RU24576U1 - ON-BOARD EQUIPMENT OF CONTROL SYSTEMS FOR UNMANNED AIRCRAFT - Google Patents

Abstract

A complex of onboard control systems for unmanned aerial vehicles (UAVs), containing a motion control system (SUD), including steering units and an inertial unit connected to the SUD central electronic computer (CVM), and a detection and homing system (SOS), which includes an antenna kinematically connected to the drive unit of the antenna and connected to the output of the transmitting device, on which the pulse phase-manipulated probing signal is generated, and the input of the receiving device, the local oscillator the course of which is connected to the output signal of the local oscillator frequency of the transmitting device, as well as a signal processing and control device, including a signal compression unit connected to the primary processing device, and a synchronizer, characterized in that the AOSCH computer connected via the first information exchange is additionally introduced into the COS with the digital computer of the SUD and through the second highway of information exchange with the signal processing and control device, the SUD additionally contains a radio altimeter, an angular velocity sensor information converter and device connected to the first highway of information exchange, as well as power steering converter device, the outputs of which are connected to the inputs of the corresponding steering units by the signals of the rudder tabs, the inputs from the signals of the projections of the angular velocity of the UAV rotation are connected to the analog outputs of the angular velocity sensor and the inputs of the steering control signals are connected to the corresponding outputs of the information conversion device, to the corresponding outputs of which

Description

On-board equipment of unmanned aerial vehicle control systems

The utility model relates to position management systems and to) fsf unmanned aerial vehicle (UAV) and can be used in the design of UAVs designed for high-precision targeting.

A known UAV control system according to the patent of the Russian Federation No. 2062503, IPC G01 C 23/00, B64 G 1/24, publication 06/20/96, which contains a radar sight, which provides measurement of coordinates and target parameters, an inertial navigation system that provides measurement of coordinates and UAV motion parameters, a radio altimeter, with which the height and vertical speed of the inertial navigation system are adjusted, an information exchange device, an on-board electronic computer (BEVM), and steering units controlled by a signal control units generated by the computer.

A disadvantage of the known analogue is the centralized structure of the computing system, which limits the range of tasks and the possibility of interaction with the radar sight, which ultimately leads to a decrease in the accuracy of UAV guidance.

As a prototype of a utility model adopted UAV control system, known from the book. Sharov S.N. Fundamentals of designing coordinators of moving objects control systems. Tutorial. USSR State Committee for Public Education. - 1990 - S. 4, Fig. 1.1. The prototype system comprises a motion control system (SUD) comprising a computer and an autopilot, including an inertial unit and steering units controlled by signals, a functioning computer, and a detection and homing system (SOS), which is a single-channel monopulse radar system with a phase-shift signal-transmitted probe the composition of the transmitting and receiving devices, an antenna device with a block of controllable antenna drives and a signal processing device including a synchronizer, a range finder, a compression unit signals, threshold processing unit and

G05D 1/12, GO IS 13/42

mmp

a device for fixing coordinates, forming signals of the range and angular position of the reflected signals received in the computer.

An advantage of the prototype system is the use of a phase-shifted sounding signal, which provides higher homing accuracy and higher noise immunity with respect to active and passive interference.

The disadvantage of the prototype system is the limited ability to adapt the system to UAV flight conditions, in particular, to the emerging jamming environment, due to the lack of adjustment of the parameters of the transmitting and receiving devices and the insufficient power of the computing system with centralized information processing.

The objective of the utility model is the creation of a complex of onboard control systems for an unmanned aerial vehicle, which has wide capabilities to adapt to flight conditions and the emerging jamming environment to ensure high-precision UAV targeting.

The essence of the utility model lies in the fact that in the complex of onboard control systems for unmanned aerial vehicle (UAV) containing a motion control system (SUD), including steering units and an inertial unit associated with a central electronic computing machine (digital computer) SUD, and a detection system and homing (SOSN), which includes an antenna kinematically connected to the drive unit of the antenna and connected to the output of the transmitting device, on which a pulse phase-manipulated probing system is formed drove, and the input of the receiving device, the heterodyne input of which is connected to the output signal of the local oscillating frequency of the transmitting device, as well as a signal processing and control device, including a signal compression unit connected to the primary processing device, and a synchronizer, in the COSN the COSM computer is additionally connected, connected by the first line of information exchange with the digital computer of the SUD and through the second line of information exchange with the signal processing and control device, the SUD additionally contains a radio height a tomer, an angular velocity sensor and an information conversion device connected to the first data exchange highway, as well as a power-converter device of the steering drives, the outputs of which are connected to the inputs of the corresponding steering units by the signals of the rudder tabs, the inputs are connected to the analog signals of the projections of the UAV angular speed of rotation the outputs of the angular velocity sensor, and the inputs of the steering control signals are connected to the corresponding outputs of the information conversion device, to the corresponding The corresponding outputs of which, according to the signals of one-time commands, are connected to the radio altimeter switch-on input, the POSN switch-on input and the transmitting device switch-on input, which contains a series-connected exciter and power amplifier with a controlled pulse modulator and power regulator, the exciter being made in the form of a coherent frequency generator constructed according to the amplifier circuit -multiplier chain, the initial functional link of which is a controlled multi-frequency generator of the pathogen, and the final - the phase manipulator, the receiving device contains a passive radio channel in which the sources of radio emissions are detected, as well as active sum and difference channels in which the conversion to the intermediate frequency is performed with correction of the phase non-identity of the channels in the phase shifters and the local oscillator signal splitter block, and after preliminary amplification on the intermediate frequency, the main gain is normalized with the normalization of the target signals and interference by means of a high-speed automatic block gain control (BARU) and limiting amplifiers, to the corresponding outputs of which are connected a vector phase interference detector and a phase target detector, the outputs of which form video codes of the sum and difference signals shifted by the reference voltage, in addition, the corresponding outputs of the amplifier-limiter of the total channel are detected video interference signals, the signal processing and control device further comprises a signal quantization unit, an antenna position control unit, the inputs of which are the current angular position of the antenna and the outputs of the control signals of the antenna drives are connected to the antenna drive unit, as well as a control electronic computer (PC) connected to the information bus, a long-term storage device, a serial channel adapter connected to the second data exchange trunk, and a shaper commands for controlling ultra-high and intermediate frequency blocks, the outputs of which, according to the signals of the tuning of the carrier frequency, power adjustment and shutdown, amplify For power, they are connected to the corresponding control inputs of the transmitting device, and the outputs from the signals for correcting phase non-identity of the channels, turning off the differential channel, switching the dynamic gain range and switching the passband of the phase detector of the target are connected to the corresponding control inputs of the receiving device, while the signal quantization unit contains an amplitude quantizer interference signals, the inputs of which are connected to the outputs of the video signals of sources of radio emissions and interference a receiver, an analog-to-digital converter, the input of which is connected to the output of the vector phase interference detector, and an amplitude quantizer of the target signals, the inputs of which are connected to the outputs of the phase detector of the target, and the outputs are connected through the Doppler frequency shift compensation unit to the information inputs of the digital matched filter block, included in the signal compression unit together with the buffer random access memory (RAM) of the signal compression unit, to the corresponding inputs of which are connected in moves of the block of digital matched filters, analog-to-digital converter and amplitude quantizer of interference signals, the primary processing device is made in the form of a computer, which contains a processor connected to the system bus, RAM, read-only program memory, buffer RAM connected to the output of the buffer RAM of the signal compression unit, adapter digital input-output with galvanic isolation, a pairing device connected to the information bus, and a serial interface transceiver connected with the code output of the antenna position control unit, the input of which is connected to the corresponding output of the digital input-output adapter with galvanic isolation by the signals of the initial installation and antenna control, the output of which is connected to the control input of the synchronizer, which is connected to the information bus, by the synchronizer control signal, the output of the synchronizer is connected to the control input of the latter by the control signal of the pulse modulator, the output by the signal of the phase manipulation code is connected to the input at the setting of the digital matched filter block and the phase input of the phase manipulator, the output from the control signals for normalizing the target and interference signals is connected to the corresponding control input of the intermediate frequency amplifier, and the output from the Doppler frequency shift compensation signal is connected to the control input of the Doppler frequency shift compensation block.

The essence of the utility model is illustrated by drawings, on which:

FIG. 1 - structural diagram of the complex,

FIG. 2 is a block diagram of a receiving device,

FIG. 3 is a block diagram of a signal processing and control device.

FIG. 4 is a diagram of the interaction of a digital computer of a motion control system and a detection and homing system.

In FIG. 1 structural diagram of the complex adopted the following notation:

1- motion control system (SUD),

26765.52-87 (Manchester),

4- central computer of the motion control system (digital computer of the court),

5- digital computer POS,

6 - radio altimeter,

7- inertial unit

8- angular velocity sensor,

9 - information conversion device, 10, 11, 12, 13 - steering units,

14 - power-converting device of steering drives,

15 - triaxial gyrostabilizer,

16 - block removal and conversion of information,

17 - block of sensitive elements,

18- analog-to-digital converter,

19- multiplex channel adapter,

20 - unit for transmitting one-time commands,

21- multi-channel code-voltage converter (MPKN),

22- multi-channel voltage-code converter (MPNC),

23- power supply system of the AOSCH,

24-transmitting device

25-antenna device

26 receiving device

27- signal processing and control device,

28- antenna

29- antenna drive unit,

30 - sum-difference converter,

31- second highway of information exchange (Manchester).

According to FIG. 1 complex of onboard control systems for an unmanned aerial vehicle contains a motion control system 1 and a detection and homing system 2 connected by means of a first information exchange line 3, to which are connected a digital computer 4 of the SUD and digital computer 5 of the SOSN.

In the COURT 1, a radio altimeter 6, an inertial block 7, an angular velocity sensor 8, and an information conversion device 9 are also connected to the information exchange trunk 3, the first, second, and third outputs of which are connected to the VHF ON, COSH ON, and ON HV signals respectively to the turn-on input of the radio altimeter 6, the turn-on input of the COSH 2, and the turn-on input of the transmitting device 24. The group of outputs of the information converting device 9 for the rudder signals O, CJ2, az, C74, (Oj) and the group of inputs for the signals SIK, SIR, 54k (5 {k) control I rudders are connected to the corresponding inputs and outputs of the power-converting device 14 of the steering drives, the inputs of which are connected to the analog outputs of the sensor 8 angular speeds by the signals Шх, СОУ, coz, projections of the angular speed of rotation of the UAV, and the outputs by the signals pi, р2, рз, р4 bookmarks rudders and inputs according to signals 5i, 62, 63, 64 of the position of the rudders are connected to the inputs and outputs of the respective steering units 10, ..., 13.

Radio altimeter 6 is designed to measure the current values of the UXO UAV flight altitude and can be performed according to the active radar scheme, including a transceiver, transmitting and receiving antennas. The turn-on input of the radio altimeter is the input of the secondary power source, controlled by the signal On RV.

Inertial unit 7 is designed to measure linear coordinates - range (D), lateral deviation (Z), altitude (N), linear speed (V) and its projections, linear overload and UAV turning angles according to heading (y), roll (y) and pitch (s).

The inertial unit 7 contains a triaxial gyrostabilizer 15, which includes two dynamically tuned gyroscopes, three pendulum accelerometers, three angle sensors and three motors controlled through the electronic key block by the signals from the output of the unit 16 for data acquisition and conversion, the information inputs of which are connected to the outputs of the pendulum accelerometers and angle sensors, and a digital input-output connected to the first highway 3 information exchange.

The angular velocity sensor 8 contains a block 17 of sensing elements, the outputs of which form the analog outputs of the sensor 8 and are also connected to the inputs of the analog-to-digital converter 18, the output of which forms the digital output of the sensor 8, connected to the first highway 3 of information exchange.

The information conversion device 9 is based on the multiplex channel adapter 19 connected to the first information exchange line 3. The adapter 19 is made in accordance with the scheme according to US Pat. No. 2163728, IPC G06F 15 / 16F, H04L 12/66, publication 02.27.2001, which includes, along with transceivers of code signals, shapers of one-time commands. The output of the shaper of one-time commands of the adapter 19 is connected to the relay unit 20 for transmitting one-time commands, the outputs of which generate signals On RV, On SOSN, and On VP. MPKN 21 and MPNK 22 are connected to the code inputs and outputs of adapter 19. MPKN 21 outputs

form the group of outputs of the device 9 for converting information on the steering control signals GJ, and the inputs of the MPNK 22 — its group of inputs on the steering control signals 5iK.

The power-converting device 14 of the steering drives provides scaling of the signals cox, WY, coz coming from the 8 angular velocity sensor, their distribution between the four power steering amplifiers, the summation of these signals with the signals ai, the amplification and generation of the steering signal p i of the signals. In addition, the device 14 provides the removal of signals 6i position of the rudders, their amplification and the issuance in the form of control signals of the rudders in the device 9 information conversion.

The power-on input of the POSN 2, to which the signal On POSN is supplied, is the control input of the power supply system 23, which includes secondary power sources (SECS) of all devices included in the SOSN, except for the high-voltage power supply of the transmitting device 24. The power distribution scheme is not directly related to the essence of the invention and for simplicity of presentation is not considered in the application materials.

SOSN 2 is a monopulse coherent radar system (radar) with a phase-manipulated sounding signal, the parameters of which can be tuned depending on the tasks solved by the SOSN during the UAV flight.

SOSN 2 includes a transmitting and receiving device 24, 26, an antenna device 25 and a signal processing and control device 27 connected via a second information exchange line 31 to the SOSN digital computer 5.

The signal output of the transmitting device 24, on which the pulsed phase-shifted sounding signal of the PMI is generated, is connected to the antenna device 25, and the outputs by the signals of the heterodyne frequency frEi and the reference intermediate frequency Tpcho are connected to the corresponding inputs of the receiving device 26, the signal inputs of which receiving the total (Z) and two difference signals, (А ,,;, Аи) are connected to the output of the antenna device 25.

The outputs of the receiving device, on which the video codes of total FDg (FDo1, FD451, Fdeoh, Fdpz) and differential Fdd (FDod, Fddzd, Fddol, FD135d) signals, as well as video signals of radio-frequency radiation sources of IR, and two types of video signals are generated interfering signals (VSP, PDP) are connected to the corresponding inputs of the signal processing and control device 27, the outputs of which are controlled by the discrete attenuator DO signals, blocking the inputs of the receiving channels during the emission of the probing signal (form) U3

-7 impulses - BI), control of the difference channel switch Control PRK, correction of phase non-identities of the Kor F channels, disconnection of the differential channel Off RK, switching of the dynamic range of amplification of the remote control, control of normalization of target and interference signals (blanking BARU - BI BARU, BARU gates - Page . BAR) and switching the passband of the phase detectors Upr PD connected to the corresponding inputs of the receiving device 26.

The outputs of the signal processing and control device 27, on which the turn-off signal of the transmitting device is turned off, AM, carrier frequency tuning signals H, ..., 44, the control signal of the pulse modulator Tim, the phase-shift code signal CPM and the power control signal PM are connected to the corresponding inputs the transmitting device, and the inputs according to the signals of the current angular position of the antenna (beats, UA) and the outputs according to the control signals of the antenna drive Upr X | / A UA are connected respectively to the information outputs and control inputs Ami block 29 drives the antenna.

The antenna device 25 contains a two-mirror parabolic antenna 28 (Cassegrain type) with rotation of the plane of polarization and a monopulse irradiator with a sum-difference converter 30 on the slotted bridges. The position of the antenna radiation pattern is controlled by rotating the movable mirror using the antenna drive unit 29, which ensures its turns in two planes - in azimuth () and elevation (s).

Block 29 of the antenna drives consists of two asynchronous motors controlled through a power amplifier using signals Upr | / A, UA, equipped with sensors of the current angular position of the antenna, from which signals VI / A, UA are taken.

The transmitting device 24 provides the formation of a pulsed phase-shifted sounding signal of low duty cycle and low pulsed power, the carrier frequency of which is tuned according to a random law, the formation of a tunable local oscillator (GGT) and a reference intermediate frequency (GPCO) for the receiving device, stepwise adjustment of the signal power.

The transmitting device 24 is a coherent frequency generator. The initial functional unit in the chain of generation of pulsed FM signals is a multi-frequency exciter generator containing four master quartz oscillators, alternately connected in accordance with the frequency tuning control signal (Ch ... 44), coming from the signal processing and control device 27.

the frequencies of the master crystal oscillators and their amplification.

At the output of the pathogen, phase-shift keying of the carrier frequency signal is carried out in accordance with the phase-shift keying code (CPM) received at the code input of the phase shift key from device 27, and then a pulse FM probe signal is generated in the amplifier.

As a power amplifier itself, a small-sized and low-voltage traveling wave lamp (TWT) with a pulsed modulator in the reference voltage supply circuit, controlled by pulses, Tim repetition period Tp and duration Ty which determine the repetition period and duration of the probe signal, is used. The power amplifier also includes a high-voltage power source, switched by ON and OFF signals, and a power regulator connected to the TWT output, made in the form of a controlled ferrite attenuator.

An example implementation of a similar transmitting device can serve as the circuit shown in the description of the invention according to US Pat. RF № 2099739, IPC GO IS 13/42, publication December 20, 1997

The receiving device 26 is made according to a superheterodyne circuit, with two active (total-its differential -A) channels, in which the main amplification, filtering and detection of target and interference signals are sequentially performed, and a passive radio channel for detecting signals from third-party radar (radio emission sources).

The block diagram of the receiving device is shown in FIG. 2, on which are indicated:

32-input amplification-conversion device of ultra-high frequency (microwave),

33 - intermediate frequency amplifier (IFA),

34- detector section

35- video amplifier passive radio channel,

36- circulator

37 - discrete attenuator, made in the form of a waveguide section of the passage type,

38 - protection device of the total channel, made in the form of a waveguide device on a controlled switch,

Noah, and differential channel protection devices similar to the total channel protection device 38,

40, 41 - high frequency amplifiers (UHF) of the total and differential channels, respectively,

42, 43 - double balanced mixers (DBL) of the total and differential channels, respectively,

44 - phase shifter unit and a local oscillator signal splitter,

45- preliminary intermediate-frequency amplifier (PCB), including two PCB (total and difference channels) with an adjustable gain range, and a switching unit PUEI difference channel,

46, 47 - amplifier-limiters (UPCHO) of the total and differential channels, respectively,

48, 49 - attenuators,

50-element OR,

51 - block high-speed automatic gain control (BAR),

52- 90 degree symmetrical interfering signal adder.

53- vector phase interference detector (PDP),

54-phase target detector (FDC),

55 - block quadrature phase detectors of the differential channel,

56 - block quadrature phase detectors of the total channel,

57 - shaper discrete shifts.

According to FIG. 2, the receiving device 26 comprises a series-connected input amplifier-converter 32 and a microwave amplifier 33, to the corresponding outputs of which are connected a vector phase detector 53 of interference and a phase detector 54 of the target, including blocks 55, 56 of the quadrature phase detector of the differential and total channels, the reference inputs of which connected to the outputs of the shaper 57 discrete shifts (0 °, 45 °, 90 °, 135 °), the input of which forms the input of the Gpcho signal of the receiving device 26, the input of which, according to the signal Kania phase detectors when changing increment duration probe signal is coupled to control inputs of units 55, 56 of quadrature phase detectors. The outputs of blocks 56, 55 form the main signal outputs of the receiving device, on which the video codes of total FDog, FD45, FD902, FD135 (FDg) and differential FDod, FD45D, FD90D, FD135D (FDd) signals are generated.

signal inputs of the receiving device 26. The discrete attenuator 37 contains two waveguides of difference signals, Lee, connecting the corresponding outputs of the sum-difference converter 30 with the inputs of the switch 39 of the difference channels, and a passage waveguide of the total signal Z, which is connected to the device 38 for protecting the total channel through the second and the third shoulders of the circulator 36, and through the second and first shoulders with the output of the power amplifier of the transmitting device 24. The control input of the total channel protection device 38 and the first control the input of the switch 39 of the differential channels, form the input of the receiving device 26, which receives blanking pulses of the BI, and the second control input of the switch 39 forms its input by the signals CPr PRK.

The output of the total channel protection device 38 and the output of the difference channel switch 39, on which one differential signal A is generated, are connected to the signal inputs of the DBL 42, 43 through the UHF 40, 41, respectively, the inputs of which are connected to the output of the phase shifter unit 44 by the local oscillator frequency signal and a local oscillator signal splitter, the corresponding inputs of which form the local oscillator frequency signal ГГТ signal input of the phase non-identity of the channels Kph Φ of the receiving device 26.

A video amplifier 35 of the passive radio channel is also connected to the output of the UHF 40 of the total channel through the detector section 34, at the output of which video signals of radio emission sources are formed that are calibrated by amplitude with a 15dB discrete (to simplify the circuit in Fig. 2, one output is shown — IR VS).

The outputs of the DBS 42, 43 are connected to the corresponding inputs of the intermediate frequency pre-amplifier 45, the control inputs of which, according to the switching signals of the dynamic range of amplification of the remote control and the disconnection of the differential channel Off RC, form the inputs of the same device 26. The corresponding outputs of the PCB 45 are connected through attenuators 48, 49 to the inputs limiting amplifiers 46, 47, covered by feedback through the BARU block 51 and the 90 ° symmetrical interference adder 52. The control inputs of the attenuators 48, 49 are connected to the output of the OR element 50, the input of which is by the blanking signal of the BAR BAR BAR and the control input of the BAR block 51 by the BARU gating signals BARU form the inputs of the control signals normalization of the target signals and interference of the receiving device 26.

The first outputs of the UCHE 46, 47 of the total and difference channels are connected to the inputs of blocks 56, 55 of the quadrature phase detector of the total and difference channels (included taking into account inversion in the adder 52), their second outputs are

- and which the quadrature-sum interference signals are generated, are connected to the corresponding inputs of the vector phase interference detector 53, and the third output of the UHFR 46, formed by the outputs of the detector section, on which four levels of interference video signals with a 15dB disc are generated during the BARU gating, forms the output of the interference video signals receiving device 26 (for simplicity, one output is shown - VSP).

The signal processing and control device 27 is made in accordance with the circuit of FIG. 3, on which are indicated:

58- signal compression unit (BSS),

59 - primary processing device (UPR),

60- antenna position control unit,

61 - information bus, made in the form of a VME bus,

62-synchronizer,

63 - command generator control blocks ultra-high and intermediate frequency (microwave frequency converter),

64 - long-term storage device (DZU),

65- serial adapter

66 - control computer

67 - amplitude quantizer of interference signals,

68- analog-to-digital converter (ADC),

69 - amplitude quantizer of the target signals,

70 - block compensation Doppler frequency shift,

71 - block digital matched filters (CSF),

72- buffer random access memory (RAM) of the signal compression unit,

73- buffer RAM

74- system bus

75-processor

76- RAM

77 - read-only memory (ROM) programs,

78 - device for interfacing with the VME bus (hereinafter referred to as the interface device),

79- digital input-output adapter with galvanic isolation (hereinafter referred to as the digital-to-analog adapter),

X-1282-converter code-time interval (PCVI),

83 - master oscillator and pulse distributor,

84- code-frequency converter,

85 - driver of clock pulses and gates,

86- code generator,

87 - signal status register,

88 - signal conditioner,

89 - code-time interval converter,

90- ROM phasing coefficients,

91 - block registers of control commands,

92- processor

93- a pairing device,

94- bus controller,

95- system bus

96- RAM

97- ROM,

98-system controller

99- transceiver,

100- interface device

101 - non-volatile RAM, 102, 103 - channel adapters, 104, 105 - transformers,

106 - block quantization of signals.

According to FIG. The 3 inputs of the signal quantization block 106 serve as signal inputs of the signal processing and control device 27, while the inputs of the amplitude quantizer 67 of the interference signals are connected to the outputs of the receiving device by the signals of the IR and VSP signals, the ADC input 68 is connected to the output of the PDP 53, and the inputs of the amplitude quantizer 69 target signals are connected to the corresponding outputs of FDC 54. The outputs of the amplitude quantizer 69 of the target signals through the Doppler frequency shift compensation unit 70 are connected to the signal inputs of the CSF block 71, which is part of block 58 signal compression together with the buffer RAM 72 of the FSU, the output of which is connected to the buffer RAM 73 of the device 59 for primary processing, and the corresponding inputs are the output of the block 71 digital matched filters, the output of the amplitude quantizer 67 interference signals and the output of the ADC 68.

interference, measuring their intensities, determining the coordinates of targets and interference, accumulating data for the review cycle and transmitting them to the digital computer 5 SOSN for secondary and tertiary data processing.

The primary processing device 59 is made in the form of a computer, which contains a processor 75 connected to the system bus 74, a buffer RAM 73, a RAM 76, a program ROM 77, a CV adapter 79, a serial interface transceiver 80, and a pairing device 78 connected to the information bus 61.

The information bus 61 is also connected to a synchronizer 62, a command generator for controlling the microwave-frequency inverter, DZU 64, a control computer 66, and an adapter 65 for serial channels connected to the second communication line 31.

The input of the signal processing and control device 27 according to the signals of the current angular position of the antenna (XI / A, UA) is formed by the information inputs of the amplitude-code digital conversion unit 81, which, together with the converter 82, is a code-time interval in the antenna position control unit 60. The outputs of the code signals of the codes, UA of block 81 are connected to the transceiver 80 of the serial interface, and the power output (not shown in FIG. 3) is connected to the power inputs of the angle sensors of the antenna device. The input of the PCVI 82 is connected to the output of the DVI adapter 79 by the initial installation signals XJ / M, m and antenna control | / у, uy, and its output forms the output of the signal processing and control device 27 by the antenna drive control signals Upr XI / A, UA.

The synchronizer 62 comprises a code-frequency converter 84 and a clock / shaper 85, connected to the information bus 61, whose clock inputs are connected to the corresponding outputs of the master oscillator 83 and the pulse distributor, as well as a code generator 86, the synchronization input of which is connected to the corresponding output of the clock generator 85 and gates, the control input of which is connected to the output of the adapter 79 DAC on the control signal synchronizer control sync.

A code generator 86 provides the generation of phase shift keying (COM) codes, which are a cyclically changing M-sequence with a fixed initial value. The moment of fixing a new cycle of the M-sequence is the arrival of 86 synchronization pulses to the clock input of the generator following the frequency fn 1 / Tp, where Tp is the repetition period of the probe signal. The output of the code generator 86 is the output of the CPM signal of the signal processing and control device 27, which is also connected to the unit setting input

-1471 digital matched filters.

Shaper 85 clocks and gates generates various pulse sequences to ensure coordinated operation of devices included in the AOS. Shaper 85 is based on a frequency divider controlled by clock pulses of the master oscillator 83, a counter, a decoder, and a trigger block. The output of the driver 85 by the signal Sync. The CSF is connected to the synchronization input of block 71 of digital matched filters, the output is based on interference gating signals in the interference tracking mode ШП, ОП is connected to the control input of the amplitude quantizer 67 of the interference signals, and the outputs of the control signals are the normalization of the target and interference signals to the BI BAR, page BAR and signal Tim control pulse modulator form the same outputs of the device 27 signal processing and control. In addition, the signal Upr B, which is a sequence of blanking pulses, during the formation of which the signals BI, Upr GTRK and DO control the input amplifying and converting device 32 microwave, is generated, is generated at the corresponding output of the shaper 85 of clock pulses and gates.

The output of the code-frequency converter 84 is connected to the control input of the Doppler frequency shift compensation unit 70, while an pulse sequence TD is formed at the output of the converter 84, the repetition period of which is determined by the Doppler frequency code Kd, which arrives at the information input of the converter 84 via the information bus 61.

In the shaper 63 of the control commands of the microwave-frequency converter blocks, 61 signal status registers 87 are connected to the information bus 61, the control input of which is connected to the corresponding output of the CVC adapter 79 by the signal On-off (enable detection), block 91 of the control command registers and ROM 90 phasing coefficients, the output of which is connected to the information input of the converter 89 code-time interval, the output of which forms the output of the device 27 on the signal correction phase identity of the channels Cor F. Control input ROM 90 coefficients azirovki and a second control input of the signal 88 connected to the outlet adapter 79 for DIO error signal x | / -o which Escort formed in AHFS mode. The first control input of the shaper 88 of the signals and the control input of the converter 89 code-time interval connected to the output of the shaper 85 of the clock pulses and gates by the signal Upr B.

-15 of the receiving device during the emission of the probing signal, are formed in all modes of operation of the AOS, and the signals of the Control PRK and DO only in the Maintenance mode.

The outputs of the block 91 registers of control commands form the outputs of the device 27 according to the signals of the tuning of the carrier frequency 4i, ..., 44, adjust the power of the PM, turn off the transmitting device PA, as well as the signals for switching the dynamic range of amplification of the remote control, switching the passband of the phase detectors of the PD control and switching off the differential channel Off RC with the APSN Overview mode.

The serial channel adapter 65 comprises a device 100 connected to the information bus 61 and to a non-volatile RAM 101, to which the adapters 102, 103 of the first and second channels are connected, connected to the transformers 104, 105, respectively. In this adapter 65, only one channel is used in which a transformer 105 is connected to the second communication line 31.

The host computer 66 provides the formation of control commands and signals necessary for the operation of AHCH 2 in the modes Overview, Capture, Track and Generate control homing signals, as will be discussed below, carries out the reception of internal and external signals characterizing the state of AHCH, and also provides communication with information bus 61, the management of the bus and its adaptation to work with an external highway 31 information exchange connecting the device 27 signal processing and control with a digital computer 5 SOSN.

The host computer 66 contains a processor 92 and a device 93 for interfacing with the VME bus connected to the system bus, connected to the information bus 61, RAM 96, ROM 97 and the system controller 98. In addition, the bus controller 94 is connected to the interface device 93 and connected to the system controller 98 transceiver 99.

In the complex, the following distribution of tasks is realized between the digital computer 4 of the SUD and the digital computer 5 of the SOSN.

The digital computer 4 of the SUD provides the generation of the necessary signals for controlling the movement of the UAV, determines the navigation coordinates and other parameters necessary for control, and corrects the vertical channel according to information from the radio altimeter.

.

-16lei (true and false), sources of interference and radio emissions, selection of false targets and the issuance of control signals for homing UAVs to the selected target.

The digital computers 4 of the SUD and the digital computers 5 of the SOSN have the same structure built on the basis of unified devices used also in the device 27 for signal processing and control.

Each of the digital computers 4, 5 contains connected via the VME bus to a DZU, a computer made according to the control computer 66, and an adapter for serial computing channels made according to the adapter 66.

A set of control systems for an unmanned aerial vehicle operates as follows.

During the prelaunch preparation of the UAV in the digital computer 4 of the SUR, a flight task is introduced, including programmed values of speed, flight altitude, heading angle and pitch and roll angles at different sections of the UAV flight path, a priori information about the intended location of the target, its classification features, as well as basic initial data for a specific version of the detection and homing system.

After the UAV starts in the initial sections of the trajectory, the motion control is performed by the VESSEL 1. In this case, the TsVM 4 VAS generates control signals for the steering units 10, ..., 13 by solving the well-known system of equations of motion control for heading, roll, pitch and height, based on data comparison flight mission and current measurements of the inertial unit 7 and the angular velocity sensor 8. The code signals generated by the digital computer 4 are converted into analog form in the information conversion device 9 and received in the form of rudder control signals (st, SG2, stz, C74) to the steering-conversion amplifier-converter device 14, which generates the rudder angle signals (pi, p2, p3, p4), summing the steering control signals with the signals of the projections of the angular turn speed (cox, coz coz).

In the areas of gain and decrease in height, the altitude and vertical speed values measured by the inertial unit 7 are corrected according to the readings of the radio altimeter 6, which is turned on by the command of the digital computer 4, transmitted in the form of a On signal from the corresponding output of the information conversion device 9.

Upon reaching the flight range specified by the flight task, on the command of the digital computer 4, an ON signal is generated, on which the POS 2 power supply system 23 is turned on, and all secondary auxiliary power sources, including the high-voltage power source of the power amplifier of the transmitting device, are turned on

After supplying power, a test check of the digital computer 5 of the SOSN and the computer system of the signal processing and control device 27 is carried out, then a test check of the drives of the antenna device 25 is carried out, and the test results are transmitted to the digital computer 4 of the SUD, which decides whether the SOSN 2 is ready for further work, which can be carried out in the modes Overview, Capture, Track and Generate control homing signals.

Before the start of the Overview mode, from the digital computer 4 the SUD is issued through the information conversion device 9 the command On YO turn on the incandescent lamp of the traveling wave in the power amplifier of the transmitting device 24, and the initial data on the target range and the width of the field of view are provided on the communication line 3 in the digital computer 5 COSN.

At the same time, in the device 27 for signal processing and control, the program formation of control commands and signals begins.

By the Sector and Vl-Vp (left-right) commands generated by the control computer 66, the scanning sector width and scanning direction of the antenna 28 are transmitted to the primary processing device 59 from the digital computer 5, and “mind,” he initial installation of the antenna coming through the Converter 82 code-time interval of the block 60 control the position of the antenna in block 29 of the antenna drives.

In the Overview and Capture modes, only the total channel of the receiving device is used. To disable the differential channel by the RK Off command generated by the computer 66 and transmitted via the information bus 61 to the control command register block 91, a signal of the same name is generated at the corresponding output of the latter and supplied to the corresponding control input of the intermediate frequency pre-amplifier 45.

The signal code fc of the tuning code for the carrier frequency of the probe signal is generated in accordance with which the sequence of issuing from the corresponding output of the block 91 of the signal registers 4i, ..., 44 that control the switching of the master oscillators of the exciter of the transmitting device 24 is determined.

Signal G command sets the mode of generating phase-shift keying codes of the first type, clock and clock pulses for the first type of FM signals, Tim pulses for controlling a pulse modulator and blanking pulses Ctrl B. The signal G command corresponds to the maximum duration and maximum power of the probe pulses, while setting zero

PM signal level.

Subsequently, in the Capture and Tracking modes, as well as in the Survey mode, when working on targets located at a shorter range, the AOS will switch to shortened probing signals set by the Signal 2 and Signal 3 commands, at the same time by the Exercise signal. the sync from the output of the 79 DAC adapter is set to a new mode for the generation of clock and synchronizing pulses, and the signals RM and Ex. The PD from the outputs of the block 91 registers of control commands sets the corresponding power level of the probing signal and switches the passband of the phase detector 54 of the target.

The start of the Browse mode is determined by the moment the Browse command is issued and the start of the antenna scan. By this command, in the device 59 of the primary processing, the program starts forming the linear law of scanning the antenna, and the signals ij / y, uy are generated, which are received at the inputs of the converter 82 in the time interval.

At the beginning of the linear section of the scan, the primary processing device 59 generates an On-off signal received at the input of the signal status register 87, and from the register 87 it is supplied to the corresponding signal, according to which the target and interference detection programs begin to operate, and the set 5 are input from the digital computer 5 the values of the codes of the beginning of the detection zone by distance (DH) and the width of the detection zone (Dms) The phase-manipulated sounding signal generated at the output of the transmitting device 24 is fed through the circulator 36 to the ant nna 28 and radiated into space.

Control of the position of the beam of the antenna pattern in space is achieved by the action of the antenna drives in two coordinates (x | / and u) on the movable reflector. Asynchronous drive motors are controlled through amplifiers according to the signals Upr, o, which are formed at the output of the converter 82 for a time interval. The angle sensors generate signals | / A, UA of the current angular position of the antenna, which are received at the inputs of the amplitude-code digital conversion unit 81, and from its output, code signals VJ / A, UA code are transmitted to the input of the transceiver 80 of the primary processing device 59, closing, thus the antenna control loop.

At the time of the emission of the probe signal, the inputs of the receiving device 26 are blocked by the protection device 38, switched by a BI signal, which is generated at the output of the signal shaper 88 upon receipt of blanking pulses Upr B from the output of the synchronizer 62 at its control input.

In the pauses between the sendings of the probe pulses, the protection device 38 is open, and the reflected signals are received.

The microwave signals received by antenna 28 are amplified in a high-frequency amplifier 38, converted into intermediate frequency signals in a double balanced mixer 42, to which a local oscillator frequency signal coherent with the PMF is supplied from the transmitting device 24, and fed to an intermediate frequency amplifier 33, in which normalization target signals and interference.

The FM signals of targets are normalized using the BARU, which has a low threshold in comparison with limiting amplifiers 46, 47.

The sources of interference are normalized during the action of blanking pulses of the BI-BARU, through which the BARU ring opens for the duration of the BARU strobe. To normalize the sources of interference, the quadrature normalization principle is used with limiters 46, 47, and quadrature-sum signals are generated at the outputs by using a 90-degree symmetric adder 52. The angular information is converted into phase information in the vector phase detector 53 of interference, in which normalized multiplication is performed interference signals. At the same time, normalized VSP interference video signals are generated in the four detector section of the amplifier-limiter 46.

The signals of the target and interference are located in different parts of the range, so their single-pulse processing can be carried out independently of each other.

Phase detection of the reflected FM signals of the target is carried out using the coherent reference voltage Gpcho coming from the transmitting device 24 through the generator 57 of discrete shifts (0 °, 45 °, 90 °, 135 °) to the block 56 of the phase channel detectors of the total channel. This allows us to exclude further energy losses of weak reflected signals due to ignorance of the initial phase of the received reflected signal. The passband of phase detectors is switched by the command Upr FD, which is formed at the output of the block 91 registers of control commands when changing the duration of the discrete phase manipulation of the probe signal.

The detected mixtures of the reflected signals ФДох, ФД452, ФДэох, ФДоз, which are in the form of bipolar video codes, enter the amplitude quantizer 69 and then to the block 71 of digital compression filters. In a quantizer having a zero threshold, video codes are quantized into two levels, which makes it possible to convert noises into a chaotic sequence O and 1, and signals into a specific sequence O and 1, corresponding to the FM code of the probe signal.

To eliminate the distortion caused by the UAV movement in the signal and leading to temporary displacements of the quantized pulse sequences and their sign distortions, the quantized signals are, in the first place, inverted, as a result of which the number of outputs of the block 56 of phase detectors is doubled (8 instead of 4) . Second, before applying digital matched filters to block 71, the quantized signals are switched by pulses Td, the repetition rate of which is eight times higher than the Doppler frequency. The pulses TD arrive at the control input of the Doppler frequency shift compensation unit 70 from the output of the code-frequency converter 84, into which the Doppler frequency code signal CD is transmitted from the digital computer 4 of the ACS, which is transmitted through the communication lines 3 and 31 and then through the adapter 65 to the information bus 61 .

In block 71 of digital matched filters, a bitwise comparison is made of the received signal with a phase-shift keying code, which is input to the setting input of block 71 from the output of the code generator 86, and summing in a two-input adder. Next, the amplitudes of the compressed packet of signals are recorded in the buffer RAM 72, from which they are transferred to the RAM 73 of the primary processing device 59 during the antenna reversal, at the end of which the program information processing, consisting of six stages, begins. The first two stages of processing - internal review and inter-review processing - are performed in the primary processing device 59, and the remaining four are secondary processing, side lobe selection of interference sources and radio emission sources and tertiary processing are performed in COS digital computer 5 after the review cycle is completed.

In the primary processing device 59, the amplitudes of the compressed signals are integrated over a moving interval, consistent with the duration of the burst of pulses reflected from the target, and compared with a threshold. The position of the threshold is changed by the Threshold 1 command issued when approaching the target. If it is absent, a low threshold is automatically set. Signals that exceed the threshold are automatically subjected to operations of detecting and measuring angular coordinates, while the boundaries of the detection zone are set by codes coming from digital computer 5, in particular, “In the course of solving the range problem, the target viewing angles are recalculated by the time the target is detected in the current private survey. At the same time, within each private review, the position of the viewing zone is adjusted to ensure its immobility on the irradiated surface.

(

cvt

-21 RAM 76 and memorized. The removal and transmission of this data for secondary processing in the digital computer 5 is carried out at the boundaries of the field of view (in the 1-position antenna) after removing the command Reception.

When the POSN is in Browse mode, various active interference may occur. Reducing the effect of Sin and noise interference on the receiving device and eliminating the suppression of target signals due to overload is achieved using the BARU, which ensures the operation of the receiving device on linear sections of amplitude characteristics. The dynamic gain range is expanded by 15 dB, 20 dB and 30 dB by remote control commands received at the control input of the intermediate frequency pre-amplifier 45. Identification of continuous interference is achieved by strobing (turning off) the BARU for the duration of the SB gate at the end of each repetition period, and the identification of simulating response interference (OP) by turning off the BARU with the SOP strobe located at the beginning of the detection zone.

According to the VSP interference signals that occur during the operation of the SB and SOP gates, after they are quantized in the amplitude quantizer 67 of the interference signals and transmission through the buffer RAM 72 to the primary processing device 59, the azimuthal positions of the interference sources are measured at the beginning of “VJ / H and the end of” x | / k packets of signals. Further, the interference information is transmitted to the digital computer 5 in the same way as the target information.

During operation of third-party radars, their signals are detected by the detector section 34 and amplified by the video amplifier 35 of the passive channel, from the output of which the signals of the SR aircraft arrive at processing similarly to the VSP signals.

The processes of early detection of target signals continue for 16 review cycles. The digital computer 5 performs identification (confirmation of data by purpose), secondary processing and solves the task distribution programmatically using data from the digital computer 4CUD. Among the criteria used for selecting targets, the total intensity of signals received from each target, the belonging of the signal source to the targeting zone, the absence at a small distance from the detected source of another source that is superior in intensity, etc. are used.

At the stage of selecting side lobes, the most powerful objects of each type are identified from all detected sources of interference and sources of radio emissions.

When identifying targets for each of the goals left after the secondary processing, a special feature is formed that characterizes the fact of its coincidence or mismatch with each of the detected sources of radio emissions.

Based on the results of the operations performed, the system switches to Capture mode.

In Capture mode, the Review and Vl-vp commands are removed, the antenna scanning stops, and new values of the Vn, Oshz codes, as well as the Start command are issued from the digital computer 5 to the primary processing device 59. update and capture. In the block 60 control the position of the antenna receives new values of the codes "x | / m," UM, which sets a certain fixed position of the antenna.

On command Obn in the device 59 of the primary processing repeats the detection cycle with the issuance of the number of the quantum of the range Md, in which the target is located, and the transfer of all data to the digital computer 5 at the end of the cycle.

Upon receipt of this data, the AES will go into Maintenance mode. Digital computer 5 generates a command to start the mode of tracking target Sopr. C, or commands for tracking noise sources Sopr. P, or return interference Sopr OP.

In the Maintenance mode, the Off command is removed. RK, and the difference channel of the receiving device begins to function. Switching the difference signals to one input of the high-frequency amplifier 41 is carried out by the signal Prp PRK, which is supplied to the second control input of the switch 39 of the difference channels. Signal processing of the difference channel is carried out similarly to the total channel.

In the case of issuing the Sop Ts command, the rangefinder of the primary processing device 59 proceeds to automatic target tracking according to the target designation contained in the Bn code that existed before the Sopr Ts command was generated. In the process of retrieving the target signal in the target tracking gate SSC programmatically generated by the rangefinder, an increase the quality of the tracking circuit according to the commands received at the control input of the discrete attenuator 37. The rangefinder begins to produce data more full-time support of a code D, and is used to strobe SSC gating signals integrators angular error signals to develop angular misalignment x |; s and for gating the intensity signal accompanied meter. The signal | / -and from the ROM 90 phasing coefficients through the code-time converter 89, the signals Cor Φ are fed to the control input of the block 44 of phase shifters and splitters of the local oscillator signal to correct the phase non-identity of the channels. At the same time, control signals are generated to work out slow changes in the position of the target relative to the equal-signal direction of the antenna.

Sopr.P or Sopr OP, while the range gates are combined with SB gates or SOP BARU, and as the angular mismatch signals, the output signals of the vector phase detector 53 of interference are used, which, after analog-digital conversion to ADC 68, are fed to the angular mismatch integrators of the primary processing device 59 .

Direction finding of radio emission sources is carried out by scanning the antenna and determining the center of the pulse train.

To increase the efficiency of target distribution during the implementation of the selection process of goals, short-term follow-up of each of the goals (support) is organized, the results of which form the initial data necessary for the operation of selection algorithms. All goals included in the group are alternately followed in ascending order of their azimuths. Thus, the total time for maintenance is minimized.

To support the next target, the SOSP antenna is turned in the direction of its expected location and the target is detected with a stationary antenna stabilized in space and the intensity of the signal reflected from the target is measured. In case the signal intensity is sufficient, the elevation angle of the escorted target is measured.

The method of selecting true and false targets is based on the use of differences in the signals reflected from them. Improvement of selection results is achieved by the implementation of elevational selection of false targets, when goals with large elevation angles are excluded from the set of goals presented at the input of the target distribution algorithm, i.e. which are false targets with a large staging height. To reduce the influence of errors in determining the UAV pitch and roll angles on the selection results, a regression analysis mathematical apparatus was used to clarify the position of the UAV horizon line (initially determined from the inertial unit 7) using information on the dependence of the angles of meta targets and their azimuths. After the object of attack (target or source of interference) is selected, the operations necessary to move to its support are performed. At each transition to the target tracking mode, the procedure of retracting into its tracking is implemented in the same way as when solving the problem of target selection. When the transmitting device 24 is turned on, the transmitter power and the sensitivity of the SOSI receiving device 26 are adjusted to increase stealth and linearize the direction-finding characteristic of the target tracking angular tracking system.

liloHK I,

-24 target distribution is blocked and a simplified selection of the object to attack. After selecting an object of attack, a transition to its maintenance is carried out. When a fixed range is reached to the target, the duration of the probing signal is reduced and the resolution of the AHPS in range is increased. The use of a short signal allows the selection of false leading targets by analyzing the length of the tracked target and its support along the leading or trailing edges of the reflected signal.

The target tracking algorithm provides a special logic of operation of the POSN 2 when the target is lost by temporarily opening the target tracking circuits and stabilizing the POSN antenna in the last remembered direction with the organization of moving the range finder strobes by reckoning. If the signal from the target is not restored within a fixed time interval, then tracking of the target continues, otherwise the presence of interference (continuous or response) is checked, and if there is interference, a transition to tracking the source of the interference is organized. In the absence of interference, the transition to the selection mode for re-selecting the target. If the source of interference is selected as the attack object, the AHCH will turn the AHCH antenna in the direction of the interference source, capture for tracking, monitor the course of tracking with the organization of tracking the noise source from memory and the branched logic of the behavior of the AHCH in case of loss of interference. The algorithm provides the generation of signals necessary for tracking targets in the direction of the accompanied interference source.

Data on the number of detected targets and their ranges are recorded in the digital computer 5. According to this information, at any time, both when the interference source is lost and its tracking is continued, a decision can be made to stop tracking the interference source with the transition to tracking one of the targets. In the process of tracking the source of interference, as well as tracking the target, the software performs the operations of stabilization of the AOSCH antenna, taking into account the Doppler frequency offset, adjusting the code for the beginning of the detection zone, etc. As before, a symptom is formed in digital computer 5 of SOSN that characterizes the phase of solving the tracking task to take into account the current situation in UAV motion control algorithms.

The logic and algorithms of the complex in the mode "Generation of control signals for homing are distributed between SOSN 2 and SUD 1. A constant exchange of commands and conditions generated by digital computers 5 SOSN and digital computers 4 SUD. This close connection of the homing circuits generated by the digital computer 5 SOSN, with the angular stabilization circuits and other algorithms of the digital computer 4 SUD, consists, first of all, in the requirements for the phase frequency characteristics of the closed angular stabilization circuits. These requirements are provided by a reduction in gear ratios at the moments of SVP and SHP according to the signals of the pitch and course angular velocity sensors. Secondly, for the implementation of the SVP and CGP algorithms, it is necessary to promptly update the information of the inertial block 7 and the combined channel for measuring the height, as well as the calculated values of the angle of attack, slip, balancing angle of attack, mass coefficient, and transmission angle coefficient of pitch calculated in the digital computer 4 of the SUD. The block diagram of FIG. 4 illustrates the necessary exchange of information between DCH 5 DOS and DCH 4 DSC. In FIG. 4 are designated: V, D, Z, Hk, Hk - speed, range, lateral deviation, flight altitude and its derivative; ЧА, 4s, ws, Врц - antenna deflection angle in azimuth, ACS integrator signals in azimuth and elevation, measured target range; PVC, PS - signs of target selection and tracking; SGP, SVP, SS, RVS, SVP, Ven-homing conditions (SS - failure to follow, RVS - turn in the vertical plane for homing, SVP condition for connecting the averaging algorithm before the start of SVP, Ven - sign of the homing mode from high altitudes); ar, abal, PP, km - calculated values of the current and balancing angle of attack, current angle of slip and mass coefficient; Bi, HB, ta trait sign and characteristics; MF, BV, E, willow, MB - trajectory conditions on the program control section (MF - connecting the height program at a decrease, BV - sign of high altitude at the jump, E - beginning of the exponential program of transition to low altitude, MB - sign of reaching low altitude ); uTk - sign of the operation of the radio altimeter; Ncrn is an integer variable depending on the number of cycles of renewal of the CGP (in case of failures in tracking the target).

a, - -

a2

az - +

a4

, STE, SVG - digital control signals limited in size in the channels of heading, roll and pitch, respectively.

In this case, the digital signals in the channels of the course (OH), roll (STE) and pitch (AB) are determined as follows

st „k, () + + F (az) -Stpg;

GS kyY kycox + asy;

ав - ks & (& - i) + kgcoz + F (h) + F (ash) + + 5np + a cHere | / is the yaw (course) angle,

& - pitch angle

y is the angle of heel,

сОх, соу, (Oz - projections of the angular velocity on the associated axis of the rocket,

F (az) - side deviation control signal, F (h) - height control loop signal,

F (ash) is the signal of the height integral,

bpr - software signal,

asy is the roll integral signal,

k, ky, k, kij /, ky, kg - control and stabilization factors,

anz - transverse overload control signal,

any - normal overload control signal, which includes an additional control signal homing anyi,

ais additional homing control signal,

& - pitch program,

x | / 1 - course program.

Signals, &, v | / i, auc, cfnyi are generated according to various algorithms in the areas of program control and homing. In the homing process, these signals are control signals of homing.

The control signals SGP - | / i and SVP - E-i are the results of integration (with a restriction on the rate of change) of variables and

Homing in the horizontal plane is divided into two successive stages:

hoiic i:

- 27 mouths of the UAV longitudinal axis on the target in the horizontal plane with the maximum allowable angular velocity. At this stage, the quantity a ,, is proportional to the antenna deflection angle in azimuth (X | / A);

the stage of working out small perturbations, which begins at the end of the turn to the target. At this stage, control is carried out based on the principle of proportional navigation and implemented by the control law with additional feedback on the calculated sliding angle Zp.

The cTvyi control variable has the form:

  Ks4; c (Kv,; c (| / sl M / Slynp) +% Pr 1 + KgPp - Kr (3rupp),

where KSV ,, C, K (j; c, Кр, Кр - control coefficients

VKynp, Rrupr, M / siynp, are the values of the parameters у, Рр, | / si at the time of the start of homing with a lead,

v | / si - a variable depending on the signal of the integrator of the COSN X | / s (when tracking the target, | / si - x) / s is taken, otherwise the useful component of the signal v | / s is extrapolated).

Homing in the vertical plane can be carried out in several modes: homing from low altitudes, from high altitudes and homing to the source of interference.

The main mode is homing on the target from low altitudes with reliable operation of the radio altimeter 6. In this mode, the variable ste has the form

91 (0CR - bsRSVP + SGprin - K97 (0 (-BAL SSsVp) - 0.25 (& - ASVP) - CJBl) Kjs / Kg,

KS, Kj8 - control coefficients,

Kg - pitch stabilization coefficient,

LBAL - balancing angle of attack,

btsr - the estimated value of the elevation angle of the target (calculated from information about the current flight altitude and range to the target)

ot-CBO, 0СРСВП - the values of the parameters of avl and btsr at the beginning of the SVP.

To ensure accuracy in a wide range of firing conditions, pre-emptive homing is used, and control algorithms introduce components that compensate for changes in the balancing angle of attack depending on changes in UAV flight speed.

The use of an additional signal component, which is connected when approaching the target, provides for the shift of the hit point by a predetermined value, and a correction signal that prevents splashdown (asi, GNSS).

The control signals and Gnyi are introduced to improve the stability of homing processes and reduce disturbances associated with the restructuring of control algorithms in case of tracking failures and repeated modes.

Thus, the proposed complex, which uses a detection and homing system with a pulse phase-manipulated sounding; a signal and a distributed structure of computing devices, has wide capabilities for tuning the parameters of the detection and homing system to adapt to the emerging jamming environment and provides high-precision UAV guidance to the target under conditions active electronic countermeasures.

The industrial applicability of the utility model is determined by the fact that the proposed complex can be manufactured in accordance with the proposed description and drawings based on well-known components using modern technological equipment and used for its intended purpose for controlling unmanned aerial vehicles.

O. (,

-29 Formula The list of symbols to FIG. 1.

1- motion control system (SUD),

2 - detection and homing system (POS),

3 - the first highway of information exchange,

4- digital court,

5- digital computer POS,

6 - radio altimeter,

7- inertial block,

8- angular velocity sensor,

9 - information conversion device, 10, 11, 12, 13 - steering units,

14 - power-converting device of steering drives,

15 - triaxial gyrostabilizer,

16 - block removal and conversion of information,

17 - block of sensitive elements,

18- analog-to-digital converter,

19- multiplex channel adapter,

20 - block transmission of one-time commands,

21- multi-channel code-voltage converter (MPKN),

22- multi-channel voltage-code converter (MPNC),

23- power supply system of the AOSCH,

24-transmitting device

25-antenna device

26-receiver device

27- signal processing and control device,

28- antenna

29- antenna drive unit,

30 - sum-difference converter,

31- second highway of information exchange.

o The list of symbols to FIG. 2 32-input microwave conversion and amplification device, 33- intermediate frequency amplifier (UPCH), 34- detector section, 35- passive radio channel video amplifier, 36- circulator, 37- discrete attenuator, 38- total channel protection device, 39- differential switch channels, 40, 41 - UHF of the total and difference channels, respectively, 42.43 - DBS of the total and difference channels, respectively, 44 - phase shifter unit and a local oscillator signal splitter, 45 - intermediate frequency preliminary amplifier (PCCH), 46, 47 - amplifiers-limit and (UPCHO) of the total and difference channels, in total, 48.49 - attenuators, 50- OR element, 51- fast automatic gain control unit (BARU), 52- 90-degree symmetric interfering signal adder, 53- vector phase noise detector ( FDP), 54- phase target detector (FDC), 55- block quadrature phase detectors of the differential channel, 56- block quadrature phase detectors of the total channel, 57- shaper of discrete shifts. On-board equipment ..

h

On-board equipment ... List of designations for FIG. 3 58- signal compression unit (BSS), 59- primary processing unit (UPR), 60- antenna position control unit, 61- information bus made in the form of a VME bus, 62- synchronizer, 63- super-intermediate and intermediate unit control command generator (Microwave frequency converter), 64 - long-term memory device (DZU), 65 - serial channel adapter, 66 - control computer, 67 - amplitude quantizer of interference signals, 68 - analog-to-digital converter (ADC), 69 - amplitude quantizer of target signals, 70- Doppler frequency shift compensation unit, 71- block of digital matched filters (CSF), 72- buffer random access memory (RAM) of the signal compression unit, 73- buffer RAM of the primary processing device, 74- system bus, 75- processor, 76- RAM, 77- read-only memory (ROM) programs, 78- VME bus coupler, 79- galvanically isolated digital input-output adapter, 80- serial interface transceiver, 81- amplitude-code digital conversion unit, 82- code-time interval converter (PCVI), 83- setting generator and distributor pulses, 84- code-frequency converter, 85- clock and strobe generator, 86- code generator, 87- signal status register, 88- signal conditioner, 89- code-time interval converter, 90- phasing coefficient ROM, 91- register block control commands, 92- processor, 93- interface device, 94- bus controller, 95- system bus, 96- RAM, 97- ROM, 98- system controller, 99- transceiver, 100- interface device, 101- non-volatile RAM, 102,103 - channel adapters, 104, 105 - transformers,

Claims (1)

A complex of onboard control systems for unmanned aerial vehicles (UAVs), containing a motion control system (SUD), including steering units and an inertial unit connected to the SUD central electronic computer (CVM), and a detection and homing system (SOS), which includes an antenna kinematically connected to the drive unit of the antenna and connected to the output of the transmitting device, on which the pulse phase-manipulated probing signal is generated, and the input of the receiving device, the local oscillator the course of which is connected to the output signal of the local oscillator frequency of the transmitting device, as well as a signal processing and control device, including a signal compression unit connected to the primary processing device, and a synchronizer, characterized in that the AOSCH computer connected via the first information exchange is additionally introduced into the COS with the digital computer of the SUD and through the second highway of information exchange with the signal processing and control device, the SUD additionally contains a radio altimeter, an angular velocity sensor information and information conversion device connected to the first highway of information exchange, as well as power-converting device of steering drives, the outputs of which are connected to the inputs of the corresponding steering units by the signals of the rudder tabs, the inputs from the signals of the projections of the angular velocity of the UAV rotation are connected to the analog outputs of the angular velocity sensor and the inputs of the steering control signals are connected to the corresponding outputs of the information conversion device, to the corresponding outputs of which according to the signals of one-time commands, the radio altimeter switch-on input, the POSN switch-on input and the transmitting device switch-on input, which contains a pathogen and a power amplifier in series with a controlled pulse modulator and power regulator, are included in the form of a coherent frequency generator constructed according to the amplification-multiplier chain , the initial functional link of which is a controlled multi-frequency generator of the pathogen, and the final - phase manipulator, receiver The device contains a passive radio channel in which the sources of radio emissions are detected, as well as active sum and difference channels, in which conversion to an intermediate frequency is performed with correction of the phase non-identity of the channels in the phase shifters and signal splitter unit of the local oscillator, and after preliminary amplification at the intermediate frequency, the main amplification with normalization of target signals and interference by means of a block of high-speed automatic gain control (BARU) and limiter amplifiers, to the corresponding outputs of which a vector phase noise detector and a phase target detector are connected, at the outputs of which the video codes of the sum and difference signals shifted in reference voltage are generated, in addition, interference signals are detected at the corresponding outputs of the amplifier-limiter of the total channel, signal processing device and control further comprises a signal quantization unit, an antenna position control unit, the inputs of which are based on the signals of the current angular polo Antenna outputs and outputs from the antenna drive control signals are connected to the antenna drive unit, as well as to a control electronic computer (PC) connected to the information bus, a long-term storage device, a serial channel adapter connected to the second data exchange highway, and a command control unit ultra-high and intermediate frequency, the outputs of which according to the signals of the tuning of the carrier frequency, power adjustment and shutdown of the power amplifier are connected with the corresponding the existing control inputs of the transmitting device, and the outputs according to the signals for correcting the phase non-identity of the channels, turning off the differential channel, switching the dynamic gain range and switching the passband of the phase detector of the target are connected to the corresponding control inputs of the receiving device, while the signal quantization unit contains an amplitude quantizer of interference signals, inputs which are connected to the outputs of the video signals of the sources of radio emissions and interference of the receiving device, analog a background converter, the input of which is connected to the output of the vector phase interference detector, and an amplitude quantizer of the target signals, the inputs of which are connected to the outputs of the phase detector of the target, and the outputs are connected through the Doppler frequency shift compensation unit to the information inputs of the digital matched filter unit included in the compression unit signals together with a buffer random access memory (RAM) of the signal compression unit, to the corresponding inputs of which the outputs of the digital matching unit are connected filters, analog-to-digital converter and amplitude quantizer of interference signals, the primary processing device is made in the form of a computer, which contains a processor, RAM connected to the system bus, read-only memory program, buffer RAM connected to the output of the buffer RAM of the signal compression unit, digital adapter input-output with galvanic isolation, a pairing device connected to the information bus, and a serial interface transceiver connected to the code output of the control unit position of the antenna, the input of which is connected to the corresponding output of the digital input-output adapter with galvanic isolation by the signals of the initial installation and control of the antenna, the output of which is connected to the control input of the clock generator and strobe, which is part of the synchronizer, which also contains a generator codes, the synchronization input of which is connected to the corresponding output of the generator of clock pulses and gates, and a master oscillator and distributor and pulses, to the corresponding outputs of which are connected the clock inputs connected to the information bus of the driver of the clock pulses and gates and the code-time interval converter, the output of which is connected to the control input of the Doppler frequency shift compensation unit, while the output of the code generator on which the phase-shift code signal is generated is connected to the input settings block digital matched filters and the code input of the phase manipulator, the output of the driver of the clock pulses and strobe signal control The pulsed modulator is connected to the control input of the latter, and the output from the control signals by normalizing the target and interference signals is connected to the corresponding control input of the intermediate frequency amplifier.