RU2453999C1 - Method of receiving radio signals on objects - Google Patents

Abstract

FIELD: information technology.

SUBSTANCE: invention relates to communication engineering and specifically to methods of receiving radio signals from a ground-based six-satellite transmission system on objects and can be used preferably for uniquely determining spatial coordinates and other characteristics of an object, functionally associated with its coordinates, in information control radio engineering systems for various purposes, including in radio complexes of navigation systems. To this end, the time for receiving radio signals, transmitted from six beacon points whose antenna phase centres are arranged in a certain manner, at the object is recorded. Spatial coordinates are determined via indirect measurement using given simple expressions which depend on the measured differences between the reception time of radio signals from the beacon points. The method involves selecting the most accurate of three given versions of measurements of coordinates of the object at each point in space, which enables to obtain an axially symmetric coverage area of systems realising said method and significantly widen said coverage area.

EFFECT: high accuracy of receiving radio signals.

2 cl, 4 dwg

Description

The invention relates to communication technology, and more particularly to methods for receiving radio signals at objects, including mobile ones, and measuring information parameters corresponding to radio signals and the aforementioned objects from radio signal sources transmitted by a ground-based point transmitting system, and can be used to measure spatial coordinates and other characteristics of the object, functionally related to its coordinates, in the information-control radio systems for various purposes, including systems navigation and landing aircraft (LA). The method can be applied during testing at aircraft ranges as a method for selecting the optimal measuring systems and their rational placement on the test track, forming an automated complex for processing received radio signals and developing algorithmic and software for evaluating the characteristics of the tested objects.

The implementation of the method will allow, in addition, to simplify the relevant systems, to increase their technical and economic efficiency, taking into account all components that affect the cost and technical indicators. To solve these problems, first of all, an unambiguous and accurate measurement of the spatial coordinates of the object is necessary.

Known methods for receiving radio signals at objects, used, inter alia, in systems for measuring the coordinates of objects and based on the use of goniometric, rangefinder, difference and total rangefinder and combined methods for determining the location of an object with amplitude, time, frequency, phase and pulse-phase methods measuring the parameters of the radio signal [RF patents No. 2018855, 2115137, 2258242, 2309420, 2363117; Fundamentals of testing aircraft. E.I.Krinetsky et al. / Ed. E.I.Krinetskogo. - M.: Mechanical Engineering, 1979, p. 64-89; Radio engineering systems. Yu.M. Kazarinov et al. / Ed. Yu.M. Kazarinova. - M .: IC "Academy", 2008, chap. 10 .; Melnikov Yu.P., Popov S.V. Radio intelligence. Methods for assessing the effectiveness of the determination of radiation sources. - M .: "Radio Engineering", 2008, Ch. 5]. Known methods have certain disadvantages, for example, the need for mechanical movement of the antenna system, insufficient resolution in range, the need for a priori information about the location of the object, the inability to uniquely determine the coordinates of the object, unreliability, etc.

According to the criterion of minimum sufficiency, the prototype adopted a method of receiving radio signals at objects, including mobile ones, and measuring information parameters corresponding to radio signals and said objects from radio signal sources transmitted by a ground-based transmitting system, the phase centers of the transmitting antennas of each of the transmitting points of which are located in defined and known points on objects in a rectangular coordinate system with the origin at a given point 0, located mainly on the surface ml, with a plane (0, X, Y) tangent to the earth’s surface at point 0, and an axis 0Z directed from the earth, at which, when receiving radio signals from radio signal sources and identifying them with the corresponding points, the moments of radio signal reception are recorded, for example, by temporary positions of their leading edges, and measure the time difference between the times of receiving radio signals from different points of the transmitting system [Radio systems. Yu.M. Kazarinov et al. / Ed. Yu.M. Kazarinova. - M .: IC "Academy", 2008, chap. 10, p. 437-443, 449-454].

The advantage of the proposed method for receiving radio signals at objects in comparison with the known and prototype is the possibility of increasing the technical and economic efficiency of radio systems for measuring spatial coordinates and other characteristics of the object, functionally related to its coordinates. This is achieved by the fact that the time points of reception of radio signals transmitted from six points of a ground-based point transmitting system are recorded at the facility. In this case, the phase centers of the antennas are positioned in a certain way. The spatial coordinates are determined by indirect measurement using simple expressions depending on the measured differences between the times of receiving radio signals. Higher accuracy is achieved, including due to the possibility of choosing from the three proposed options for measuring the coordinates of the object at each point in space, the best in accuracy. Also, the method eliminates the ambiguity of measuring coordinates and allows you to vary the configuration of the coverage area of the radio system and form it depending on the task.

, Y₂=-b;

, Y₃=-b, и во второй группе из трех пунктов передачи преимущественно ненаправленными передающими антеннами, фазовые центры которых расположены на одинаковой заданной высоте Z=h₂ в вершинах равностороннего треугольника с координатами на плоскости (0, X, Y), равными Х₄=0, Y₄=-2a;

, Y₅=a, , Y₆=a, где а и b заданные положительные числа передают упорядочение серии из шести упорядоченно передаваемых в серии радиосигналов, по одному радиосигналу с каждого пункта соответственно, преимущественно обеспечивая экранирование отраженных от земли радиосигналов, а на объекте по принятым радиосигналам производят преимущественно три группы измерений разностей Δt_i,j, между временами приемов радиосигналов с i-х пунктов и временами приемов радиосигналов с j-х пунктов передающей системы, причем в первой группе измерений производят упомянутые измерения Δt_i,j для i-тых пунктов с индексами 2, 3, 4, 5, 6 относительно первого пункта с индексом j=1; во второй группе измерений производят упомянутые измерения Δt_i,j для i-тых пунктов с индексами 1, 3, 4, 5, 6 относительно второго пункта с индексом j=2, в третьей группе измерений производят упомянутые измерения Δt_i,j для i-тых пунктов с индексами 1, 2, 4, 5, 6 относительно третьего пункта с индексом j=3, по совокупности измеренных указанных разностей времен Δt_i,j через параметрыIn order to achieve the indicated technical result in the method of receiving radio signals at objects, including mobile ones, and measuring information parameters corresponding to radio signals and said objects, from radio signal sources transmitted by a ground-based transmitting system, the phase centers of the transmitting antennas of each of the transmitting points are located at predetermined and known points on objects in a rectangular coordinate system with the origin at a given point 0, located mainly on the surface of the earth , with a plane (0, X, Y) tangent to the earth’s surface at point 0, and an axis 0Z directed from the earth, at which, when receiving radio signals from radio signal sources and identifying them with the corresponding points, the moments of radio signal reception are recorded, for example, by time the positions of their leading edges, and measure the time differences between the times of receiving radio signals from different points of the transmitting system, in accordance with the present invention, the ground-based transmitting system is made with six transmission points, ordered in a different way, moreover, in the first group of three transmission points, mainly omnidirectional transmitting antennas whose phase centers are located at the same given height Z = h ₁ at the vertices of an equilateral triangle with coordinates on the plane (0, X, Y) equal to X ₁ = 0, Y ₁ = 2b;

Y ₂ = -b;

, Y ₃ = -b, and in the second group of three transmission points, mainly omnidirectional transmitting antennas whose phase centers are located at the same given height Z = h ₂ at the vertices of an equilateral triangle with coordinates on the plane (0, X, Y) equal to X ₄ = 0, Y ₄ = -2 a ;

, Y ₅ = a , , Y ₆ = a , where a and b predetermined positive numbers transmit the ordering of a series of six orderly transmitted in a series of radio signals, one radio signal from each point, respectively, mainly providing shielding of radio signals reflected from the ground, and mainly three groups of received signals are received at the object measuring differences Δt _{i, j} between the times of receiving radio signals from i-points and times of receiving radio signals from j-points of a transmission system, and in the first group of measurements, I mention the measurements Δt _{i, j} for the i-th points with indices 2, 3, 4, 5, 6 relative to the first point with the index j = 1; in the second group of measurements, the measurements Δt _{i, j are made} for the i-th points with indices 1, 3, 4, 5, 6 relative to the second point with the index j = 2, in the third group of measurements, the measurements Δt _{i, j} for i- points with indices 1, 2, 4, 5, 6 relative to the third point with index j = 3, based on the totality of the measured indicated time differences Δt _{i, j} through the parameters

l ₁ = d _6.1 , w ₁ = d _5.1 , u ₁ = d _3.1 , p ₁ = d _2.1 , s ₁ = d _4.1 ;

l ₂ = d _5.2 , w ₂ = d _4.2 , u ₂ = d _1.2 , p ₂ = d _3.2 , s ₂ = d _6.2 ;

l ₃ = d _4.3 , w ₃ = d _6.3 , u ₃ = d _2.3 , p ₃ = d _1.3 , s ₃ = d _5.3 ,

where d _{i, j} = cΔt _{i, j} , s is the propagation speed of the radio signal, for each of the j-th group mentioned, the parameters are measured

;

,

;

,

of pools parameters _{l j, w j, u j} , p j and M _j, N _j measured parameters

A _j = (2 l _j M _J -N _j ) ² / b ² , B _j = (2w _j M _j -N _j ) ² / b ² ,

C _j = (2u _j M _j -N _j ) ² / a ² , D _j = (2p _j M _j -N _j ) ² / a ²

, по измеренным K_j идентифицируют группу измерений и соответствующий ей индекс j=j_m, для которой параметр K_j минимальный, и для найденного таким образом значения индекса j=j_m, и через параметры M_j и N_j измеряют дальность

от объекта до пункта передачи с индексом j=j_m, по dt_jm и совокупностям параметров

,

,

измеряют параметры and for M _j and the combination of parameters A _j , B _j , C _j , D _j for each of the j-th groups mentioned, the parameter is mainly measured

, the measured group K _j identifies the measurement group and its corresponding index j = j _m , for which the parameter K _{j is} minimal, and for the index value j = j _m found in this way, and measure the range through the parameters M _j and N _j

from an object to a transfer point with index j = j _m , by dt _jm and parameter sets

,

,

measure parameters

and through them mainly the spatial coordinates of the object are measured (X ₀ , Y ₀ , Z ₀ )

,

,

,

,

; α₃=-1/2,

,where α ₁ = 1, β ₁ = 0; α ₂ = -1 / 2,

; α ₃ = -1 / 2,

,

these actions are repeated in the above order at each reception of radio signals, and if necessary, provide specified time delays between the indicated series of radio signals, not necessarily the same from series to series.

с учетом длительности радиосигнала и разности времени прихода на объект неотраженного и отраженного от земли радиосигналов, а измерение разностей Δt_i,j между временами приемов радиосигналов с i-тых пунктов и временами приемов радиосигналов с j-тых пунктов передающей системы производят с учетом времени соответствующих задержек.In addition, when transmitting radio signals by points of the transmitting system on the same frequency, the radio signals are transmitted with delays between the radio signals transmitted from each point and with delays between these series exceeding the maximum of

taking into account the duration of the radio signal and the difference in the time of arrival at the object of non-reflected and reflected from the earth radio signals, and measuring the differences Δt _{i, j} between the times of receiving radio signals from the i-th points and the times of receiving radio signals from the j-th points of the transmitting system, taking into account the time of the corresponding delays .

In the current level of technology, no sources of information have been identified that would contain information about methods of the same purpose with the specified set of distinctive features, which allows us to consider the claimed method as new and having an inventive step. The invention is described in more detail below.

The essence of the method is as follows.

The radio signals of the ground-based point transmitting system are transmitted from antennas whose phase centers are at specified points in a rectangular coordinate system with the origin at a given point 0, located mainly on the earth’s surface, with a plane (0, x, y) tangent to the earth’s surface at 0, and the 0z axis directed from the ground. At the receiver of the object, radio signals from radio signal sources are received, identified by their respective points, the moments of reception of radio signals are recorded, for example, by the temporary positions of their leading edges, and the time differences between the times of reception of radio signals from different points of the transmitting system are measured.

, Y₂=-b;

Y₃=-b. Во второй группе из трех пунктов передачи радиосигналы передают преимущественно ненаправленными передающими антеннами, фазовые центры которых расположены на одинаковой заданной высоте Z=h₂ в вершинах равностороннего треугольника с координатами на плоскости (0,X,Y), равными Х₄=0, Y₄=-2a;

, Y₅=a; , Y₆=a. Здесь a и b - заданные положительные числа. При этом передают упорядоченно серии из шести упорядоченно передаваемых в серии радиосигналов, по одному радиосигналу с каждого пункта соответственно, преимущественно обеспечивая экранирование отраженных от земли радиосигналов. На объекте производят преимущественно три группы измерений разностей Δt_i,j, между временами приемов радиосигналов с i-тых пунктов и временами приемов радиосигналов с j-тых пунктов передающей системы. При этом в первой группе измерений производят упомянутые измерения Δt_i,j для i-тых пунктов с индексами 2, 3, 4, 5, 6 относительно первого пункта с индексом j=1. Во второй группе измерений производят упомянутые измерения Δt_i,j для i-тых пунктов с индексами 1, 3, 4, 5, 6 относительно второго пункта с индексом j=2. В третьей группе измерений производят упомянутые измерения Δt_i,j для i-тых пунктов с индексами 1, 2, 4, 5, 6 относительно третьего пункта с индексом j=3.The technical result, which consists in increasing the technical and economic efficiency of radio navigation systems for measuring spatial coordinates and other characteristics of an object that are functionally related to its coordinates, is achieved due to the fact that the ground-based point-to-point transmitting system is made with six transmission points ordered in a predetermined manner. Moreover, in the first group of three transmission points, radio signals are transmitted mainly by omnidirectional transmitting antennas whose phase centers are located at the same given height Z = h ₁ at the vertices of an equilateral triangle with coordinates on the plane (0, X, Y) equal to X ₁ = 0, Y ₁ = 2b;

Y ₂ = -b;

Y ₃ = -b. In the second group of three transmission points, the radio signals are transmitted mainly by omnidirectional transmitting antennas whose phase centers are located at the same given height Z = h ₂ at the vertices of an equilateral triangle with coordinates on the plane (0, X, Y) equal to X ₄ = 0, Y ₄ = -2 a ;

, Y ₅ = a ; , Y ₆ = a . Here a and b are given positive numbers. At the same time, a series of six orderly transmitted in a series of radio signals is transmitted in order, one radio signal from each point, respectively, mainly providing shielding of radio signals reflected from the ground. The facility mainly produces three groups of measurements of the differences Δt _{i, j} , between the times of receiving radio signals from the i-th points and the times of receiving radio signals from the j-th points of the transmitting system. Moreover, in the first group of measurements, the mentioned measurements Δt _{i, j are made} for the ith points with indices 2, 3, 4, 5, 6 relative to the first point with the index j = 1. In the second group of measurements, the mentioned measurements Δt _{i, j are made} for the i-th points with indices 1, 3, 4, 5, 6 relative to the second point with the index j = 2. In the third group of measurements, the mentioned measurements Δt _{i, j are made} for the ith points with indices 1, 2, 4, 5, 6 relative to the third point with the index j = 3.

According to the totality of the measured indicated time differences Δt _{i, j} through the parameters

l ₁ = d _6.1 , w ₁ = d _5.1 , u ₁ = d _3.1 , p ₁ = d _2.1 , s ₁ = d _4.1 ;

l ₂ = d _5.2 , w ₂ = d _4.2 , u ₂ = d _1.2 , p ₂ = d _3.2 , s ₂ = d _6.2 ;

l ₃ = d _4.3 , w ₃ = d _6.3 , u ₃ = d _2.3 , p ₃ = d _1.3 , s ₃ = d _5.3 ,

where d _{i, j} = cΔt _{i, j} , s is the propagation speed of the radio signal, for each of the j-th group mentioned, the parameters are measured

;

,

;

,

The parameter sets l _j , w _j , u _j , p _j and M _j , N _j measure the parameters

A _j = (2 l _j M _J -N _j ) ² / b ² , B _j = (2w _j M _j -N _j ) ² / b ² ,

C _j = (2u _j M _j -N _j ) ² / a ² , D _j = (2p _j M _j -N _j ) ² / a ² .

. По измеренным K_j идентифицируют группу измерений и соответствующий ей индекс j=j_m, для которой параметр K_j минимальный. В этом случае достигается более высокая точность за счет возможности выбора из трех предлагаемых вариантов измерений пространственных координат объекта, производимых в каждой точке пространства, наилучшего по точности. Для найденного таким образом значения индекса j=j_m и через параметры M_j и N_j измеряют дальность

от объекта до пункта передачи с индексом j=j_m. Далее по

и совокупностям параметров

,

,

измеряют параметрыFor M _j and the combination of parameters A _j , B _j , C _j , D _j for each of the j-th groups mentioned, the parameter is mainly measured

. From the measured K _j , the measurement group and the corresponding index j = j _{m are} identified for which the parameter K _{j is} minimal. In this case, higher accuracy is achieved due to the possibility of choosing from the three proposed options for measuring the spatial coordinates of the object, produced at each point in space, the best in accuracy. For the index value thus found, j = j _m and, using the parameters M _j and N _j, measure the range

from the facility to the transfer point with index j = j _m . Further on

and sets of parameters

,

,

measure parameters

and through them mainly the spatial coordinates of the object are measured (X ₀ , Y ₀ , Z ₀ )

,

,

,

,

; α₃=-1/2,

.where α ₁ = 1, β ₁ = 0; α ₂ = -1 / 2,

; α ₃ = -1 / 2,

.

The indicated actions are repeated in the order mentioned at each reception of radio signals. If necessary, provide specified time delays between the indicated series of radio signals, not necessarily the same from series to series.

с учетом длительности радиосигнала и разности времен прихода на объект неотраженного и отраженного от земли радиосигналов. Измерение же разностей Δt_i,j между временами приемов радиосигналов с i-тых пунктов и временами приемов радиосигналов с j-тых пунктов передающей системы производят с учетом времен соответствующих задержек.Also, when transmitting radio signals by points of the transmitting system on the same frequency, radio signals are transmitted with delays between the radio signals transmitted from each point and with delays between these series exceeding the maximum of

taking into account the duration of the radio signal and the difference in the times of arrival at the object of non-reflected and reflected from the ground radio signals. The difference Δt _{i, j} between the times of receiving radio signals from the i-th points and the times of receiving radio signals from the j-th points of the transmitting system is measured taking into account the times of the corresponding delays.

раз меньше среднеквадратической ошибки отдельного измерения. Систематические ошибки могут быть исключены путем калибровки.You can reduce the impact on the measurement accuracy of the coordinates of random measurement errors Δt _{i, j,} for example, by repeatedly (N times) repeating the measurements, because standard error of the mean in

times less than the standard error of a single measurement. Systematic errors can be eliminated by calibration.

The method allows you to vary the configuration of the coverage area of the radio navigation system and form it depending on the task. It is possible to obtain zones, including those close to circular, with an error in the zone not exceeding the error of measuring coordinates at the border of the zone. The method has sufficient speed measuring coordinates and object parameters while maintaining a given accuracy and can be implemented using modern element base and microprocessor technology.

We illustrate the capabilities of the proposed method on the examples of mathematical modeling of the measurement of spatial coordinates. For all the examples, we set the same root-mean-square errors σ of the individual measurements d _{i, j} equal to 0.6 meters, the height of the phase centers of the first three antennas (1, 2, 3) h ₁ = 1 m, the heights of the phase centers of three other antennas (4, 5, 6 ) h ₂ = 3 m, a = 10 km, b = 10 km, z = 10 km. On the figures, asterisks indicate

the location of the first three points, and the triangles - the second three points, the numbers 1 ... 4 indicate the boundaries of the zones, inside which the standard errors of measuring the values of the distances dt _j from the object to the transmission point with index j do not exceed the specified (1-1 km, 2 - 0.5 km , 3 - 0.2 km, 4 - 0.05 km). Figure 1 presents the simulation results for j = 1, figure 2 - for j = 2, figure 3 - for j = 3. The simulation results for the case when at each point in space the index j = j _m is determined, for which K _{j is} minimal, and the coordinates are measured for the parameters corresponding to this j _m , are presented in Fig. 4. This approach allows you to get close to the circular coverage area and significantly increase its volume.

We list the main advantages of the method:

- provides an unambiguous measurement of the spatial coordinates of the object with a given accuracy,

- coordinate measurement is implemented using modern elemental base and microprocessor technology,

- uses the communication resource more efficiently,

- simultaneously serves several objects,

- allows you to get, including close to the circular zone of action of the systems for measuring spatial coordinates implementing it with a given accuracy and significantly increases its volume.

The effectiveness and efficiency of using the proposed method for receiving radio signals at objects is that it can be applied in practice for the development and improvement of radio systems for measuring the coordinates of objects, as well as in other applications. The method allows to determine them unambiguously simple in comparison with known methods.

Thus, the distinctive features of the proposed method provide the appearance of new properties not achieved in the prototype and analogues. The analysis made it possible to establish: analogues with a set of features identical to all the features of the claimed technical solution are absent, which indicates the conformity of the claimed method to the “novelty” condition.

The search results for known solutions, including those related to direction finding, radio navigation, radio control and communication, in order to identify signs that match the distinctive features of the prototype of the claimed method, showed that they do not follow explicitly from the prior art. Also, the popularity of the influence of the actions provided for by the essential features of the claimed invention on the achievement of the specified result was not revealed. Therefore, the claimed invention meets the condition of patentability "inventive step".

Claims (2)

1. A method of receiving radio signals at objects, including mobile ones, and measuring information parameters corresponding to radio signals and the aforementioned objects, from radio signal sources transmitted by a ground-based transmitting system, phase centers of transmitting antennas of each of the transmitting points of which are located at predetermined and known at the objects points in a rectangular coordinate system with the origin at a given point 0, located mainly on the surface of the earth, with a plane (0, X, Y) tangent to the surface of the earth in point 0, and the axis 0Z, directed from the ground, at which, when receiving radio signals from sources of radio signals and identifying them with the corresponding points, register the moments of reception of radio signals, for example, by the temporary positions of their leading edges, and measure the time differences between the times of receiving radio signals from different points transmission system, characterized in that the ground-based point-and-point transmission system is made with six transmission points, ordered in a predetermined manner, and in the first group of three transmission points of advantages continuously omnidirectional transmission antennas, phase centers are located at the same predetermined height Z = h ₁ at the vertices of an equilateral triangle on a plane with coordinates (0, X, Y), equal to ₁ X = 0, Y ₁ = 2b;

Y ₂ = -b;

Y ₃ = -b, and in the second group of three transmission points, mainly omnidirectional transmitting antennas whose phase centers are located at the same given height Z = h ₂ at the vertices of an equilateral triangle with coordinates on the plane (0, X, Y) equal to X ₄ = 0, Y ₄ = -2a;

Y ₅ = a;

Y ₆ = a, where a and b are given positive numbers, they transmit in an orderly series of six orderly transmitted in a series of radio signals, one radio signal from each point, respectively, mainly providing shielding of radio signals reflected from the ground, and mainly three are received at the object according to the received radio signals groups of measurements of the differences Δt _{i, j} between the times of receiving radio signals from i-points and the times of receiving radio signals from j-points of a transmission system, and in the first group of measurements mentioned e measurements Δt _{i, j} for i-points with indices 2, 3, 4, 5, 6 relative to the first point with an index j = 1, in the second group of measurements the mentioned measurements Δt _{i, j} for i-points with indices 1 , 3, 4, 5, 6 relative to the second point with the index j = 2, in the third group of measurements the measurements Δt _{i, j are} performed for the i-th points with indices 1, 2, 4, 5, 6 relative to the third point with the index j = 3, the plurality of said measured time differences Δt _{i, j} and defined therethrough parameters _{d i, j = cΔt i,} j, where c - velocity of RF signal propagation through parameters s with dimensions of length l _j, w _j, u _j, p _j, s _j, where j takes the values 1, 2, 3, defined through said d _{i, j} in accordance with the expressions ₁ l = d _6,1, w ₁ = d _{5, l} , u ₁ = d _3.1 , p ₁ = d _2.1 , s ₁ = d _4.1 ;
l ₂ = d _5.2 , w ₂ = d _4.2 , u ₂ = d _1.2 , p ₂ = d _3.2 , s ₂ = d _6.2 ;
l ₃ = d _4.3 , w ₃ = d _6.3 , u ₃ = d _2.3 , p ₃ = d _1.3 , s ₃ = d _5.3 , dimensionless parameters are measured for each jth group mentioned M _j and parameters with a dimension of length N _j in accordance with the expressions M _j = (l _j -w _j ) / a- (u _j -p _j ) / b;

from the combination of parameters l _j , w _j , u _j , p _j and M _j , N _j measure the dimensionless parameters A _j , B _j , C _j and D _j in accordance with the expressions A _j = (2l _j M _j -N _j ) ² / b ² , B _j = (2w _j M _j -N _j ) ² / b ² , C _j = (2u _j M _j -N _j ) ² / a ² , D _j = (2p _j M _j -N _j ) ² / a ² , and for M _j and the combination of parameters A _j , B _j , C _j , D _j for each of the jth groups mentioned, the parameter is mainly measured

the measured group K _j identifies the group of measurements and the corresponding index j = j _m for which the parameter K _{j is} minimal, and for the index value j = j _m found in this way and measure the range through the parameters M _j and N _j

from the object to the transfer point with index j = j _m , by

and sets of parameters

,

measure parameters

and through them mainly the spatial coordinates of the object are measured (X ₀ , Y ₀ , Z ₀ )

where α ₁ = 1, β ₁ = 0; α ₂ = -1 / 2,

α ₃ = -1 / 2,

these actions are repeated in the mentioned order at each reception of radio signals, and if necessary, provide specified time delays between the indicated series of radio signals, not necessarily the same from series to series. 2. The method according to claim 1, characterized in that when the radio signals are transmitted by points of the transmitting system at the same frequency, the radio signals are transmitted with delays between the radio signals transmitted from each point and with delays between these series exceeding the maximum value

taking into account the duration of the radio signal and the difference in the times of arrival to the object of non-reflected and reflected from the ground radio signals, and the measurement of the differences Δt _{i, j} between the times of reception of radio signals from i-points and the times of reception of radio signals from j-points of the transmitting system, taking into account the times of the corresponding delays .

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