINS-TP 11, or using landmarks on the terrain, the coordinates of which are known. BINS-TP 11 to ensure the necessary accuracy should work in differential mode. To determine the coordinates of the place at the starting point according to local landmarks, BINS-TP 11 and LD 38 can be used. After 10 minutes from the moment BINS-TP 11 is turned on, the product is ready to issue the directional angle of the longitudinal axis of the special vehicle 1 and use the LD 38 for topographic location in direct visibility of landmarks on the ground, and after 20 minutes to the development of coordinates of the place and height when moving.

MKNTP work in the process of movement

When moving MKNTP along the route, depending on the task, the following is performed: drawing the route of movement on the electronic map, issuing the current location coordinates and the distance traveled, correcting BINS-TP 11 according to the coordinates of the place and speed. For correction, either BINS-TP 11, operating in differential mode, or landmarks with known coordinates, are used. Correction according to local landmarks is made at short-term (up to one minute) stops. When the BINS 11 is in differential mode, correction using landmarks on the ground may not be performed and, accordingly, the movement of the MCSTP without intermediate stops is allowed. During the movement of the MKNTP, the DSM 20 data is continuously used for incrementing the path and occasionally, depending on the requirements of stealth and the state of the reflective surface of the road, measuring the speed of the DSD 21.

ICSTP work at the final point

At the final point, after a complete stop, depending on the task, the following operations are performed: the coordinates of the location are specified. Clarification is made if it is possible to use BINS-TP 11 in differential mode, or if there are local landmarks with known coordinates. Next, topographic and geodetic reference is made to landmarks and firing positions of guns or rocket launchers. For reference, LD 38 is used. In VS 8 PAK 7, the problem is solved by determining the directional angles of directions between the firing positions and the attached landmarks on the ground. The obtained values of the angles and coordinates of the firing positions for KOO 32 SSPD 29 are transmitted to consumers. Mutual direction finding using LD 38 and panoramas of guns (rocket launchers) determines the angles of the main directional directions for firing positions. During the operation of the MCSTP at the final point, it is allowed to move it between sessions of topographic location, if necessary, changing the terrain.

MKNTP is able to advance to the deployment area under any type of road. During movement and parking, the operator conducts a visual reconnaissance of the terrain, without leaving special vehicle 1, using GP 35. If necessary, it is possible to conduct visual reconnaissance and topographic and geodetic measurements outside the internal space of vehicle 1 using LD 38. Depending on the season and climatic conditions, the conditions of the terrain are used OVU 67. In conditions of contamination of the area with radioactive, toxic substances, bacterial agents used FVU 68. In conditions of elevated temperatures Ambient air is used by LSTV 69, which ensures the supply of cooled air flows through BO 71 to automated workstations of operators.

Power supply of the equipment is carried out from the generator 60 and the batteries 63. The distribution and distribution of voltages is carried out using UR 65.

To determine the navigation information, information is complexed from sensors built on various physical principles: DSM; DSD; AATH; Owl and satellite navigation systems.

The analytical and informational basis of the ICSTP is PAK 7, which coordinates the work of other systems of the complex. The quality of the navigation fields of satellite navigation systems is controlled by KKS 22, which generates corrective information and analyzes its quality.

In accordance with the invention, it is proposed to obtain the following technical characteristics.

Technical characteristics of the navigation and topographic location complex

The mean square error (σ _x , σ _y ) of determining the increments of the planned coordinates is not more than 2 m / min in stand-alone operation for up to 20 minutes. without using speed information from external sources;

The root-mean-square error (σ _x , σ _y ) of determining the increments of the planned coordinates is not more than 0.1% of the distance traveled with non-stop movement up to 2 hours using speed information from external sources;

The root-mean-square error (σ _x , σ _y ) of determining the increments of the planned coordinates in the mode with periodic stops after 30 minutes of movement for up to 1-2 minutes - not more than 5 m using information about speed and altitude from external sources;

The root-mean-square error (σ _x , σ _y ) of determining the increments of the planned coordinates and (he) determining the height with continuous correction in movement according to the signals of the navigation equipment of the consumers of the space navigation system and barometric altimeter - not more than 1-3 m in coordinates and 3-5 m in height;

The root-mean-square error of determining the directional angle of the longitudinal axis of the base chassis (control element) is not more than 2 angles. min at a gyrocompassing time of not more than 5 min;

The root-mean-square error of determining the pitch and roll angles in motion in the above-mentioned operating modes is not more than 4 angles. min;

The root-mean-square error of determining the pitch and roll angles in the parking lot 1 minute after the cessation of movement is not more than 0.5 angle. min

Equipment and equipment preparation time for work - 20 min;

Continuous work time - 24 hours;

Power consumption of equipment and equipment - not more than 4 kW;

The DC power supply voltage from the onboard network is 27 _-5 ⁺² V with a ripple coefficient of not more than 5%.

* - the given parameters correspond to the variant of using the URAL-43206-1730 car as a vehicle MKNTP.

In addition, the hardware may change in order to improve tactics - technical characteristics.

Thus, in the present invention, the task is achieved to achieve a technical result, which consists in creating a mobile navigation and topographic location complex having high energy, information and analytical potential, the ability to mobile move on all types of roads through the use of off-road vehicles, navigation equipment, auxiliary devices and equipment of a new generation that meet the requirements of modern weapons, increase comf mercury during operation, which will increase the combat readiness and combat effectiveness of the armed forces as a whole.

Claims (1)

A mobile navigation and topographic reference complex (MKNTP) containing a transport base, technical facilities of a topographic reference and navigation complex as part of a hardware-software complex (PAC) equipped with computing tools (AC) with a set of additional modules and workstations, software and registration tools and documentation, navigation equipment for consumers of satellite navigation systems, navigation equipment equipped with a mechanical speed sensor (DSM), equipment for remote binding complex communications and data communications equipment (DCE), a power supply system and a complex life support;
characterized in that a cross-country vehicle equipped with a box body is used as a transport base, in the topographic reference and navigation complex (KTN), a strapdown inertial navigation system (BINS-TP) is used as navigation equipment, the following are additionally included in the KTN:
remote goniometer navigation equipment of GLONASS / Navstar consumers (VUNAP), Doppler speed sensor (DSD), altitude determination system (SOV), GLONASS / GPS mobile differential subsystem control and correlation station connected via ADF and communication means to external consumers of correction information, DSM, DSD, SOV, navigation equipment of consumers of satellite navigation systems, BINS-TP are connected with the aircraft PAK, the following are additionally included in the equipment for remote binding (ODP): theodolite (T), laser d lnomer (LD), the gyrocompass (CC), connection means are further equipped with two wearable stations (LDC).

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