RU2469408C1 - Control method and device of guarded object state - Google Patents

Abstract

FIELD: radio engineering.

SUBSTANCE: first, distinctive features of guarded objects are registered. Movable direction-finding station on airborne vehicle (AV) is equipped with a video camera that is controlled with an onboard direction finder. When the guarded movable object (GMO) supplies an alarm, the nearest receiver-transmitter units receive that alarm and retransmit it to the central control station that determines the GMO location according to the location of those receiver-transmitter units and shapes the command for movable direction-finding station to fly by AV to that area. After takeoff, MDFS measures distance, location, spatial orientation of AV, as well as preliminary coordinates of GMO by considering the mutual orientation of antenna system of direction finder and AV, as well as AV spatial orientation. Measurement accuracy is improved due to guidance of video camera by means of onboard direction finder in real time mode. Location coordinates of GMO are converted to spatial parameters {θ_ij,β_ij} considering the current AV location, its spatial orientation and orientation of video camera.

EFFECT: monitoring of movements of guarded movable objects with simultaneous reduction of prime cost of the system is provided.

2 cl, 11 dwg

Description

The inventive objects are united by one inventive concept, relate to radio engineering and can be used to monitor the status and determine the location of a mobile guarded object (VET).

A known method of monitoring the status of the protected object (see Pat. RF 2231126, IPC7 G08B 25/10, publ. 06/20/2004). In the similar method, at the preparatory stage, data on the true location of stationary protected objects and the distinguishing features of all protected objects are entered into the database of the central control point, when an unauthorized access to the protected object or by the command of its owner activate a radio transmitter installed on the protected object, they generate an alarm , including information on the hallmarks of the protected object, encode and emit it. An alarm is received at M direction finding points, where M≥2, decode it. Information about the distinguishing features of the protected object is distinguished, they are identified by comparison with the distinctive features of the protected objects recorded in the database of the central control point. Determine its location. The values of bearings are refined by calibrating direction finders according to signals from the nearest stationary guarded objects, the errors of bearings are calculated at the central control point, and then the updated bearings for VET emitting an alarm signal are calculated. Calculate the specified location of VET.

In the analogue method, by taking into account the errors obtained when measuring bearings to stationary guarded objects with known coordinates, a certain increase in the accuracy of positioning of VET emitting an alarm is achieved, which in turn leads to a reduction in its search time.

However, the analogue method has a significant drawback - a significant search time for VET. This drawback is a consequence of the relatively low accuracy of positioning of the VET coordinates emitting an alarm signal. One of the reasons for this is the two-stage processing of measurement results implemented in the method. In addition, the method involves the presence of a large number of stationary protected objects, evenly distributed in the control zone, which in real conditions is not always feasible.

A known method of monitoring the status of the protected object (Pat. RF №2370824, IPC G08B 25/10, publ. 20.10.2009).

In the analogue method, data on the true location of stationary protected objects and the distinguishing features of all protected objects are preliminarily entered into the database of the central control point. The number N = S / S _{0 of the} elementary snap zones is calculated, where S and S ₀ are the areas of the control zone and the elementary snap zone, respectively, and the coordinates of the centers of the elementary snap zones are determined. Assign a serial number n = 1, 2, ..., N to each elementary binding zone. For all M stationary direction-finding points (SPP), the antenna system of each of which includes R> 2 antenna elements, the values of the reference primary spatial information parameters (PPIP) are calculated. at the outputs of the A _mr- th antenna element, where m = 1, 2, ..., M; r = 1, 2, ..., R; relative to the coordinates of the location of the centers of each elementary binding zone, and the reference PPIP calculated for the middle frequencies of the signal spectra. In case of unauthorized access to the protected object or at the command of its owner, the radio transmitter installed on the protected object is activated. An alarm is generated, including information about the distinguishing features of the protected object, and an alarm is encoded and emitted. An alarm is received at m stationary direction finding stations, where m≥2, m∈M, an alarm is decoded, from which information about the hallmarks of the protected object is extracted, they are identified by comparison with the hallmarks of the guarded objects previously entered into the database of the central control point. At the same time, at m stationary direction finding stations, the PPIP is determined at the outputs of the A _mr antenna elements. The measurement results are transmitted to the central control point. For each n-th elementary binding zone, the difference between the reference and measured PPIP is calculated. The results are squared and summarized. Allocate from the N received amounts K _{n the} minimum, and the coordinates of the location of the center of the elementary binding zone corresponding to the minimum amount are taken as the coordinates of the location of the protected object that issued the alarm. A task force is sent to the identified elementary binding zone n to search for VET. They specify the movement of the operational group in accordance with the direction of the VET movement up to its detection.

In the analogue method, it is possible to reduce the time for searching VET by increasing the accuracy of its location due to the one-stage processing of the measurement results of the IPPI.

However, an analogue method also has a disadvantage. When VET approaches the borders of the control zone, the accuracy of its location decreases, and beyond it there is no possibility of tracking the VET movement by the system. A similar situation can arise when VET is located near the border of the control zone. The VET signal “Alarm” can be received by the nearest NGN or transceivers, however, its location cannot be determined due to the above reasons. An increase in the number of stationary direction-finding stations in these conditions is inefficient due to a significant increase in financial costs, complication of system management processes, etc.

The closest in technical essence to the claimed is a method of monitoring the status of the protected object (Pat. RF №2419162, IPC G08B 25/10, publ. March 20, 2011). In the prototype method, data on the true location of stationary protected objects and the distinguishing features of all protected objects are preliminarily entered into the database of the central control point, the number N = S / S _{0 of} elementary binding zones is calculated, where S and S ₀ are the areas of the control zone and the elementary anchor zones, and also determine the coordinates of the location of the centers of elementary anchor zones, assign to each elementary anchor zone an ordinal number n = 1, 2, ..., N, calculate for all M direction finding points M≥ 2, the antenna system of each of which includes R> 2 antenna elements, the values of the reference primary spatial information parameters at the outputs of each A _mr antenna element, where m = 1, 2, ..., M; r = 1, 2, ..., R; relative to the coordinates of the location of the centers of each elementary binding zone, and the reference primary spatial information parameters are calculated for the middle frequencies of the signal spectrum, with unauthorized access to the protected object or by the command of its owner, a radio transmitter installed on the protected object is activated, an alarm signal including information about the distinctive signs of the protected object, code and emit an alarm, receive an alarm on m stationary direction finding points where m≥2, m∈M, the alarm signal is decoded, from which information about the distinguishing features of the protected object is extracted, they are identified by comparing with the distinctive features of the protected objects previously entered into the database of the central control point, at the same time, m stationary direction-finding points are determined primary spatial information parameters at the outputs of the A _mr antenna elements, the measurement results are transmitted to the central control point, for each n-th elementary binding zone and the difference between the reference and measured primary spatial information parameters is calculated, the obtained results are squared and summed, the minimum obtained from N received sums K _n , and the coordinates of the location of the center of the elementary binding zone corresponding to the minimum amount are taken as the coordinates of the location of the moving protected object, who sent the alarm, sent to the identified elementary binding zone n the operational group to search for VET, specify the movement of the operational group in In accordance with the direction of movement of the protected object until its detection, when the VET, which has given an alarm, approaches the border of the control zone and leaves it, a command is formed at the central control point to connect the direction finding station located on the flight-lifting station M + 1 means (LPS), with the help of which they activate at the time moment t _{i the} transmitter of the mobile guarded object and measure the delay τ _ij in receiving the signal from it, where τ _ij = t _{ave. i} -t _from.i -t _m is the response time, t _from.i is the time the request was sent, t _m - the time required by the transmitter to process the request and generate a response, determine the removal of d _ij - VET from the direction-finding point

,

,

, тангажа

, курсового угла

и склонения

ЛПС пеленгаторного пункта, азимут θ_ij и угол места β_ij на ПОО в системе координат антенной системы, а склонение

определяют как разность между путевым

и курсовым

углами ЛПС, определяют предварительные координаты ПОО в момент времени t_i

в левосторонней системе декартовых координат антенной системы, уточняют координаты ПОО

на основе априорно известной ориентации антенной системы относительно ЛПС (k_ant, l_ant, ζ_ant) путем последовательного умножения

на три соответствующие углам Эйлера матрицы поворота, после чего определяют истинные геоцентрические координаты местоположения ПОО

с учетом измеренных в момент времени t_i пространственных углов ЛПС: крена

, тангажа

и склонения

, широты

, долготы

и высоты

, после чего преобразуют истинные геоцентрические координаты

местоположения ПОО в географические координаты

направляют оперативную группу в данную точку, уточняют перемещение оперативной группы и ЛПС в соответствии с направлением движения ПОО вплоть до его обнаружения.where c is the speed of light, at the same time determine the location of the M + 1-th direction finding point (B _lps , L _lps , H _lps ) _i , where B _lps , L _lps , H _lps - respectively the latitude, longitude and height of the LPS, roll angles

pitch

heading angle

and declensions

LPS of the direction finding point, azimuth θ _ij and elevation angle β _ij at the VET in the coordinate system of the antenna system, and the declination

defined as the difference between the track

and course

angles LPS, determine the preliminary coordinates of VET at time t _i

in the left-handed Cartesian coordinates of the antenna system, specify the coordinates of VET

based on the a priori known orientation of the antenna system relative to the LPS (k _ant , l _ant , ζ _ant ) by sequential multiplication

into three rotation matrices corresponding to Euler angles, after which the true geocentric coordinates of the VET location are determined

taking into account the measured at the time t _{i the} spatial angles of the LPS: roll

pitch

and declensions

latitude

, longitude

and heights

and then convert the true geocentric coordinates

VET locations in geographic coordinates

send the task force to this point, specify the movement of the task force and LPS in accordance with the direction of the VET movement until it is detected.

The prototype method provides effective tracking of VET movements outside the control zone by introducing m + 1 direction finding point on the LPS.

However, the prototype method also has disadvantages. Among them can be attributed a significant time to search for VET, which is a consequence of the lack of accuracy in determining their coordinates by stationary direction finding stations. In addition, the joint use of the ground component of the system (stationary direction finding stations) and the air component (at LPS) leads to significant material costs. In this case, the ground component is inferior to the air component by the criterion of "cost / effectiveness".

A device for monitoring the state of a protected object is known (Pat. RF No. 2370824, G08B 25/10, publ. 20.10.2009).

The analogue device contains a central control point and M stationary direction finding stations, each of which is connected to a central control point by an individual duplex communication channel, T transceivers, each of which is connected to a central control point by an individual duplex communication channel, L stationary guarded objects and P mobile guarded objects, each of which contains a set of alarm equipment and a radio station.

The device provides reduced search time for VET by improving the accuracy of its location due to the implementation of one-stage processing of measurement results. However, the efficiency of the device near the boundaries of the control zone decreases.

The closest in its technical essence to the claimed device for monitoring the status of the protected object is the device according to Pat. RF №2419162, IPC G08B 25/10, publ. 03/20/2011

The prototype device contains a central control point and M stationary direction finding stations, each of which is connected to a central control point by an individual duplex communication channel, T transceivers, each of which is connected to a central control point by an individual duplex communication channel, L stationary guarded objects and P mobile guarded objects, each of which contains a set of alarm equipment and a radio station, M + 1st mobile direction finding station on a flight-lifting facility, which is connected by a duplex channel to the central control point or the nearest transceiver, while the mobile direction finding station is made up of an LPS location determining unit (B _lps , L _lps , H _lps ) _i , a spatial parameter meter {θ _ij , β _ij }, a computer for sequential conversion of the coordinates of the location of the moving protected object (VET) from one coordinate system to another, the LPS angular orientation block (k _lps , l _lps , ζ _lps ) _i , the control unit designed for the periodic formation of of the query beacon “VET” and analyzing the received response, maintaining the database, as well as determining the distance to the VET, receiving and transmitting antennas, a duplex radio station, a radio modem and an indication unit, and the group of information inputs of the spatial parameter meter is an input installation bus M + 1- th movable direction finding station, and the first and second groups of its information outputs are connected to the second and third groups of information inputs of the computer, the first group of information inputs of which are connected to by the information inputs of the LPS angular orientation unit and the group of information outputs of the LPS location unit, the fifth group of information inputs of the computer is connected to the group of information outputs of the LPS angular orientation unit, and the group of information outputs is connected to the first group of information inputs of the control unit and the first group of information inputs of the display unit , the second group of information inputs of which is connected to the second group of information outputs of the control unit, the first group of information the output of which is connected to the fourth group of information inputs of the computer, and the third information output is connected to the first information input of the radio modem, the first information output of which is connected to the second information input of the control unit, and the second information output is connected to the first information input of the duplex radio station, the first information output of which connected to the second information input of the radio modem, the second information input of the duplex radio station is connected to the receiving antenna th, and the second data output connected to the transmitting antenna.

The purpose of the claimed technical solutions is to develop a method and device for monitoring the status of the protected object, which reduces the time spent on searching for VET while reducing the cost of the system.

This goal is achieved by the fact that in the known method of monitoring the status of the protected object, which consists in the fact that the data on the true location of the transceivers, stationary protected objects and the distinctive signs of all protected objects are entered into the database of the central control point in case of unauthorized access to the protected object or at the command of its owner, a radio transmitter installed on the guarded object is activated, an alarm is generated, including information about In particular, the alarm is coded and emitted, the alarm is received by the transceivers closest to the object, the alarm is relayed to the central control point together with the transceiver number, the alarm is decoded, from which information about the distinguishing features of the protected object is extracted, it is identified by comparisons with the distinguishing features of protected objects previously entered into the database of the central control point on the central SG control point generates a command for connection to the rolling direction-finding points on aircraft lifting means, by which is activated at time t _i transmitter j-th rolling protected object and measured delay τ _ij in the reception signal from it, where τ _ij = t _pr.i -t _from.i -t _m - response time, t _from.i - time to send a request, t _m - time required for the transmitter to process the request and generate a response, the distance d _ij is determined - VET from the mobile direction finding station

,

,

, тангажа

, курсового угла

и склонения

ЛПС подвижного пеленгаторного пункта, азимут θ_ij и угол места β_ij на ПОО в системе координат антенной системы, а склонение

определяется как разность между путевым

и курсовым

углами ЛПС, определяются предварительные координаты ПОО в момент времени t_i

в левосторонней системе декартовых координат антенной системы, уточняются координаты ПОО

на основе априорно известной ориентации антенной системы относительно борта ЛПС (k_ant, l_ant, ζ_ant) путем последовательного умножения

на три соответствующие углам Эйлера матрицы поворота, после чего определяются истинные геоцентрические координаты местоположения ПОО

с учетом измеренных в момент времени t_i пространственных углов ЛПС: крена

, тангажа

и склонения

, широты

, долготы

и высоты

, после чего преобразуются истинные геоцентрические координаты

местоположения ПОО в географические координаты

направляется оперативная группа в данную точку, уточняется перемещение оперативной группы и ЛПС в соответствии с направлением движения ПОО вплоть до его обнаружения, на подготовительном этапе устанавливают видеокамеру под фюзеляжем ЛПС, а в процессе работы на центральном пункте контроля по координатам приемопередатчиков, принявших сигнал тревоги, определяют район вылета ЛПС, а после взлета ЛПС определяют удаление j-го ПОО относительно координат ЛПС по параллели dL_ij, меридиану dB_ij и перпендикуляру (высоте) dH_ij. Вычисляют предварительные значения азимутального угла

и угла места

настройки видеокамеры без учета пространственной ориентации ЛПС и видеокамеры. Преобразуют сферические координаты

и

j-го ПОО в нормальную систему координат

и далее в систему координат видеокамеры

с учетом пространственной ориентации ЛПС и видеокамеры. Определяют истинные значения азимутального угла θ_kj и угла места β_kj ориентации видеокамеры на j-й ПОО. Одновременно оценивают угол закрытия корпусом ЛПС направления на j-й ПОО, а при выполнении условия β_kj<0 ориентируют видеокамеру в соответствии с параметрами θ_kj и β_kj. Уточняют местоположения ПОО с учетом привязки его видеоизображения к элементам рельефа местности, направляют оперативную группу в данную точку. Уточняют перемещение оперативной группы и ЛПС до момента задержания ПОО.where c is the speed of light, at the same time, the location of the moving direction-finding station is determined (B _lps , L _lps , H _lps ) _i , where B _lps , L _lps , H _lps respectively the latitude, longitude and height of the LPS, roll angles

pitch

heading angle

and declensions

LPS of a mobile direction finding station, azimuth θ _ij and elevation angle β _ij at the VET in the coordinate system of the antenna system, and the declination

defined as the difference between the track

and course

LPS angles, preliminary coordinates of VET are determined at time t _i

in the left-handed Cartesian coordinates of the antenna system, coordinates of VET are specified

based on the a priori known orientation of the antenna system relative to the LPS side (k _ant , l _ant , ζ _ant ) by sequential multiplication

into three rotation matrices corresponding to the Euler angles, after which the true geocentric coordinates of the VET location are determined

taking into account the measured at the time t _{i the} spatial angles of the LPS: roll

pitch

and declensions

latitude

, longitude

and heights

then the true geocentric coordinates are converted

VET locations in geographic coordinates

the task force is sent to this point, the movement of the task force and LPS is specified in accordance with the direction of the VET movement until it is detected, at the preparatory stage a video camera is installed under the LPS fuselage, and in the process of work at the central control point, the coordinates of the transceivers that received the alarm are determined the LPS departure area, and after the LPS take-off, the jth VET removal is determined relative to the LPS coordinates along the parallel dL _ij , the dB _ij meridian and the perpendicular (height) dH _ij . The preliminary azimuthal angle values are calculated.

and elevation

video camera settings without taking into account the spatial orientation of LPS and video cameras. Transform spherical coordinates

and

jth VET to the normal coordinate system

and further into the coordinate system of the camcorder

taking into account the spatial orientation of the LPS and video camera. The true values of the azimuthal angle θ _kj and elevation angle β _{kj of the} orientation of the camera on the j-th VET are determined. At the same time, the angle of closure of the direction by the LPS housing to the jth VET is evaluated, and when the condition β _kj <0 is fulfilled, the camera is oriented in accordance with the parameters θ _kj and β _kj . They clarify the location of VET, taking into account the binding of its video image to the elements of the terrain, send the task force to this point. Clarify the movement of the task force and the LPS until the detention of VET.

Due to the new set of essential features (the introduction of a video camera on the LPS in conjunction with the operations of pointing it at the VET using an on-board direction finder, as well as the elimination of operations associated with an insufficiently effective ground-based component of positioning), the claimed method achieves a reduction in time spent on searching for objects with a simultaneous decrease system cost.

без учета пространственной ориентации ЛПС и видеокамеры, третий вычислитель, предназначенный для определения направления на ПОО

с учетом пространственной ориентации ЛПС и видеокамеры, контроллер видеокамеры, предназначенный для преобразования управляющего сигнала

в соответствующее механическое воздействие на видеокамеру, и видеокамера, причем первая группа информационных входов второго вычислителя соединена с группой информационных выходов первого вычислителя, а вторая группа информационных входов - с группой информационных выходов блока определения местоположения ЛПС, вторая группа информационных входов третьего вычислителя соединена с группой информационных выходов блока угловой ориентации летно-подъемного средства, третья группа информационных входов является второй установочной шиной подвижного пеленгаторного пункта, а вход синхронизации объединен со входом синхронизации второго вычислителя и соединен с выходом синхронизации измерителя пространственных параметров.In the inventive device for monitoring the state of a protected object, the goal is achieved in that in a known device consisting of a central control point and T transceivers, each of which is connected to a central control point with an individual duplex communication channel, L stationary guarded objects and P movable guarded objects, each of which contains a set of alarm equipment and a radio station, and a mobile direction finding station on a flight-lifting facility, which is connected to a duplex a communication channel with a central monitoring station or the nearest transceiver, while the mobile direction finding station is made up of an LPS location unit (B _lps , L _lps , H _lps ) _i , a spatial parameter meter {θ _ij , β _ij }, the first calculator intended for serial conversion protected position coordinates of the movable object from one coordinate system to another, the angular orientation of the block LPS _{(k lps, l lps, ζ} lps) i, a control unit for periodically generating a request command "ma “VET and analysis of the received response, maintaining a database, as well as determining the distance to VET, receiving and transmitting antennas, a duplex radio station, a radio modem and an indication unit, the group of information inputs of the spatial parameter meter being the first installation bus of the direction finding station, and the first and the second group of its information outputs is connected to the second and third groups of information inputs of the first computer, the first group of information inputs of which are connected to the group of information inputs of the LPS angular orientation unit and the group of information outputs of the LPS location unit, the fifth group of information inputs of the first computer is connected to the group of information outputs of the LPS angular orientation unit, and the group of information outputs is connected to the first group of information inputs of the control unit and the first group of information inputs of the display unit , the second group of information inputs of which is connected to the second group of information outputs of the control unit, the first group of information the output of which is connected to the fourth group of information inputs of the first computer, and the third information output is connected to the first information input of the radio modem, the first information output of which is connected to the second information input of the control unit, and the second information output is connected to the first information input of the duplex radio station, the first information output which is connected to the second information input of the radio modem, the second information input of the duplex radio station is connected to the receiving antenna No, and the second information output is connected to the transmitting antenna, characterized in that according to the invention, a second calculator is additionally introduced in series, designed to determine the direction of VET

without taking into account the spatial orientation of LPS and video cameras, the third computer is designed to determine the direction of VET

taking into account the spatial orientation of the LPS and video camera, a video camera controller designed to convert a control signal

into the corresponding mechanical effect on the video camera and the video camera, the first group of information inputs of the second computer connected to the group of information outputs of the first computer, and the second group of information inputs to the group of information outputs of the LPS location unit, the second group of information inputs of the third computer connected to the group of information the outputs of the block of the angular orientation of the aircraft, the third group of information inputs is the second installation bus th mobile direction finding station, and the synchronization input is combined with the synchronization input of the second calculator and connected to the synchronization output of the spatial parameter meter.

The listed new set of essential features due to the fact that new elements and connections are introduced allows to achieve the purpose of the invention: to reduce the time spent on searching for VET while reducing the cost of the system.

The inventive method and device are illustrated by drawings, which show:

figure 1 is a generalized structural diagram of a system for monitoring the status of a protected object;

figure 2 - the procedure for determining the area of departure of the LPS;

figure 3 is a structural diagram of a moving direction-finding station;

figure 4 - the algorithm of the first calculator;

figure 5 - algorithm of the mobile direction finding station;

figure 6 is a structural diagram of a meter of spatial parameters θ _ij and β _ij ;

7 is a structural diagram of a second calculator;

on Fig - algorithm of the second calculator;

figure 9 is a structural diagram of a third computer;

figure 10 - algorithm of the third computer;

figure 11 - algorithm of the control unit.

One of the ways to increase the efficiency of the systems under consideration is to reduce the time for searching VET. The latter is achieved, as a rule, by increasing the accuracy of the location of protected objects. Known methods for determining the sources of radio emissions (IRI) with LPS are intended, as a rule, to determine the coordinates of the emitters. However, the accuracy characteristics of existing meters depend on many factors: the completeness of the used parameters of the electromagnetic field, the signal / (noise + noise) ratio, the number of signal processing steps, the mutual spatial distribution of LPS and VET (IRI), etc. The effectiveness of existing approaches in different situations differs from each other and at the same time is quite low. In the proposed method and device for solving the aforementioned problem, an integrated approach is proposed: the joint use of an on-board direction finder and a video camera controlled by it. Pointing the camera is carried out using the spatial parameters of the IRI VET {θ _ij , β _ij } received from the onboard direction finder in a time scale close to real. For this purpose, the location coordinates of the IRI VET obtained by the mobile direction finding station must be converted into the spatial parameters of the signals {θ _ij , β _ij } taking into account the current location of the LPS and its spatial orientation, as well as the orientation of the video camera. As a result of these operations, it becomes possible to clarify the location of VET by analyzing the local area selected by the camera (visually perform an identification analysis and accurately determine the location of the VET taking into account the binding to the surrounding elements of the terrain).

In addition, a comparative analysis of the ground (location subsystem based on stationary direction finders) and air (based on LPS) component showed the following. The ground component in urban conditions has limited capabilities in terms of the accuracy of VET location, the availability of VET signals, etc. According to the mentioned indicators, a mobile direction finder based on LPS surpasses the ground component due to the specifics of its application (placement in space above urban buildings and the possibility of approaching VET with constant updating of spatial parameters of IRI VET θ _ij and β _ij ). For the initial guidance of the mobile direction finding point, high accuracy of determining the location of VET is not required. The central control point in conjunction with transceivers is able to cope with this function. According to the location of the transceivers that received the alarm, you can roughly determine the area of VET (see figure 2). In light of this, it is proposed to exclude stationary direction finding stations from the control system, which entails a significant reduction in its cost and amortization costs.

It is advisable to use a helicopter, a small aircraft, an unmanned aerial vehicle, etc. as an FSC.

The implementation of the proposed method and device, it is advisable to consider together on the example of a system for monitoring the status of the protected object, shown in figure 1, 2, 3 and 6.

The device for monitoring the state of the guarded object, including the central control point 3 and T of transceivers 4.1-4.T, each of which is connected to the central control point 3 by an individual duplex communication channel, L stationary guarded objects 2.1-2.L and P of mobile guarded objects 1.1- 1.P, each of which contains a set of alarm equipment and a radio station, and a mobile direction finding station 5 on an aircraft, which is connected by a duplex communication channel to a central control point 3 or the nearest iemoperedatchikom 4.1-4.T, the movable DF step 5 is made comprising LPS location determination unit _{(B lps, L lps, H} lps), measuring the spatial parameters {θ _ij, β _ij} 7, the first calculator 8 for successive recalculation the coordinates of the location of the moving protected object from one coordinate system to another, the LPS angular orientation unit (k _lps , l _lps , ζ _lps ) 9, the control unit 10, designed to periodically generate the VET beacon request command and analyze the received response, maintain the database as well as determining the distance to VET, receiving 11 and transmitting 12 antennas, a duplex radio station 13, a radio modem 14 and an indication unit 15, the group of information inputs of the spatial parameter meter 7 being the first installation bus 16 of the mobile direction finding station 5, and its first and second groups information outputs are connected to the second and third groups of information inputs of the first calculator 8, the first group of information inputs of which are connected to the group of information inputs of the block of angular orientation LPS 9 and g the information outputs of the LPS 6 location unit, the fifth group of information inputs of the first calculator 8 is connected to the group of information outputs of the LPS 9 angular orientation unit, and the group of information outputs is connected to the first group of information inputs of the control unit 10 and the first group of information inputs of the display unit 15, the second the group of information inputs of which is connected to the second group of information outputs of the control unit 10, the first group of information outputs of which is connected to even a grated group of information inputs of the first computer 8, and the third information output is connected to the first information input of the radio modem 14, the first information output of which is connected to the second information input of the control unit 10, and the second information output is connected to the first information input of the duplex radio station 13, the first information output of which connected to the second information input of the radio modem 14, the second information input of the duplex radio station 13 is connected to the receiving antenna 14, and the second information the output is connected to the transmitting antenna 12.

без учета углов ориентации ЛПС и видеокамеры, третий вычислитель 18, предназначенный для определения направления на ПОО

с учетом пространственной ориентации ЛПС и видеокамеры, контроллер видеокамеры 19, предназначенный для преобразования управляющего сигнала

в соответствующее механическое воздействие на видеокамеру, и видеокамера 20, причем первая группа информационных входов второго вычислителя 17 соединена с группой информационных выходов первого вычислителя 8, а вторая группа информационных входов - с группой информационных выходов блока определения местоположения ЛПС 6, вторая группа информационных входов третьего вычислителя 18 соединена с группой информационных выходов блока угловой ориентации летно-подъемного средства 9, третья группа информационных входов является второй установочной шиной 21 подвижного пеленгаторного пункта 5, а вход синхронизации объединен со входом синхронизации второго вычислителя 17 и соединен с выходом синхронизации измерителя пространственных параметров 7.To reduce the time spent on searching for VET while reducing the cost of the system, stationary direction finding stations are excluded from it, and a second calculator 17 is additionally introduced in series to the mobile direction finding station 5, which is used to determine the direction to VET

excluding LPS and video camera orientation angles, the third computer 18, designed to determine the direction of VET

taking into account the spatial orientation of the LPS and the video camera, the video camera controller 19, designed to convert the control signal

into the corresponding mechanical effect on the video camera and video camera 20, the first group of information inputs of the second computer 17 connected to the group of information outputs of the first computer 8, and the second group of information inputs to the group of information outputs of the location unit LPS 6, the second group of information inputs of the third computer 18 is connected to the group of information outputs of the block of angular orientation of the flight-lifting means 9, the third group of information inputs is the second installation bus 21 of the mobile direction finding station 5, and the synchronization input is combined with the synchronization input of the second calculator 17 and connected to the synchronization output of the spatial parameter meter 7.

Each movable 1.1-1.P and stationary 2.1-2.L guarded object, by analogy with the prototype, is equipped with a standard set of equipment consisting of: a control controller, a group of F security alarm sensors, the outputs of which are connected to the input bus of the control controller, radio receiver and radio transmitter, antenna switch and antennas with appropriate connections (see Pat. RF №2419162, figure 2). An input bus is provided in the control controller for inputting the initial data (“key”) of the user set and equipment settings. An external control panel is used to arm and disarm an object. The standard set of equipment provides the ability to connect the "Threat" button to the control controller. The latter can be performed on the microprocessor AT91SAM7S64, the algorithm of which is shown in figure 4 Pat. RF №2419162. A set of VET equipment at the request of the customer can be duplicated. The set of equipment for all protected objects includes autonomous emergency power.

In the proposed method, by analogy with the prototype, two keys are assigned to all types of signals ("Alarm", "Threat" or "Control"). The latter are assigned signals of a given shape, which at the preparatory stage are entered into the memory of the control controller and the memory of the central control point 3. The signals of a particular protected object correspond to the hallmark of the object entered into the database of paragraph 3. As the latter for VET, the state number, car make, color, owner information, etc. can be used. For stationary protected objects, information about their true location is additionally entered.

Each message consists of two main parts: the preamble and the transmitted data. As a preamble, an M-sequence having good autocorrelation properties can be selected. The length of the latter depends on the sufficient noise immunity of the system.

In turn, the transmitted data contains: sender identifier, recipient identifier, CRC-16 checksum, octet filled with zero bits. When transmitting a message, convolutional coding, Walsh coding are used, and phase modulation BPSK at a given center frequency is used as modulation. Reception of signals from protected objects is carried out using T transceivers 4.1-4.T with their subsequent relay to the central control point 3. Regardless of the type of signal received at the central control point 3, its identification consists in searching the database for a signal that is identical to the received one. The comparison results unambiguously indicate the type of the received signal and the distinguishing features of the protected object that supplied this signal. The signal structure may differ from the considered one and depends on the allocated frequency range and the number of users of the system.

At the preparatory stage, the orientation of the antenna system of the mobile direction-finding station is measured in three planes accepted in aviation as roll k _ant , pitch l _ant , course α _ant or declination ζ _ant (k _ant , l _ant , ζ _ant ) relative to the LPS body. The values (k _ant , l _ant , ζ _ant ) are stored and subsequently used to refine the measurement results of θ _ij and β _ij . Under the fuselage of the LPS install a video camera. The combination of the centers of the antenna system and the camera is not required due to the significant distance of the LPS from VET.

During the operation of the system, the owner of the mobile guarded object from the control panel generates a signal to take the object under protection. In case of unauthorized opening of a movable object, which is under guard, the control controller generates, encodes and emits an Alarm signal based on the signals of one or several sensors of the security alarm. When this signal is detected at points 4, the latter relay it to the central control point 3. Here, after its identification (comparison with the database) and the location of the transceivers 4 that received it, a preliminary decision is made about the possible location of the VET that sent the alarm (see Fig. 2 ) The central control point 3 forms a command to the mobile direction finding station 5 for departure. The latter is in a state of constant readiness for flight and the start of work. The command in paragraph 3 contains information about the distinctive VET that issued the alarm, an approximate area of its location. According to the said command, the mobile direction finding station 5 flies to the named area and takes control of the task force.

If the “Threat” button is pressed by the owner of a mobile guarded object (for example, when trying to forcefully seize a vehicle or endanger the life of its owner), they also generate, code and emit an “Alarm” signal, which performs similar operations.

When one or more sensors of the alarm system are triggered or when the “Threat” button is pressed at the stationary guarded object 2, the “Alarm” signal is generated, encoded, and emitted in the same way. The latter is enough to accept at least one of points 4. In this case, there is no need to solve the problem of location of the object. After decoding the alarm at the central control point 3, extracting information about the distinguishing features and identifying them, information is obtained on the coordinates of the stationary guarded object. Then, paragraph 3 sends a task force to this address.

During the flight, the mobile direction finding station 5 activates the VET transmitter (at time t _i ). As a result, it becomes possible to measure the delay τ _ij in receiving a signal from VET

τ _ij = t _ave.i -t _from.i -t _m ,

where t _ave.i is the response time, t _from.i is the time the request was sent, t _m is the time it takes the transmitter to process the request and generate a response. The value of t _m for the type of transmitter (beacon) used is constant and a priori known. This circumstance allows us to determine with high accuracy the distance d _ij VET from the mobile direction finding station

,

,

where c is the speed of light, and therefore makes it possible to efficiently (highly accurate) implement the goniometric-ranging method of positioning.

, тангажа

и склонения

), а также азимут θ_j и угол места β_j на ПОО в системе координат антенной системы (АС) пеленгатора (без учета ориентации АС относительно корпуса ЛПС и собственно ориентации ЛПС). Для измерения θ_ij и β_ij возможно использование на борту ЛПС пеленгатора, который аналогичен пеленгаторам по Пат. РФ №2263327; 2341811.At the same time, at the time t _i , the location in the space of the moving direction-finding station (B _lps , L _lps , H _lps ) is _determined , where B _lps , L _lps , H _lps respectively are the latitude, longitude and height of the LPS. This function can be implemented using a GPS navigator (see GPS navigators 12, 12XL, 12CX. User manual. E-mail: admin@connect.ru). In addition, determine the orientation of the LPS at a given point (roll angles

pitch

and declensions

), as well as the azimuth θ _j and elevation angle β _j at the VET in the coordinate system of the antenna system (AS) of the direction finder (without taking into account the orientation of the AS relative to the LPS body and the actual LPS orientation). To measure θ _ij and β _ij, it is possible to use a direction finder, which is similar to direction finders according to Pat. RF №2263327; 2341811.

в левосторонней системе декартовых координат антенной системы, где X₀=d_ijsinβ_ij, Y₀=-d_ijcosβ_ijcosθ_ij, Z₀=d_ijcosβ_ijsinθ_ij. Данную операцию можно интерпретировать следующим образом. По измеренному направлению {θ_ij, β_ij} откладывают расстояние J и получают вектор - местоположение источника в системе координат АС. Для получения истинных географических координат ПОО необходимо учесть ориентацию АС пеленгатора относительно ЛПС и положение ЛПС в пространстве. Это достигается путем последовательного перехода из одной системы координат в другую, что удобнее и быстрее выполнять в декартовой системе координат.The measurement results are recorded and at the next stage determine the preliminary coordinates of VET at time t _i

in the left-handed Cartesian coordinate system of the antenna system, where X ₀ = d _ij sinβ _ij , Y ₀ = -d _ij cosβ _ij cosθ _ij , Z ₀ = d _ij cosβ _ij sinθ _ij . This operation can be interpreted as follows. In the measured direction {θ _ij , β _ij }, the distance J is plotted and a vector is obtained - the location of the source in the AS coordinate system. To obtain the true geographical coordinates of VET, it is necessary to take into account the orientation of the direction finder AS relative to the LPS and the position of the LPS in space. This is achieved by a sequential transition from one coordinate system to another, which is more convenient and faster to perform in a Cartesian coordinate system.

осуществляется в плоскости трех углов Эйлера и принятых в авиации как углы крена k_ant, тангажа l_ant и склонения ζ_ant. Исходный вектор

последовательно перемножают на три составляющие углам Эйлера матрицы поворотаIn the first transformation, the a priori known orientation of the AS relative to the LPS is specified (the coordinates of the VET are specified). Correction

is carried out in the plane of three Euler angles and accepted in aviation as the angles of roll k _ant , pitch l _ant and declination ζ _ant . Source vector

sequentially multiply by three components of the rotation matrix

Where

в геоцентрическую систему координат. Это преобразование учитывает ориентацию ЛПС относительно земной поверхности и положение ЛПС в пространстве, что позволяет получить истинные геоцентрические координаты ПОО

Ориентация ЛПС обычно задается углами k_lps, l_lps и ζ_lps, которые определяются в каждой точке относительно плоскости, касательной к сферической модели земной поверхности. Ось крена лежит в этой плоскости и направлена на географический север, ось склонения перпендикулярна указанной плоскости и направлена к центру земли, ось тангажа лежит в указанной плоскости таким образом, что тройка осей составляет правую декартову систему координат. Полученный на предыдущем этапе вектор

расположен с некоторым поворотом, который зависит от широты и долготы местоположения ЛПС. Для окончательного перехода в геоцентрическую систему координат необходимо довернуть

на широту ЛПС B_lps и

минус долготу L_lps, используя матрицы поворота, а затем перенести центр системы координат в центр земли, используя геоцентрические координаты ЛПС. В результате имеемAt the next stage, the vector of refined coordinates of VET

into the geocentric coordinate system. This transformation takes into account the orientation of the LPS relative to the earth's surface and the position of the LPS in space, which allows you to get the true geocentric coordinates of VET

The orientation of the LPS is usually given by the angles k _lps , l _lps and ζ _lps , which are determined at each point relative to the plane tangent to the spherical model of the earth's surface. The roll axis lies in this plane and is directed to the geographical north, the declination axis is perpendicular to the indicated plane and directed towards the center of the earth, the pitch axis lies in the indicated plane so that the three axes make up the right Cartesian coordinate system. The vector obtained in the previous step

located with some rotation, which depends on the latitude and longitude of the location of the LPS. For the final transition to the geocentric coordinate system, you must tighten

latitude LPS B _lps and

minus the longitude L _lps using the rotation matrix, and then transfer the center of the coordinate system to the center of the earth using the geocentric coordinates of the LPS. As a result, we have

Where

,

,

,

,

,

,

, гдеFor convenience, the true geocentric coordinates are translated into the geocentric coordinates of VET

where

тангаж

и склонение

(постоянно обновляемые данные). В результате необходимо перейти от координат ИРИ ПОО к азимуту

и углу места

направления на источник в системе координат видеокамеры.The completion of the operation to determine the coordinates of the VET allows you to go to the next step - pointing the camera at the source and the surrounding area. For accurate camcorder guidance, in addition to VET coordinates, it is necessary to know its initial orientation relative to the LPS side: roll k _k , pitch l _k and declination ζ _k (these parameters do not change during the flight), LPS coordinates and orientation at the time of the camcorder roll: roll

pitch

and declension

(constantly updated data). As a result, it is necessary to move from the coordinates of the Islamic Republic of Iran to the azimuth

and corner of the place

directions to the source in the coordinate system of the camera.

с ЛПС без учета углов ориентации (используют только координаты ЛПС и объекта). Вычисляют смещение j-го ПОО относительно ЛПС по трем координатам (в декартовой системе координат с ЛПС, находящимся в ее центре). Оси системы координат направлены следующим образом: по касательной к меридиану dB_ij, по касательной к параллели dL_ij и по перпендикуляру к земной поверхности dH_ij в метрахThe operations performed for this purpose should be divided into two stages. The first of them determines the direction of VET

with LPS without taking into account orientation angles (use only the coordinates of the LPS and the object). The offset of the j-th VET relative to the LPS is calculated in three coordinates (in a Cartesian coordinate system with the LPS located in its center). The axes of the coordinate system are directed as follows: tangent to the meridian dB _ij , tangent to the parallel dL _ij and perpendicular to the earth's surface dH _ij in meters

where D _eq is the length of the equator in meters.

и угла места

направления ориентации видеокамеры на j-й ПОО путем перевода полученных результатов в сферическую систему координатKnowing the indicated coordinates, it is easy to determine (without taking into account the orientation of the LPS and the camera) the preliminary azimuth values

and elevation

orientation directions of the camera on the j-th VET by translating the results into a spherical coordinate system

в нормальной системе координат, удобной к применению матриц поворота для углов ориентации

и

At the next stage, based on the results obtained, the vector is pre-calculated

in a normal coordinate system convenient for using rotation matrices for orientation angles

and

возможно только в рассматриваемой системе координат, так как это фактически угол отклонения направления на ПОО от горизонтальной плоскости в точке нахождения ЛПС. Во-вторых, в этой системе координат удобно решать задачу определения точки пересечения вектора направления на ПОО с "круглой" Землей в силу того обстоятельства, что одна из осей системы координат направлена к центру Земли (см. Авиация: Энциклопедия. - М.: Большая Российская энциклопедия, 1994).The transition through this coordinate system is dictated by the fact that the LPS orientation angles are measured in it. Obtaining a direction vector at the jth VET in a normal coordinate system is also preferable. First, the calculation of the elevation angle

it is possible only in the coordinate system under consideration, since this is actually the angle of deviation of the direction of VET from the horizontal plane at the point of location of the LPS. Secondly, in this coordinate system it is convenient to solve the problem of determining the point of intersection of the direction vector at VET with the "round" Earth due to the fact that one of the axes of the coordinate system is directed toward the center of the Earth (see. Aviation: Encyclopedia. - M.: Big Russian Encyclopedia, 1994).

соответствующий координатам j-го ПОО в системе координат видеокамерыAs a result of multiplying this vector by six rotation matrices in a certain order (by the number of angles taken into account), a vector is obtained

corresponding to the coordinates of the j-th VET in the coordinate system of the camera

Where

φ is the value of the corresponding spatial parameter of the LPS or VET.

и угол места

, по которым осуществляют наведение видеокамерыTranslation of the obtained coordinates into a spherical coordinate system allows you to obtain the desired direction angles to the object - azimuth

and elevation

that guide the camcorder

где

Where

видеокамера выходит вверх за "свой" горизонт, а направление на источник закрыто корпусом ЛПС. Видеокамера на j-й ПОО не направляется и начинается новый цикл работы (см. фиг.4, 8, 10). При выполнении условия

результаты измерений

и

поступают на вход контроллера видеокамеры 19. Под управлением контроллера 19 осуществляют наведение видеокамеры 20 в соответствии с поступившими результатами.At the next stage, the obtained results are checked for the closure of the direction to the j-th VET by the LPS corps. When

the video camera goes up beyond its “horizon”, and the direction to the source is closed by the LPS case. The video camera is not directed to the j-th VET and a new cycle of work begins (see Figs. 4, 8, 10). When the condition is met

measurement results

and

arrive at the input of the video camera controller 19. Under the control of the controller 19, the video camera 20 is guided in accordance with the received results.

и

уточняются, а видеокамера 20 отслеживает местоположение ПОО.During LPS flight values

and

specified, and the camcorder 20 tracks the location of VET.

The proposed method and device for monitoring the state of the protected object are implemented and tested on ground stationary stands and then on the LPS. The performed experiments showed that the accuracy of pointing the video camera to the VET radio emission source is mainly determined by the accuracy of its location. With high reliability of determining the coordinates of VET on the resulting video image, objects of interest are distinguishable, it is possible to conduct an initial analysis by identifying them and linking them to the surrounding elements of the terrain.

The implementation of the proposed method does not cause difficulties. The main elements of the system are a mobile direction finding station 5 (at LPS), a central control point 3, supplemented by communication means 4, with the help of which, by analogy with the prototype method, a control system of the "Star" type and rough determination of the location of VET are implemented. For this purpose, radio communication of the RADIONET type at a frequency of 2.4 GHz or optical fiber can be used. Individual sets of equipment for mobile and stationary guarded objects can be implemented similarly to similar equipment of the prototype method (see figure 2 and 3). The used signal structure, which is given above, is similar. This issue is covered in more detail when considering the operation of a mobile direction finding station 5.

Central control point 3 consists of two main subsystems: analysis subsystems and control subsystems.

The task of the first of them includes the formation and maintenance of a database of distinguishing features of stationary and mobile protected objects, the current analysis of incoming signals "Threat" and "Alarm", the formation of signals "Control". The current control of all elements of the system (see figure 1) is carried out by the second subsystem.

This work is usually organized on the basis of two relevant posts:

formation and maintenance of a database;

analysis and management of the system (including guidance of the operational group to stationary guarded posts). The implementation of the posts does not cause difficulties. The functioning of the post analysis and management is carried out in accordance with the algorithm presented in Pat. RF 2419162, figure 3.

The location system in the claimed facilities is designed to determine the location of VET and guidance on them the operational group.

The main element of the system is a mobile direction finding station (s) 5.

The implementation of the mobile direction finding item 5, based on the goniometric-range-finding method of positioning, does not cause difficulties. Figure 3 shows the structural diagram of the mobile direction-finding station 5, which contains the LPS location unit 6, the spatial parameter meter 7, the first calculator 8, the LPS 9 angular orientation unit, the control unit 10, the receiving and transmitting antennas 11 and 12, respectively, a duplex radio station 13, a radio modem 14, an indication unit 15, a second calculator 17, a third calculator 18, a video camera controller 19, a video camera 20.

The work of the mobile direction finding item 5 is as follows (see Fig.3-10). At the command of the central control point 3, received through blocks 11, 13, 14, 10 to block 15, the carrier (LPS) of the direction finding station 5 takes off and is sent to a given area. The command in paragraph 3 contains all the necessary distinguishing information about the VET that issued the alarm. When approaching a given square, the control unit 12 generates a command command "beacon" of the specified VET, which passes through blocks 14, 13 and 12 and is emitted. A possible structure of the query command is discussed above. The beacon at the VET, receiving the signal "Control", during the time interval t _m processes it and generates a response. After that, the VET transmitter emits a response signal.

When receiving radiation of the response signal, the mobile direction finding station 5 measures the following parameters:

the delay τ _ij in receiving the response signal using block 10;

spatial parameters of the signal in θ _ij and β _ij using block 7;

LPS locations (B _lps , L _lps , H _lps ) using block 6;

spatial orientation of the LPS (k _lps , l _lps , ζ _lps ) using block 9.

The main idea in the high-precision determination of the range d _ij to the VET lies in the implementation of the synchronous channel "control-response" with a priori known signal sampling rate and delay time in the "beacon" t _m . To measure the delay τ _ij, it is advisable to use time samples of the signal. To increase the accuracy of determining τ _ij on the side of the movable direction finding item 5, the sampling frequency is doubled. The formation of the signal "Control" is carried out by the control unit 10, which through blocks 14, 13 and 12 emit it on the air. The response from the VET beacon from block 10 can be received in two ways: through blocks 7 and 8 or 11, 13 and 14. The delay τ _ij and conversion to d _{ij are} also measured by block 10. The measurement results d are sent to the first calculator 8.

в левосторонней системе декартовых координат антенной системы измерителя (1). Для реализации этой функции на первую группу информационных входов блока 8 поступает значение θ_ij, на вторую группу информационных входов - β_ij (с выходов блока 7), а на третью группу информационных входов - значение высоты ЛПС

с группы информационных выходов блока определения местоположения ЛПС 6.The functions of the first calculator 8 at the first stage include determining the coordinates of VET

in the left-handed Cartesian coordinates of the antenna system of the meter (1). To implement this function, the value θ _{ij is} supplied to the first group of information inputs of block 8, β _ij (from the outputs of block 7) to the second group of information inputs, and the LPS height value to the third group of information inputs

from the group of information outputs of the LPS location block 6.

далее блоком 8 используются на втором этапе его работы. На их основе уточняют предварительные координаты

с использованием априорно известной ориентации антенной системы измерителя относительно борта ЛПС. Вектор уточненных координат

определяют путем последовательного умножения

на три соответствующие углам Эйлера матрицы поворота в соответствии с (1).Results of preliminary determination of VET coordinates

further block 8 are used in the second stage of its operation. Based on them, preliminary coordinates are specified.

using a priori known orientation of the antenna system of the meter relative to the side of the LPS. Vector of refined coordinates

determined by sequential multiplication

into three rotation matrices corresponding to Euler angles in accordance with (1).

используют на третьем этапе работы блока 8. В функции данного этапа входит определение истинных геоцентрических координат местоположения ПОО

с учетом измеренных в момент времени t_i пространственных углов ЛПС: крена k_lpsi, тангажа l_lpsi и склонения ζ_lpsi; широты B_lpsi, долготы L_lpsi и высоты H_lpsi его местоположения. С этой целью на вторую группу информационных входов блока 8 с первой группы выходов блока 6 поступают данные о пространственном местоположении ЛПС (B_lps, L_lps, H_lps)_i. На третью группу информационных входов блока 8 с информационных выходов блока угловой ориентации ЛПС 9 подаются значения углов (k_lps, l_lps, ζ_lps)_i, характеризирующие ориентацию ЛПС в пространстве в момент измерения заявляемым устройством параметров ПОО {θ,β}_j. Определение истинных геоцентрических координат

в блоке 8 выполняют в соответствии с выражением (2). Следует отметить, что информация о пространственном положении ЛПС (B_lps, L_lps, H_lps)_i используется блоком 9 для нахождения угловой ориентации ЛПС (k_lps, l_lps, ζ_lps)_i. По этой причине она поступает с группы информационных выходов блока 6 на информационные входы блока 9.Next, the value of the specified coordinates

use at the third stage of operation of block 8. The functions of this stage include determining the true geocentric coordinates of the VET location

taking into account the measured LPS spatial angles measured at time t _i : roll k _lpsi , pitch l _lpsi and declination ζ _lpsi ; latitude B _lpsi , longitude L _lpsi and elevation H _{lpsi of} its location. To this end, the second group of information inputs of block 8 from the first group of outputs of block 6 receives data on the spatial location of the LPS (B _lps , L _lps , H _lps ) _i . The values of angles (k _lps , l _lps , ζ _lps ) _i , characterizing the orientation of the LPS in space at the moment of measuring the VET parameters {θ, β} _{j by the} inventive device, are fed to the third group of information inputs of block 8 from the information outputs of the block of angular orientation LPS 9. Determination of true geocentric coordinates

in block 8 is performed in accordance with the expression (2). It should be noted that information about the spatial position of the LPS (B _lps , L _lps , H _lps ) _{i is} used by block 9 to find the angular orientation of the LPS (k _lps , l _lps , ζ _lps ) _i . For this reason, it comes from the group of information outputs of block 6 to the information inputs of block 9.

в географические

в соответствии с выражением (3).Due to the fact that the use of geocentric coordinates is difficult in practice, the first calculator 8 at the final stage transforms the true geocentric coordinates of VET

into geographical

in accordance with the expression (3).

и угла места

, с помощью которых становится возможным наведение видеокамеры 20 на излучатель. Точное наведение видеокамеры 20 дополнительно предполагает знание ее ориентации в исходном состоянии относительно борта ЛПС: углов крена k_k, тангажа l_k и склонения ζ_k, координат (B_lps, L_lps, H_lps)_i и пространственной ориентации ЛПС на i-й момент наведения t_i видеокамеры 20 (k_lps, l_lps, ζ_lps)_i. Место размещение видеокамеры 20 не зависит от местоположения пеленгаторной АС в силу значительного удаления ПОО от ЛПС и, как правило, выбирается под фюзеляжем носителя. Параметры начальной установки видеокамеры 20 (k_k, l_k, ζ_k) измеряются на подготовительном этапе и вводятся по второй установочной шине 21, а в процессе полета остаются неизменными. Координаты ЛПС и его пространственная ориентация в процессе полета постоянно обновляются с помощью блоков 6 и 9 соответственно.The functions of blocks 17 and 18 include the conversion of the measured coordinates of the j-th VET (B, L, H) _j into the azimuth value

and elevation

by which it becomes possible to point the camcorder 20 to the emitter. Accurate guidance of the video camera 20 additionally requires knowledge of its orientation in the initial state relative to the LPS side: roll angles k _k , pitch l _k and declination ζ _k , coordinates (B _lps , L _lps , H _lps ) _i and the spatial orientation of the LPS at the i-th moment pointing t _{i of the} video camera 20 (k _lps , l _lps , ζ _lps ) _i . The location of the video camera 20 does not depend on the location of the direction-finding speaker due to the significant removal of VET from the LPS and, as a rule, is selected under the carrier fuselage. The initial installation parameters of the video camera 20 (k _k , l _k , ζ _k ) are measured at the preparatory stage and are entered on the second installation bus 21, and remain unchanged during the flight. LPS coordinates and its spatial orientation during the flight are constantly updated using blocks 6 and 9, respectively.

с ЛПС без учета углов ориентации его и видеокамеры 20. Данную функцию выполняет второй вычислитель 17 в соответствии с выражениями 4-8. С этой целью на его первую группу информационных входов поступают координаты j-го ПОО (B, L, H)_j. На второй группе информационных входов присутствуют координаты ЛПС (B_lps, L_lps, H_lps)_i в i-й момент времени. В результате на выходе блока 17 формируют предварительные значения азимута

и угла места

направления на объект путем перевода полученных результатов из декартовой системы координат в сферическую.The conversion of the measured coordinates of the jth VET to its spatial direction is performed in two stages. The first of them determines the direction of VET

with LPS without taking into account the orientation angles of it and the video camera 20. This function is performed by the second computer 17 in accordance with expressions 4-8. For this purpose, the coordinates of the j-th VET (B, L, H) _j are received at its first group of information inputs. On the second group of information inputs there are LPS coordinates (B _lps , L _lps , H _lps ) _i at the i-th point in time. As a result, at the output of block 17, preliminary azimuth values are formed

and elevation

directions to the object by translating the results from a Cartesian coordinate system into a spherical.

и

направления на j-й ПОО. На вторую группу информационных входов поступают значения (k_lps, l_lps, ζ_lps)_i с группы информационных выходов блока 9. По второй установочной шине 21 на третью группу информационных входов поступают значения (k_k, l_k, ζ_k)_i о начальной установке видеокамеры 20. В результате блок 18 определяет искомые углы направления на j-й ПОО

.Using the third computer 18, the orientation of the video camera 20 relative to the side of the LPS is taken into account, as well as the spatial orientation of the LPS itself in accordance with expressions 9-12. For this, preliminary values are supplied to the first group of information inputs of block 18

and

directions to the j-th VET. The second group of information inputs receives values (k _lps , l _lps , ζ _lps ) _i from the group of information outputs of block 9. _{Via the} second installation bus 21, the values (k _k , l _k , ζ _k ) _i of the initial installing the video camera 20. As a result, block 18 determines the desired direction angles at the j-th VET

.

результаты измерений

на выход блока 18 не поступают и перестройка видеокамеры 20 не осуществляется.In addition, the function of block 18 includes an operation to determine the degree of dimming of the direction at the jth VET by the LPS body. When

measurement results

the output of block 18 is not received and the rebuilding of the video camera 20 is not carried out.

измеренные значения

направления на j-й ПОО поступают на вход контроллера видеокамеры 19. В функции последнего входит преобразование входного управляющего сигнала

в механическое воздействие на видеокамеру 20 по ее соответствующей перестройке.In the case of inequality

measured values

directions to the j-th VET are fed to the input of the video camera controller 19. The function of the latter includes the conversion of the input control signal

in the mechanical impact on the camcorder 20 according to its corresponding adjustment.

The synchronization of the blocks 17 and 18 is carried out by the pulses of the generator 33 of the block 7 (see figure 3 and 6).

The spatial parameters of the signal of the VET transmitter are measured using block 7. The latter is a phase interferometer similar to the phase interferometer of a stationary direction-finding station (see Pat. RF 2341811, 2423714), supplemented by a converter of the PPIP into spatial parameters θ _ij and β _ij (see Fig. 6).

Block 7 contains a meter of primary spatial information parameters 24 (Fig. 6), first, second and third storage devices 23, 25, 29, respectively, a block for generating reference values of phase differences Δφ _{l, h, et} (f _ν ) 22, block subtraction 26, the multiplier 27, the adder 28, the block for determining the azimuth and elevation angle 30, the input installation bus 16, the first 31 and second 32 groups of information outputs, the clock generator 33.

At the preparatory stage, the values of the reference PPIP for the frequencies used by the system are calculated. For this purpose, the topology of the antenna system of the mobile direction finding station 5 is introduced. The topology data includes the values of the mutual distances between the antenna elements of the array and its orientation relative to the axis of symmetry of the LPS bead. For this purpose, it is possible to use a vector passing from the second antenna element in the direction of the first antenna element (with the annular structure of the antenna array and placing the latter under the LPS fuselage).

In the process of calculating the reference PPIP, the placement of the reference source alternately around the antenna array with discreteness ∆θ _e and ∆β _p at a distance of several wavelengths is simulated. It is believed that the front of the incoming wave is flat. For each of the angular parameters Δθ _e , e = 1, 2, ..., E and Δβ _p , p = 1, 2, ..., P; the values of the phase differences Δφ _{l, h, et} (f _ν ) are calculated for all possible combinations of pairs of antenna elements of the array and all used frequencies ν

Where

the distance between the plane wave fronts in the lth and hth antenna elements that came to the array at angles Δθ _e in the azimuthal and Δβ _p in the elevation planes, l ≠ h, X _l , Y _l , Z _l and X _h , Y _h , Z _h coordinates of the lth and hth antenna elements of the array. In the case of using an antenna array with a flat arrangement of antenna elements Z _l = Z _{h the} last expression takes the form

Obtained by block 22, the measurement results of the reference values PPIP ∆φ _{l, h, et} (f _ν ) are made out in the form of a reference data array.

When receiving a response signal from the VET at a given frequency ν in block 24, an array of measured PPIP ∆φ _{l, h, iz} (f _ν ) is formed, the structure of the information presentation in which is similar to that considered above. To do this, all the measured values of ∆φ _{l, h, ism} (f _ν ) for all combinations of pairs of antenna elements A _{l, h} for frequency ν are made into an array of PPIP. Consistently for all directions Δθ _e , e = 1, 2, ..., E, and all elevation angles Δβ _p , p = 1, 2, ..., P, the difference between the reference Δφ _{l, h, et} (f _ν ) and the measured ∆φ _{l, h, ISM} (f _ν ) PPIP (in block 26), which are squared (block 27) and summed (block 28) in accordance with the expression

For each direction θ _e , a column vector K _{θ, β} (f _ν ) of dimension P is formed from the corresponding values of K _{θ, β} (f _ν ). The most probable direction of the radio signal arrival in the horizontal and elevation planes is determined by searching for the smallest sum K _{θ, β} (f _ν ) using block 30. At the information outputs of block 30, the spatial signal parameters Δθ _e and Δβ _{p are} generated in the antenna coordinate system lattice. The clock generator 33 provides synchronous operation of all elements of block 7.

The implementation of the elements of block 7 is known and does not cause difficulties. The measurement unit of the primary spatial information parameters 24 is performed according to a scheme similar to stationary direction finding stations (see Pat. RF No. 2341811).

The first, second, and third storage devices 23, 25, and 29, respectively, are buffer storage devices (see Large Integrated Circuits of Storage Devices: Reference Book / A.Yu. Gordeev et al. - M.: Radio and Communication, 1990. - 288 p.).

The subtraction block 26 and the adder 28 are implemented according to the well-known scheme (see Red E. Reference manual on high-frequency circuitry: Circuits, blocks, 50 ohm technology: Translated from German - M .: Radio and communications, 1990. - 256 p. )

The multiplier 27 implements the operation of squaring, and its implementation is covered in the book of Red E. Reference manual on high-frequency circuitry: Circuits, blocks, 50 ohm technology: TRANS. with him. - M .: Radio and communications, 1990. - 256 p.

The unit for the formation of a reference set of primary spatial information parameters 22 is intended to create tables of reference values of phase differences Δφ _{l, h, et} (f _ν ) of various pairs of antenna elements l, h = 1, 2, ..., R; l ≠ h; often given V, and various directions of signal arrival with a given discreteness ∆θ _e , and ∆β _p , e = 1, 2, ..., E; E · ∆θ _e = 2π, p = 1, 2, ..., P, P · ∆β _p = π. At the preparatory stage, the following initial data is set on the first installation bus 16:

azimuth processing sector {θ _min , θ _max };

processing sector by elevation {β _min , β _max };

the accuracy of finding the angular parameter Δθ _e ;

the accuracy of finding the elevation parameter ∆β _p ;

topology of placement of antenna elements {d _{l, h} };

spacing of antenna elements in the vertical plane {Z _{l, h} };

the nominal frequencies used are f _ν and the signal spectrum width ∆f _ν .

The values and {β _min , β _max } depend on the location of the antenna array relative to the LPS side. The accuracy of finding the goniometric parameters Δθ _e and Δβ _{p are} determined, ultimately, by the given accuracy of location. The task of block 22 is to calculate ideal (reference) phase differences for all possible pairs of antenna elements Δφ for a given direction finder, given frequencies f _ν and given topology of the antenna array with discreteness in azimuth Δθ _e and elevation angle Δβ _{p l, h, et} (f _ν ).

Block 22 can be made in the form of an automaton based on the high-performance 16-bit microprocessor K1810VM86 (see Veniaminov V.N. et al. Chips and their application: Reference manual - 3rd ed., Revised and additional - M .: Radio and communications, 1990. - 512 p.).

The implementation of the block for determining the azimuth and elevation angle 30 is known and widely covered in the literature. Block 30 is used to determine the minimum sum of squared residuals (see expression 16). Block 30 can be implemented in a pyramid scheme using high-speed comparators (see. Shevkoples B.V. Microprocessor structures. Engineering solutions: Handbook. - 2nd ed. Revised and enlarged. - M .: Radio and communications. 1990. - 512 s.).

The location determination unit 6 is designed to measure latitude β _lpsi , longitude L _lpsi and the height H _{lpsi of} finding LPS at time t _i (the moment of measuring all the basic parameters of LPS and VET). This function can be implemented using a GPS navigator (see GPS navigators 12, 12XL, 12CX. User manual. E-mail: admin@connect.ru).

The block of angular orientation 9 is designed to determine at the time of measurements t _{i the} angular orientation of the LPS: roll angles k _lpsi , pitch l _lpsi , and declination ζ _lpsi . The implementation of block 9 is known and widely covered in the literature (see Pat. RF 2371733, IPC G01S 5/10. Method for determining the angular orientation of aircraft. Publ. October 27, 2009; Pat. RF 2374659, IPC7 G01S 5/00, 5/02 Method and device for determining the angular orientation of aircraft. Published. November 27, 2009).

The first calculator 8 is intended for sequential conversion of VET coordinates from the coordinate system of the antenna system through the LPS coordinates, the system of geocentric coordinates into geographical coordinates (see figure 4). The fourth group of information inputs from the outputs of block 8 receives the range to the VET d _ij . The second and third groups of information inputs of block 8 receive the results of measuring the spatial parameters of the VET signal θ _ij and β _ij obtained by block 7. The first group of information inputs of block 8 receives information about the location of the LPS at the time t _i (B _lps , L _lps , H _lps ) _i . The fifth group of information inputs of block 8 receives the results of measurements (performed at time t _i ) of the LPS angular orientation (k _lps , l _lps , ζ _lps ) _i from the outputs of block 9. According to the data obtained by blocks 10, 7, 6, and 9, the calculator 8 sequentially performs operations in accordance with the expressions 1, 2 and 3.

The implementation of the block of difficulties does not cause. Block 8 can be made on the basis of a specialized microprocessor TMS320c6416, the algorithm of which is presented in figure 4.

The control unit 10 is designed to extract control information from the central control point 3 by demodulating, decoding and identifying the information part, storing it (maintains a database with the hallmarks of VET, the search and maintenance of which is assigned to the mobile direction finding station 5), periodic formation VET the signal "Control", receiving a response from the VET, the measurement time interval τ _ij between these signals, to determine coordinates d _ij to VET, the results of seats determining VET (in the units 8 and 20) is carried forming control commands operative on the movement of the group forming the information unit based on the results of operation for the item 3.

The implementation of block 10 does not cause difficulties. The control unit 10 can be implemented on a microprocessor TMS320c6416 in conjunction with block 8. The algorithm of the block is shown in Fig.11.

Duplex radio station 13 and modem 14 are implemented using ICOM and Kantronics KRS-3 Plus products IC-F310S, respectively.

The implementation of the display unit 15 is known and does not cause difficulties (see Bystrov A.Yu. et al. One hundred schemes with indicators / Bystrov A.Yu. et al. - M.: Radio and Communications, 1998. - 128 p.). As the block 15 can be used a monitor, for example SyncMaster 940n.

и угла места

направления на j-й ИРИ.Calculators 17 and 18 are designed to convert the measured coordinates (B, L, H) _j to azimuth values

and elevation

directions to the j-th Iran.

An embodiment of the block 17 is shown in Fig.7, the algorithm of its functioning is shown in Fig.8. The second calculator 17 contains the first, second, and third blocks of subtraction 34, 35, and 37, respectively, the first and second blocks of memory 36 and 40, respectively, the first, second, third, fourth, and fifth multipliers 38, 41, 42, 43, and 44, respectively, the block computing the cos function 39, the adder 45, the square root extraction unit 46, the first and second arctg function calculation blocks 47 and 48, respectively. Using these blocks, expressions 4-8 are implemented. Blocks 36 and 40 contain the values of the constants π / 180 and D _eq / 360, respectively.

Synchronization of operations is provided by the pulses of the generator 33 of block 7. The implementation of blocks 34-48 does not cause difficulties. They can be implemented on TTL logic chips.

выражение 9). Разветвитель 69 выполняет обратную функцию, на его выходах раздельно присутствуют значения Х₁, Y₁, Z₁ вектора

(выражение 10). В функцииThe implementation of block 18 is shown in Fig.9, and the algorithm of its operation in Fig.10. The third calculator 18 contains the first and second blocks for calculating the sin-functions 49 and 52, respectively, the first and second blocks for calculating the cos-functions 50 and 51, respectively, the first 53, second 54, third 58, fourth 60, fifth 62, sixth 64, seventh 66 and eighth 68 multipliers, first and second inverters 55 and 74, respectively, adder 56, first 57, second 59, third 61, fourth 63, fifth 65 and sixth 67 blocks of formation of rotation matrices corresponding to the parameters k _lps , l _lps , ζ _lps , _{k k, l k, ζ k} , coupler 69, power calculation units 70, divider 71, arctg-calculation unit 72 and functions bl to the arcsin-calculation function 73. With these units implement expressions 9-12. Blocks 57 to 67 are performed on microchips of reprogrammable read-only memory devices. Moreover, blocks 57 and 63 correspond to rotation matrices A ₁ (φ), 59 and 65 to rotation matrices A ₂ (φ), and blocks 61 and 67 correspond to rotation matrices A ₃ (φ) (see expression 11). In the memory microcircuits of these blocks, the functionals and constants are permanently entered in accordance with (11). The variables k are the values of k _lps , l _lps , ζ _lps and k _k , l _k , ζ _k . The latter are recorded in blocks 57, 59 and 61 before starting work on the second installation bus 21 and remain unchanged. The functions of the adder 56 includes combining the values of X ₂ , Y ₂ , Z ₂ (vector formation

expression 9). The splitter 69 performs the inverse function, the values X ₁ , Y ₁ , Z _{1 of the} vector are separately present at its outputs

(expression 10). In function

Эта функция выполняется в соответствии с известным выражениемblock 70 includes finding the module (norm of length) of the vector

This function is performed in accordance with a known expression.

The implementation of all these elements of the third computer 18 is known, can be performed on the elementary logic of the TTL-series microcircuits. To reduce the overall dimensions and current consumption, it is advisable to implement blocks 17, 18 on a specialized microprocessor TMS320c6416 (see TMS320c6416: http: //focus/ti/com/docs/prod/folders/print/TMS320c6416.html), together with blocks 8 and 10.

In addition, blocks 8, 10, 17 and 18 can be implemented on a PC. The following requirements can be noted as the main requirements: Pentium 300 MHz processor, 128 MB of RAM, 25 MB of free hard disk space. Software component: operating system Windows XP SP2 and higher, library. NetFrameWork 3.5.

Blocks 19 and 20 can be implemented in one commercially available product. The experiments used the robotic speed dome camera "SpeedDome Ultra 8" (35x series). The camcorder has a mounting base, a protected housing, 35x optical zoom, continuous autofocus, EIS (electronic image stabilizer), high rotation speed (up to 360º / s), controlled via RS-422 protocol.

Claims (2)

1. The method of monitoring the state of the protected object, which consists in the fact that the data on the true location of the transceivers, stationary protected objects and the distinctive signs of all protected objects are entered into the database of the central control point in case of unauthorized access to the protected object or by its owner’s command a radio transmitter installed on the guarded object generates an alarm signal that includes information about the hallmarks of the guarded object, encoded and sound the alarm, receive the alarm closest to the object transceivers, relay the alarm to the central control point together with data on the number of the transceiver, decode the alarm from which information about the distinguishing features of the protected object is extracted, identify them by comparison with previously entered into the database the central control point with the hallmarks of protected objects; at the central control point, a team is formed to connect to work under of a mobile direction finding station on a flight-lifting facility (LPS), with the help of which the transmitter of the j-th guarded moving object (VET) is activated at time t _i and the delay τ _ij in signal reception from it is measured, where τ _ij = t _{pr i} -t _from.i -t _m is the response time, t _from.i is the time the request was sent, t _m is the time it takes the transmitter to process the request and generate a response, determine the removal d _ij - VET from the mobile direction-finding station

, where c is the speed of light, at the same time determine the location of the moving direction-finding station (B _lps , L _lps , H _lps ) _i , where B _lps , L _lps , H _lps respectively the latitude, longitude and height of the LPS, roll angles

pitch

heading angle

and declensions

LPS of the direction finding point, azimuth θ _ij and elevation angle β _ij at the VET in the coordinate system of the antenna system, and the declination

defined as the difference between the track

and course

angles LPS, determine the preliminary coordinates of VET at time t _i

in the left-handed Cartesian coordinates of the antenna system, specify the coordinates of VET

based on the a priori known orientation of the antenna system relative to the LPS (k _ant , l _ant , ζ _ant ) by sequential multiplication

into three rotation matrices corresponding to Euler angles, after which the true geocentric coordinates of the VET location are determined

taking into account the measured at the time t _{i the} spatial angles of the LPS: roll

pitch

and declination

latitude

and longitudes

and heights

and then convert the true geocentric coordinates

VET locations in geographic coordinates

send the task force to this point, specify the movement of the task force and LPS in accordance with the direction of the VET movement until it is detected, characterized in that at the preparatory stage a video camera is installed under the LPS fuselage, and in the process of work at the central control point according to the coordinates of the transceivers, accepted alarm signal LPS is determined departure area, as determined after takeoff LPS removal j-th VET relative coordinates of LPS parallel _ij dL, meridian dB _ij and perpendicular (height) dH _ij, Calcd m preliminary values of the azimuthal angle

and elevation

video camera settings without taking into account the spatial orientation of LPS and video cameras, convert spherical coordinates

and

jth VET to the normal coordinate system

and further into the coordinate system of the camcorder

taking into account the spatial orientation of the LPS and the camera, the true values of the azimuthal angle θ _kj and the elevation angle β _{kj of the} orientation of the camera on the j-th VET are determined, at the same time, the angle of closure of the direction of the direction on the j-th VET by the LPS body is determined, and when the condition β _kj <0 is oriented the video camera in accordance with the parameters θ _kj and β _kj , specify the location of the VET taking into account the binding of its video image to the elements of the terrain, direct the operational group to this point, specify the movement of the operational group and LPS until the VET is detained . 2. The device for monitoring the state of the protected object, including a central control point and T transceivers, each of which is connected to the central control point by an individual duplex communication channel, L stationary guarded objects and P movable guarded objects, each of which contains a set of security alarm equipment and a radio station, and a mobile direction finding station on a flight-lifting facility (LPS), which is connected by a duplex communication channel to a central control point or the nearest transceiver tchikom, the movable DF para formed comprising a determination unit LPS location _{(B lps, L lps, H} lps) i, measuring the spatial parameters {θ _i, β _i}, the first calculator adapted for sequential conversion coordinate position of the movable protected object (VET ) from one coordinate system to another block LPS angular orientation _{(k lps, l lps, ζ} lps), a control unit for periodically generating a request command "beacon" VET and analyzing the response received, database maintenance, and also determined the range of VET, receiving and transmitting antennas, a duplex radio station, a radio modem and an indication unit, the group of information inputs of the spatial parameter meter being the first installation bus of the mobile direction finding station, and the first and second groups of its information outputs connected to the second and third groups of information inputs of the first a computer, the first group of information inputs of which is connected to a group of information inputs of an LPS angular orientation unit and a group of information outputs LPS location unit, the fifth group of information inputs of the first computer is connected to the group of information outputs of the LPS angular orientation unit, and the group of information outputs is connected to the first group of information inputs of the control unit and the first group of information inputs of the display unit, the second group of information inputs of which are connected to the second group information outputs of the control unit, the first group of information outputs of which are connected to the fourth group of information inputs the first calculator, and the third information output is connected to the first information input of the radio modem, the first information output of which is connected to the second information input of the control unit, and the second information output is connected to the first information input of the duplex radio station, the first information output of which is connected to the second information input of the radio modem, the second the information input of the duplex radio station is connected to the receiving antenna, and the second information output is connected to the transmitting antenna, scheesya in that the movable point DF additionally administered serially connected second calculator for determining a direction for VET

without taking into account the spatial orientation of LPS and video cameras, the third computer is designed to determine the direction of VET

taking into account the spatial orientation of the LPS and video camera, a video camera controller designed to convert a control signal

into the corresponding mechanical effect on the video camera and the video camera, the first group of information inputs of the second computer connected to the group of information outputs of the first computer, and the second group of information inputs to the group of information outputs of the LPS location unit, the second group of information inputs of the third computer connected to the group of information the outputs of the block of the angular orientation of the aircraft, the third group of information inputs is the second installation bus th mobile direction finding station, and the synchronization input is combined with the synchronization input of the second calculator and connected to the synchronization output of the spatial parameter meter.

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