RU2465614C1 - Method of receiving radio signals from radio sources - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: invention can be used primarily for unambiguous determination of spatial coordinates of an object - radio source, as well as in navigation and aircraft landing systems. At six ground receiving units, whose antenna phase centres lie in a defined manner, time instants when radio signals from radio sources are received are recorded. Coordinates are determined by indirect measurement using disclosed simple expressions. High accuracy is achieved, also owing to the possibility of selecting versions of the measurement of coordinates of the object at each point in space having the best accuracy from the set of versions disclosed in the method.

EFFECT: high efficiency of determining coordinates of corresponding radio complexes, possibility of varying configuration of their coverage area depending on the set task and relief features of the surrounding area.

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Description

The invention relates to communication technology, and more particularly, to methods for receiving radio signals from sources of radio emissions (IRI) located at objects, including mobile ones, by a ground receiving station, and can be used primarily in radio navigation systems for measuring spatial coordinates and other characteristics of IRI functionally related to their coordinates in information and control radio systems for various purposes and information transfer. The method can be applied when testing aircraft and their components at training ranges to ensure the operation of measuring systems rationally placed on the test track, and the formation of an automated complex for processing received radio signals and the development of algorithmic and software for evaluating the characteristics of the tested objects.

The implementation of the method will allow servicing several IRIs simultaneously, controlling ground-based movement in the IRI space, simplifying the corresponding systems, increasing their technical and economic efficiency, taking into account all components that affect cost and technical indicators.

Known methods for receiving radio signals, including those used in measuring coordinate systems of IRI and based on the use of goniometric, rangefinder, differential and total rangefinder and combined methods for determining the location of an object carrier IRI with amplitude, time, frequency, phase and pulse-phase methods measuring the parameters of the radio signal [Patents of the Russian Federation No. 2018855, 2115137, 2258242, 2309420, 2363117; Fundamentals of Aircraft Testing / E.I. Krinetskiy et al. Ed. E.I.Krinetskogo. - M .: Mashinostr., 1979, p. 64-89; Radio engineering systems / Yu.M. Kazarinov et al. Ed. Yu.M. Kazarinova. - M .: IC "Academy", 2008, Ch. 10; Bystrov R.P. et al. Passive radar: methods for detecting objects. Ed. R.P. Bystrova and A.V. Sokolova. - M .: Radio engineering, 2008, chap. 6; 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, the need for a priori information about the location of the IRI, the inability to uniquely determine the coordinates of the IRI, unreliability, etc.

According to the criterion of minimum sufficiency, the prototype adopted a method of receiving radio signals from radio sources located at objects, including mobile ones, and measuring information parameters corresponding to radio signals and the aforementioned objects, a ground receiving station, the phase centers of the receiving antennas of each of the receiving points located in predetermined points in a rectangular coordinate system (ξ _1, ξ _2, ξ ₃₎ with the origin at a predetermined point O, located at a predetermined height H above the ground plane with Tew (O, ξ _1, ξ ₂₎ parallel to the plane tangent to the surface at the axis intersection point Oξ ₃ with the ground, at which, taking synchronized radio signals from the radio signal sources, identifying them as necessary and registering the reception timing of radio signals, for example, on the temporary positions of their leading edges, measure the time difference between the times of the reception of radio signals at different points of the receiving system [RF Patent No. 2204145, 05/10/2003].

The advantage of the proposed method of receiving radio signals from the IRI located at the facilities, ground receiving station in comparison with the known and prototype is the ability to improve the technical and economic efficiency of radio systems for measuring spatial coordinates and other characteristics of objects functionally related to the coordinates. This is achieved by the fact that at six points of reception, moments of time of reception of radio signals transmitted by the IRI are recorded. 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 at points.

Higher accuracy is achieved, among other things, due to the possibility of choosing from the set of options proposed in the method for measuring the coordinates of the IRI at each point in space the best in accuracy. This allows you to vary the configuration of the coverage area of the radio system and form it depending on the task. Also, the method eliminates the ambiguity of measuring coordinates and allows you to control ground-based movement in the space of radio sources.

, где индекс k₁=(k²-3k+4)/2 и индекс k₂=(5k-k²)/2, безразмерный множитель

, а безразмерные коэффициенты А_m,k соответственно равны A_0,k=(9k²-45k+36)/2, A_1,k=-(39k²-180k+126)/4, А_2,k=(49k²-214k+134)/8, A_3,k=-(6k²-25k+14)/4, A_4,k=(k²-4k+2)/8, и через них измеряют преимущественно пространственные координаты объекта, при этом в каждом упомянутом интервале каждую из координат объекта измеряют шестикратно, в соответствии с выражением

, где индекс i=j+3θ_n,j, а соответствующий номеру координаты индекс n и упомянутый индекс k принимают значения 1, 2 и 3, причем при n=1 индекс j принимает значения 1 и 4, а безразмерный множитель θ_n,j=(5-2j)/3, при n=2 индекс 7 принимает значения 2 и 5, а безразмерный множитель θ_n,j=(7-2j)/3, при n=3 индекс j принимает значения 3 и 6, а безразмерный множитель θ_n,j=(9-2j)/3, производят совокупность заданного числа М следующих подряд упомянутых интервалов с общей длительностью времени передачи совокупности, равной сумме времен входящих в нее М интервалов, производят преимущественно измерения статистических характеристик статистическими методами траекторных измерений для каждой координаты, шестикратно измеряемой в интервале передачи, по всей совокупности М интервалов, в том числе математических ожиданий координат и среднеквадратических отклонений математических ожиданий координат соответствующих траекторий, при этом каждую из координат в заданный момент времени из длительности времени передачи совокупности М интервалов измеряют преимущественно как одну из шести соответствующих ей математических ожиданий координат с минимальным среднеквадратическим отклонением математического ожидания координаты, из предыдущей совокупности исключают первый интервал и включают интервал, следующий за последним интервалом предыдущей совокупности, и в последующих совокупностях, полученных таким образом из М интервалов, повторяют все указанные действия в упомянутом порядке, а при необходимости по измеренным в заданные моменты времени значениям координат измеряют другие параметры движения объекта.In order to achieve the indicated technical result in the method of receiving radio signals from radio sources located at objects, including mobile ones, and measuring information parameters corresponding to radio signals and said objects, a ground receiving station, the phase centers of the receiving antennas of each of the receiving points are located at predetermined points in a rectangular coordinate system (ξ ₁ , ξ ₂ , ξ ₃ ) with the origin at a given point O, located at a given height H above the surface of the earth, with a plane (O, ξ ₁ , ξ ₂ ), parallel to the plane tangent to the earth’s surface at the point of intersection of the Oξ ₃ axis with the earth, at which, receiving radio signals from radio signal sources, they are identified if necessary and recording times of reception of radio signals, for example, by the temporary positions of their leading edges, measure the time difference between the times of the reception of radio signals at different points of the receiving system, in accordance with the present invention, the ground-based point receiving system is made with six points receptions ordered in a predetermined manner, in each of which mainly non-directional receiving antennas whose phase centers are located at the vertices of the ellipsoid centered at point O with the given coordinates of the vertices (r ₁ ; 0; 0), (-r ₁ ; 0; 0), (0; r ₂ ; 0), (0; -r ₂ ; 0), (0; 0; r ₃ ), (0; 0; -r ₃ ), where r ₁ , r ₂ , r ₃ are the specified values the semiaxes of the said ellipsoid, corresponding to the coordinate axes ξ ₁ , ξ ₂ , ξ ₃ , while the semiaxis r ₃ is set smaller than the mentioned height H, receive radio signals from the radio source, transmitted one by one in the transmission interval, with the given At the interval time, not necessarily the same from interval to interval, the radio signals received and not reflected from the surface of the earth are distinguished, for example, by shielding the radio signals reflected from the earth, six groups of measurements of the differences Δt _{i, j} between the times of reception of radio signals at the i-th points and times of reception of radio signals at the j-th points of the receiving system, and for each value of index j varying from 1 to 6, index i takes values from 1 to 6; group time differences Δt _{i, j} through having a dimension of length parameters d _{i, j} = sΔt _{i, j,} where c - the speed of radio propagation for each j-one of the six groups mentioned three measured distance D _{j, k} in accordance with the index k taking values 1, 2 and 3, from the object to the corresponding j-th reception points in accordance with the expression

where the index k ₁ = (k ² -3k + 4) / 2 and the index k ₂ = (5k-k ² ) / 2, the dimensionless factor

, and the dimensionless coefficients A _{m, k are} respectively equal to A _{0, k} = (9k ² -45k + 36) / 2, A _{1, k} = - (39k ² -180k + 126) / 4, A _{2, k} = (49k ² -214k + 134) / 8, A _{3, k} = - (6k ² -25k + 14) / 4, A _{4, k} = (k ² -4k + 2) / 8, and mainly spatial coordinates of the object are measured through them , while in each of the above-mentioned interval, each of the coordinates of the object is measured six times, in accordance with the expression

, where the index i = j + 3θ _{n, j} , and the index n corresponding to the coordinate number and the aforementioned index k take values 1, 2 and 3, and for n = 1 the index j takes values 1 and 4, and the dimensionless factor θ _{n, j} = (5-2j) / 3, for n = 2, index 7 takes values 2 and 5, and the dimensionless factor θ _{n, j} = (7-2j) / 3, for n = 3, index j takes values 3 and 6, and dimensionless factor _{θ n, j = (9-2j)} / 3, produce a predetermined set of M number of consecutive intervals of said general set of transmission time duration equal to the sum of the times of its constituent M intervals, produce the primarily Measurement of statistical characteristics by statistical methods of trajectory measurements for each coordinate measured six times in the transmission interval over the entire set of M intervals, including the mathematical expectation of coordinates and standard deviations of the mathematical expectation of the coordinates of the corresponding trajectories, with each of the coordinates at a given time from the transmission time of the set of M intervals is measured mainly as one of six corresponding mathematical coordinates with the minimum standard deviation of the expectation of coordinates, from the previous set exclude the first interval and include the interval following the last interval of the previous set, and in subsequent sets obtained in this way from M intervals, repeat all of these steps in the above order, and if necessary other parameters of the object’s motion are measured from the coordinate values measured at given times;

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.

Radio sources located at objects, including mobile ones, send radio signals. They are received by the ground-based receiving system, the phase centers of the receiving antennas of each of the receiving points of which are located at predetermined points in a rectangular coordinate system (ξ ₁ , ξ ₂ , ξ ₃ ) with the origin at a given point O located at a given height H above the ground, with a plane (O, ξ ₁ , ξ ₂ ) parallel to the plane tangent to the surface of the earth at the intersection of the axis Oξ ₃ with the ground. At receiving points, receiving synchronized radio signals from sources of radio emission, identifying them if necessary and recording the time points of receiving radio signals, for example, by the temporary positions of their leading edges, measure the time differences between the times of receiving radio signals at different points of the receiving system.

The technical result, which consists in increasing the technical and economic efficiency of radio navigation systems for measuring spatial coordinates and other characteristics of the IRI, functionally related to its coordinates, is achieved due to the fact that the ground receiving station is made with six receiving points, ordered in a specified way. Radio signals from the IRI are received mainly by omnidirectional receiving antennas whose phase centers are located at the vertices of the ellipsoid centered at point O with the given coordinates of the vertices (r ₁ ; 0; 0), (-r ₁ ; 0; 0), (0; r ₂ ; 0), (0; -r ₂ ; 0), (0; 0; r ₃ ), (0; 0; -r ₃ ), where r ₁ , r ₂ , r ₃ are the specified values of the semiaxes of the said ellipsoid corresponding to the axes coordinates (ξ ₁ , ξ ₂ , ξ ₃ ), while the semiaxis r ₃ is set lower than the mentioned height N. IRI transmits radio signals one at a time in the transmission interval, with a given interval time, not necessarily the same from interval to interval shaft. At receiving points, radio signals received and not reflected from the surface of the earth are isolated, for example, by shielding radio signals reflected from the earth. According to the received radio signals, respectively, the index j produces six groups of measurements of the differences Δt _{i, j} between the times of reception of radio signals at the i-th points and the times of reception of radio signals at the j-th points of the receiving system. Moreover, for each value of the index j varying from 1 to 6, the index i takes values from 1 to 6. According to the totality of the measured indicated groups of time differences Δt _{i, j} through parameters d _{i, j} = cΔt _{i, j} having length dimension, where c is the propagation speed of the radio signal, for each j-th of the six mentioned groups three times (in accordance with the index k, taking values 1, 2 and 3) measure the distance D _{j, k} from the object to the corresponding j-th reception points in accordance with the expression

. Здесь индекс k₁=(k²-3k+4)/2 и индекс k₂=(5k-k²)/2, безразмерный множитель

, а безразмерные коэффициенты A_m,k соответственно равны А_0,k=(9k²-45k+36)/2, A_1,k=-(39k²-180k+126)/4, A_2,k=(49k²-214k+134)/8, A_3,k=-(6k²-25k+14)/4, A_4,k=(k²-4k+2)/8. Затем измеряют преимущественно пространственные координаты объекта в соответствии с выражением

где индекс i=j+3θ_n,j, а соответствующий номеру координаты индекс n и упомянутый индекс k принимают значения 1, 2 и 3, причем при n=1 индекс j принимает значения 1 и 4, а безразмерный множитель θ_n,j=(5-2j)/3, при n=2 индекс j принимает значения 2 и 5, а безразмерный множитель θ_n,j=(7-2j)/3, при n=3 индекс j принимает значения 3 и 6, а безразмерный множитель θ_n,j=(9-2j)/3. При этом в каждом упомянутом интервале каждую из координат объекта измеряют шестикратно. Производят совокупность заданного числа М следующих подряд упомянутых интервалов с общей длительностью времени передачи совокупности, равной сумме времен входящих в нее М интервалов. При этом производят преимущественно измерения статистических характеристик статистическими методами траекторных измерений для каждой координаты, шестикратно измеряемой в интервале передачи, по всей совокупности М интервалов, в том числе математических ожиданий координат и среднеквадратических отклонений математических ожиданий координат соответствующих траекторий [Б.Ф.Жданюк. Основы статистической обработки траекторных измерений - М.: Сов. радио, 1978 - 384 с.]. Каждую из координат измеряют в заданный момент времени (из длительности времени передачи совокупности М интервалов) преимущественно как одну из шести соответствующих ей математических ожиданий координат с минимальным среднеквадратическим отклонением математического ожидания координаты. Этим обеспечивают более высокую точность измерений координат объекта, производимых в каждой точке пространства. Затем из предыдущей совокупности исключают первый интервал и включают интервал, следующий за последним интервалом предыдущей совокупности, и в последующих совокупностях, полученных таким образом из М интервалов, повторяют все указанные действия в упомянутом порядке. При необходимости по измеренным в заданные моменты времени значениям координат измеряют другие параметры движения объекта.

. Here the index k ₁ = (k ² -3k + 4) / 2 and the index k ₂ = (5k-k ² ) / 2, the dimensionless factor

, and the dimensionless coefficients A _{m, k are} respectively equal to A _{0, k} = (9k ² -45k + 36) / 2, A _{1, k} = - (39k ² -180k + 126) / 4, A _{2, k} = (49k ² -214k + 134) / 8, A _{3, k} = - (6k ² -25k + 14) / 4, A _{4, k} = (k ² -4k + 2) / 8. Then mainly measure the spatial coordinates of the object in accordance with the expression

where the index i = j + 3θ _{n, j} , and the index n corresponding to the coordinate number and the mentioned index k take values 1, 2 and 3, and for n = 1 the index j takes values 1 and 4, and the dimensionless factor θ _{n, j} = (5-2j) / 3, for n = 2 the index j takes values 2 and 5, and the dimensionless factor θ _{n, j} = (7-2j) / 3, for n = 3 the index j takes values 3 and 6, and the dimensionless the factor θ _{n, j} = (9-2j) / 3. Moreover, in each of the mentioned intervals, each of the coordinates of the object is measured six times. A set of a given number M of the following consecutively mentioned intervals is produced with a total duration of the aggregate transmission time equal to the sum of the times of its constituent M intervals. In this case, the statistical characteristics are mainly measured by statistical methods of trajectory measurements for each coordinate measured six times in the transmission interval over the entire set of M intervals, including the mathematical expectations of the coordinates and the standard deviations of the mathematical expectations of the coordinates of the corresponding trajectories [B.F. Zhdanyuk. Fundamentals of statistical processing of trajectory measurements - M .: Sov. Radio, 1978 - 384 p.]. Each of the coordinates is measured at a given point in time (from the length of the transmission time of the set of M intervals) mainly as one of six corresponding mathematical expectations of coordinates with a minimum standard deviation of the expected coordinates. This provides a higher accuracy of measurements of the coordinates of the object made at each point in space. Then, the first interval is excluded from the previous population and the interval following the last interval of the previous population is included, and in the subsequent populations thus obtained from the M intervals, all of the above actions are repeated in the order mentioned. If necessary, other parameters of the object’s motion are measured using the coordinate values measured at specified time instants.

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 with an error in the zone not exceeding a given error in the measurement of coordinates at the boundary of the zone. The method has sufficient speed measuring coordinates and parameters of the IRI while maintaining a given accuracy and can be implemented using modern element base and microprocessor technology.

For the proposed method in figures 1 ... 4, we restrict ourselves to an example of determining zones indicated by a light tone, inside of which and at their borders, the standard errors of measuring the values of the coordinate ξ ₃ in the plane (O ′, ξ ₁ , ξ ₂ ) located at the height of the object OO ′ equal to 1000 meters (ξ ₃ = 1000 m), do not exceed the set value of 10 meters. The height H = 20 meters, the values r ₁ = 300 m, r ₂ = 700 m, r ₃ = 15 m are set. The rectangle indicates the size and orientation of the runway of the conditional airfield, the icons indicate the location of the phase centers of the transmitting station antennas. In Fig. 1, this zone is represented at said index k = 1 of a composition of a measurement group with index j equal to 3, and a group with an index j equal to 6, in Fig. 2, respectively, at an index k = 2 of a composition of a measurement group with index j, equal to 3, and groups with index j equal to 6, in Fig. 3, respectively, with index k = 3 of the composition of the measurement group with index j equal to 3, and groups with index j equal to 6. Figure 4 shows the specified zone for total composition uniting the compositions corresponding to Figures 1, 2 and 3, wherein the coordinate ξ ₃ define a Target th time primarily as one of the six corresponding mathematical expectations it coordinates with the minimum standard deviation of the expectation of the coordinates.

We list the main advantages of the method:

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

- can be implemented using existing components and microprocessor technology,

- provides efficient use of the radio frequency spectrum,

- allows you to simultaneously serve several objects,

- allows you to vary the configuration of the specified coverage area of the radio navigation system and form it depending on the task and the features of the relief of the surrounding area.

The effectiveness and efficiency of using the proposed method for receiving radio signals from a radio source located at the facility, including mobile, and its reception by a six-point ground receiving system consists in the fact that it can be applied in practice for the development and improvement of radio navigation systems for measuring the coordinates of IRI, and also in other applications. The method allows to measure 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 (1)

A method of receiving radio signals from radio sources located at objects, including mobile ones, and measuring information parameters corresponding to the radio signals and the said objects, a ground receiving station, phase centers of the receiving antennas of each of the receiving stations which are located at predetermined points in a rectangular coordinate system ( ξ ₁ , ξ ₂ , ξ ₃ ) with the origin at a given point O located at a given height H above the ground, with a plane (O, ξ ₁ , ξ ₂ ) parallel to the plane tangent to the surface The surface of the earth at the point of intersection of the Oξ ₃ axis with the ground, at which, by synchronously receiving radio signals from radio signal sources, identifying them if necessary and recording the time moments of receiving radio signals, for example, by the temporal positions of their leading edges, measure the time differences between the times of receiving radio signals at different points of the receiving system, characterized in that the ground-based point receiving system is made with six points of reception ordered in a predetermined manner, in each of which Twain omnidirectional receiving antennas, phase centers are located at the vertices of an ellipsoid centered at the point G with the given coordinates of vertices (r _1; 0; 0), (-r ₁ ; 0; 0), (0; r ₂ ; 0), (0; -r ₂ ; 0), (0; 0; r ₃ ), (0; 0; -r ₃ ) , where r ₁ , r ₂ , r ₃ are the specified values of the semiaxes of the said ellipsoid, corresponding to the coordinate axes ξ ₁ , ξ ₂ , ξ ₃ , while the value of the semiaxis r ₃ is set smaller than the mentioned height H, receive radio signals from the radio source transmitted one by one in the transmission interval, with a specified interval time, not necessarily the same from interval to interval, receive and not reflected from the earth's surface radio signals, for example, by shielding radio signals reflected from the earth, produce The index j contains six groups of measurements of the differences Δt _{i, j} between the times of reception of radio signals at i-points and the times of reception of radio signals at j-points of the receiving system, with each index j varying from 1 to 6, index i takes values from 1 to 6, according to the totality of the measured indicated groups of time differences Δt _{i, j} through parameters d _{i, j} = cΔt _{i, j} having length dimension, where c is the propagation speed of the radio signal, for each j-th of the six mentioned groups three times measured distance D _{j, k} in accordance with an index k, receive are the values 1, 2 and 3, from the object to the corresponding j-receiving points x in accordance with the expression

where the index k ₁ = (k ² -3k + 4) / 2 and the index k ₂ = (5k-k ² ) / 2, the dimensionless factor

, and the dimensionless coefficients A _{m, k are} respectively equal to A _{0, k} = (9k ² -45k + 36) / 2, A _{1, k} = - (39k ² -180k + 126) / 4, A _{2, k} = (49k ² -214k + 134) / 8, A _{3, k} = - (6k ² -25k + 14) / 4, A _{4, k} = (k ² -4k + 2) / 8, and mainly spatial coordinates of the object are measured through them , while in each of the above-mentioned interval, each of the coordinates of the object is measured six times, in accordance with the expression

where the index i = j + 3θ _{n, j} , and the index n corresponding to the coordinate number and the mentioned index k take values 1, 2 and 3, and for n = 1 the index j takes values 1 and 4, and the dimensionless factor θ _{n, j} = (5-2j) / 3, for n = 2 the index j takes values 2 and 5, and the dimensionless factor θ _{n, j} = (7-2j) / 3, for n = 3 the index j takes values 3 and 6, and the dimensionless the factor _{θ n, j = (9-2j)} / 3, produce a predetermined set of M number of consecutive intervals of said general set of transmission time duration equal to the sum of the times of its constituent M intervals, produce's advantage measurement of statistical characteristics by statistical methods of trajectory measurements for each coordinate six times measured in the transmission interval over the entire set of M intervals, including the mathematical expectation of coordinates and standard deviations of the mathematical expectation of the coordinates of the corresponding trajectories, each coordinate at a given point in time from the transmission time of the set of M intervals is measured mainly as one of the six mathematical expectants corresponding to it coordinates with the minimum standard deviation of the expectation of coordinates, from the previous set exclude the first interval and include the interval following the last interval of the previous set, and in subsequent sets obtained in this way from M intervals, repeat all of these steps in the above order, and if necessary other parameters of the object’s motion are measured from the coordinate values measured at given times;

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