RU2514197C1 - Method and device for determination of airborne vehicle angular attitude - Google Patents

Abstract

FIELD: aircraft engineering.

SUBSTANCE: phase incursion varying in time at metre receiver circuit analogue parts are defined. For this, order of measurement matrix elements formation is changed. Namely, phase difference between appropriate reference and measured phase differences of signals from S spacecraft with location known a priori. Signals of one of S detected spacecraft are taken to be reference difference signals. Difference between difference signals of S-1 spacecraft and appropriate difference signals of reference spacecraft. Said signals are squared and summed over all possible pairs of antenna elements and over all spacecraft. Proposed device comprises M identical receiving channels where MM≥4, reference signal generators, clock oscillator, S correlators, S analysis unit, S+1 switchboard, correlators initial setting unit, 2S subtractors, two memory units, computer-generator, control unit, decoder, indication unit, three input setting buses, radio navigator and antenna element interconnected in a definite manner.

EFFECT: higher precision of determination of bank, pitch and azimuthal angles.

2 cl, 13 dwg

Description

The inventive objects are united by one inventive concept, relate to radio engineering and can be used to determine the angular orientation of aircraft (objects) in space and on the plane.

The known method of angular orientation of the object on the radio navigation signals of the spacecraft (options) (Pat. RF №2122217, IPC6 G01S 5/02, publ. In bull. No. 32, 1998). The method is based on the reception of signals from the S by two or more antenna-receiving devices located parallel to one or two axes of the object, isolating the signal with the Doppler frequency, determining the phase incursion for the measurement time interval and determining the angular position of the object, during the measurement time interval, m measuring phase shifts between pairs of antenna receivers, and the angular position of the object is determined by solving a system of equations.

The disadvantages of the analogue method and its variants are the need to ensure the immobility of the aircraft (object) during the measurement and significant time costs. In addition, analogues when measuring the path angle (azimuth) do not take into account the drift angle of the object.

There is a method of angular orientation of objects according to the signals of the spacecraft of global navigation satellite systems (Pat. RF №2105319, IPC6 G01S 5/00, publ. 02.20.98, bull. No. 5). The method is based on the reception of signals from the spacecraft of global navigation satellite systems to the antenna array (AR) of M, M≥4, spatially separated antenna elements (AE) located in the same plane parallel to the two axes of symmetry of the object, measuring the phase shift between the signals received in the AE from each spacecraft, a single change in the angular position of the plane of the antenna array and re-measurement of the phase shift between the signals received in the AE, determining the angular position of the axes of the measured object by solving the main system s equations and additional systems.

The analogue method allows one to accurately measure the orientation of objects (azimuth and roll) using the signals of the spacecraft of global navigation satellite systems.

The disadvantage of the analogue is the large time required to solve the main and additional system of equations, the last of which is non-linear. In addition, to determine the angular position of an object (AR), it is necessary to change the angular position of the AR by an arbitrary angle, and then return the antennas to their original state (to ensure the formation of an additional system of equations). Fulfillment of this condition requires the presence of an AR turn device or maneuvers of the object on board the object, which is not always possible. Other disadvantages of the analogue are:

inability to measure pitch angle;

when measuring the path angle, the drift angle of the object is not taken into account (not measured).

, измеренные разности фаз возводят в квадрат и суммируют по всем M-1 используемым в работе парам АЭ, результаты вычислений ∆φ₁(α₀,β₀,θ₀) запоминают, принимают сигналы других КА и определяют значения ∆φ_s(α₀,β₀,θ₀) для всех S наблюдаемых КА, s=1, 2, …, S, результаты вычислений суммируют по всем S отмеченным в работе КА и запоминают в элементе r(1,1,1) трехмерной матрицы измерений R(α,β,θ), вычисляют значения ∆φ(α_i,β_j,θ_l) для всех возможных углов ориентации АР (α_i,β_j,θ_l), i=0, 1, 2, …, I; j=0, 1, 2, …, J; l=0, 1, 2, …, L, а полученные результаты записывают в соответствующие элементы r(i+1,j+1,l+1) трехмерной матрицы измерений R(α,β,θ), за измеренную ориентацию АР и ЛА принимают значения углов (α_i,β_j,θ_l), соответствующие элементу r(i+1,j+1,l+1) матрицы измерений R(α,β,θ), имеющему минимальное значение.The closest in technical essence to the claimed is a method for determining the angular orientation of aircraft (Pat. RF №2374659, IPC G01 / S 5/00, publ. 11/27/2009, bull. No. 33). The method is based on the fact that at the preparatory stage or during the flight of the aircraft, the sphere above the antenna array is evenly divided into N = D / D ₀ elementary snap zones, where D and D ₀ are, respectively, the area of the sphere at a distance of several thousand kilometers from the center of the AR and the elementary snap zones, each snap zone is assigned a serial number b _n , n = 1, 2, ..., N, the coordinates of the centers of the elementary snap zones are determined, the ARs are made from M, M≥4, spatially separated antenna elements located in one plane parallel to two about LA pits symmetry, for each pair of AE A _m0, m = 1, 2, ..., M-1 calculated reference values of phase differences of arrival of signals with respect to position coordinate point of each elementary Δφ _et.m0 binding zone (α _0, β _0, θ ₀ ) _n , where α _i , β _j , θ _l are the values of the pitch, roll and azimuth angles of the AR, respectively, successively discrete change the orientation of the AR to the given angles ∆α, ∆β, ∆θ in predefined intervals {α _min , α _max }, {β _min , β _max } and {θ _min , θ _max }, (α _max -α _min ) / Δα = I, (β _max- β _min ) / Δβ = J, (θ _max -θ _min) / Δθ = L AP center coordinates relative to the center elementary x anchor zones for each position of AP _{(α i, β j, θ} l) and, for each elementary center anchor zones is calculated and stored reference values of phase differences Δφ _{et.m0 (α i, β j, θ} l) n in works receive signals from the first detected spacecraft (SC) of the global navigation satellite system, measure the phase differences of the received signals in the antenna elements of the AP ∆φ _ism.m0 (α, β, θ), calculate the difference between the reference phase differences corresponding to the angles of the AP α ₀ , β _0, θ ₀ to b _n -th elementary binding zone and the measurement of different phase phases of the signals of the first spacecraft with an a priori known location $$\mathrm{<figure-callout\; id="0"\; label="\Delta \; \phi \; m"\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\Delta \; </figure-callout>}{\varphi }_m^{}{0}_{\mathrm{one}}^{}{\left({\mathrm{<figure-callout\; id="0"\; label="\alpha "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="\beta "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\beta </figure-callout>}}_0,{\theta }_0\right)}_n=\Delta {\varphi }_{\mathrm{uh}t.m0}{\left({\mathrm{<figure-callout\; id="0"\; label="\alpha "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="\beta "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\beta </figure-callout>}}_0,{\theta }_0\right)}_n-\Delta {\varphi }_{\mathrm{and}sm.\mathrm{<figure-callout\; id="0"\; label="m"\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">m</figure-callout>}0}^{\mathrm{one}}\left(\alpha ,\beta ,\theta \right)$$

, the measured phase differences are squared and summed over all M-1 AE pairs used in the work, the calculation results Δφ ₁ (α ₀ , β ₀ , θ ₀ ) are stored, signals from other spacecraft are received, and Δφ _s (α ₀ , β ₀ , θ ₀ ) for all S of the observed spacecraft, s = 1, 2, ..., S, the calculation results are summed over all S noted in the spacecraft and stored in the element r (1,1,1) of the three-dimensional measurement matrix R ( α, β, θ), calculate the values Δφ (α _i , β _j , θ _l ) for all possible orientation angles of the AP (α _i , β _j , θ _l ), i = 0, 1, 2, ..., I; j = 0, 1, 2, ..., J; l = 0, 1, 2, ..., L, and the results are written into the corresponding elements r (i + 1, j + 1, l + 1) of the three-dimensional measurement matrix R (α, β, θ), for the measured orientation of the AR and The aircraft take the values of the angles (α _i , β _j , θ _l ) corresponding to the element r (i + 1, j + 1, l + 1) of the measurement matrix R (α, β, θ) having a minimum value.

The prototype method allows to reduce the time spent on the measurement of the roll and azimuth angles taking into account the drift angle and provides an additional measurement of the pitch angle.

As a disadvantage, the following should be noted. Known analogues and prototype do not track changes in the phase incursion φ _kan in the analog part of the receiving paths, which is part of the measured phase of the signal. The latter over time leads to incorrect results. As a result of this, there is a need for regular calibration of analog paths.

A device for the angular orientation of objects according to the signals of the spacecraft global navigation satellite systems according to Pat. RF №2185637, IPC7 G01S 5/00, 5/02, publ. 07/20/2002, bull. No. 20.

The analog device contains M, M≥, identical receiving channels from series-connected: an antenna element, a low-noise amplifier, a radio path and a digital processing unit, a reference signal generating unit, the first group of outputs of which is connected to the second inputs of the radio paths of the receiving channels, the second group of outputs is connected to the second inputs of the digital processing blocks of the receiving channels, a clock, the first output of which is connected to the input of the driver of the reference signals, and the second output is connected to the synchronization input and a computing processor, the groups of information inputs of which are connected to the corresponding groups of information outputs of the digital processing blocks of the receiving channels.

The disadvantages of the analog device are significant time costs for measuring the roll and azimuth angles, the drift angle of the aircraft is not taken into account, and an additional measurement of the pitch angle is required.

The closest in technical essence to the claimed device for determining the angular orientation of aircraft is the device according to Pat. RF №2374659, IPC G01S 5/00, publ. 11/27/2009.

The device for determining the angular orientation of aircraft includes M, M≥4, identical receiving channels from a series-connected antenna element, low-noise amplifier, radio path and digital processing unit, designed to convert an analog signal into digital form and decompose it into quadratures, the two groups of outputs of which are the first and second groups of information outputs of the corresponding reception channel, a block for generating reference signals, the output of which is connected to the second inputs of the radio path in receiving channels, clock, S correlators, S analysis units for evaluating the quality of signals received from spacecraft, S + 1 switch, initial installation of correlators, S phase difference calculation blocks, S subtraction blocks, memory block, calculator designed to form a three-dimensional measurement matrix R (α, β, θ), a decision block designed to find an element of a three-dimensional measurement matrix with a minimum value, a control unit designed to store the number of centers of elementary zones of binding and comparing these coordinates with the coordinates of the detected spacecraft, an indication unit, the first, second and third input installation buses, a radio navigator and the M + 1 antenna element, the output of which is connected to the input of the radio navigator, the first information output of which is connected to the control input of the initial installation block of the correlators, the groups of information inputs of which are combined with the corresponding groups of information inputs of the correlators and the corresponding information groups of the output channels of the receiving channels, the clock inputs of which are combined and connected to the clock inputs of the digital processing units of the receiving channels, the output of the clock generator, synchronization inputs of the correlators, clock inputs of the control unit, phase difference calculation blocks, memory block, subtraction blocks, calculator-shaper, acceptance block solutions, correlators initial installation unit, S + 1 switch, analysis units, the second groups of information outputs of which are connected to groups of information inputs of the corresponding phase difference calculation blocks, the first outputs of the analysis blocks are connected to the control inputs of the respective switches, the third groups of outputs of the analysis blocks are connected to the first groups of information inputs of the corresponding switches, the groups of information inputs of the analysis blocks are connected to the information outputs of the corresponding correlators, the first groups of control inputs of which are connected to the corresponding first groups of information outputs of the initial installation block of the correlators, the second groups of inputs correlators are connected to the output groups of the respective switches, the second information input groups of which are connected to the corresponding second information output groups of the correlators initialization unit, the information outputs of the phase difference calculation blocks are connected to the corresponding input groups of the S + 1 switch, the address input group of which is connected with a group of address outputs of the initial installation block of the correlators, a S groups of information outputs are connected to groups of inputs the corresponding corresponding subtraction blocks, the groups of inputs of which are reduced are combined and connected to the group of information outputs of the memory block, the group of information inputs of which is the second input installation bus of the device for determining the angular orientation of aircraft, and the group of address inputs is connected to the group of information outputs of the control unit, the second group of information the inputs of which is the first input installation bus device for determining the angular orientation of the aircraft, p the first group of information inputs of the control unit is connected to the second group of information outputs of the radio navigator, S groups of information inputs of the calculator-shaper are connected to groups of information outputs of the corresponding subtraction units, and the group of information outputs of the calculator-shaper is connected to the first group of information inputs of the decision block, the second group of information the inputs of which are connected to the third input installation bus of the device for determining the angular orientation of the aircraft pparatov, and the group of information outputs connected with the group of information inputs of the indication unit.

The prototype device provides a reduction in time spent on the measurement of heel and azimuth angles taking into account the drift angle and additional measurement of the pitch angle. However, the prototype also has a disadvantage. To ensure the specified accuracy characteristics, periodic calibration of the analog part of the receiving paths is required.

The purpose of the claimed technical solutions is to develop a method and device for determining the angular orientation of aircraft, providing increased accuracy in estimating the spatial angles of an object by eliminating the influence of phase incursions in the analog paths of the meter.

, вычисление разности между эталонными разностями фаз, соответствующими углами АР α₀,β₀,θ₀ для b_n-й элементарной зоны привязки и измеренными разностями фаз сигналов первого КА с априорно известным местоположением $$\Delta {\varphi }_{m0}^1{\left({\alpha }_0,{\beta }_0,{\theta }_0\right)}_n=\Delta {\varphi }_{эт.m0}{\left({\alpha }_0,{\beta }_0,{\theta }_0\right)}_n-\Delta {\varphi }_{изм.m0}^1\left(\alpha ,\beta ,\theta \right)$$

, возведение в квадрат измеренных разностей фаз и их суммирование по всем M-1 используемым в работе парам АЭ, запоминание результатов вычислений ∆φ₁(α₀,β₀,θ₀) прием сигналов других КА и определение значений ∆φ_s(α₀,β₀,θ₀) для всех S наблюдаемых КА, s=1, 2, …, S, суммирование результатов вычислений по всем S отмеченным в работе КА и запоминание в элементе r(1,1,1) трехмерной матрицы измерений R(α,β,θ), вычисление значения ∆φ(α_i,β_j,θ_l) для всех возможных углов ориентации АР (α_i,β_j,θ_l), i=0, 1, 2, …, I; j=0, 1, 2, …, J; l=0, 1, 2, …, L, запись полученных результатов в соответствующие элементы r(i+1,j+1,l+1) трехмерной матрицы измерений R(α,β,θ), принятие за измеренную ориентацию АР и ЛА значений углов (α_i,β_j,θ_l), соответствующих элементу r(i+1,j+1,l+l) матрицы измерений R(α,β,θ), имеющему минимальное значение. Для формирования матрицы измерений R(α,β,θ) найденные для первого КА разности фаз $$\Delta {\varphi }_{m0}^1{\left({\alpha }_0,{\beta }_0,{\theta }_0\right)}_n$$

вычитают из соответствующих значений $$\Delta {\varphi }_{m0}^s{\left({\alpha }_0,{\beta }_0,{\theta }_0\right)}_n$$

остальных S-1 КА: $$\Delta \Delta {\varphi }_{m0}^{s1}\left({\alpha }_0,{\beta }_0,{\theta }_0\right)=\Delta {\varphi }_{m0}^s{\left({\alpha }_0,{\beta }_0,{\theta }_0\right)}_n-\Delta {\varphi }_{m0}^1{\left({\alpha }_0,{\beta }_0,{\theta }_0\right)}_n$$

. Результаты вычитания возводят в квадрат и суммируют по всем M-1 используемым в работе парам АЭ и S-1 КА для формирования значения ∆φ(α₀,β₀,θ₀) с последующим запоминанием в элементе r(1,1,1) трехмерной матрицы измерений R(α,β,θ), аналогично формируют остальные элементы r[i,j,l) матрицы R(α,β,θ) для всех возможных углов ориентации АР (α_i,β_j,θ_l).In the claimed method, the presented goal is achieved by the fact that in the known method for determining the angular orientation of aircraft, including at the preparatory stage or during the flight of the aircraft, uniformly breaking the sphere over the AR into N = D / D ₀ elementary snap zones, where D and D ₀ are, respectively the area of the sphere at a distance of several thousand kilometers from the center of the AR and the elementary binding zone, assigning each reference zone a serial number b _n , n = 1, 2, ..., N, determining the coordinates of the centers of elementary binding zones, performing AR from M, M≥4, spatially separated antenna elements located in the same plane parallel to the two symmetry axes of the aircraft, calculation for each AE pair A _m0 , m = 1, 2, ..., M-1, reference values of the phase differences of the signal arrival relative to the coordinates of the location of the centers of each elementary binding zone ∆φ _et.m0 (α ₀ , β ₀ , θ ₀ ) _n , where α _i , β _j , θ _l are the values of the pitch, roll and azimuth angles of AR, a sequential discrete change in the orientation of the AR by set angles Δα, Δβ, Δθ in predefined intervals {α _min , α _max }, {β _min , β _max } and {θ _min , θ _max }, (α _max- α _min ) / Δα = I, (β _max- β _min ) / Δβ = J, (θ _max -θ _min ) / Δθ = L without changing the coordinates the center of the AR relative to the center of the elementary binding zones, calculating and storing the reference values of the phase differences ∆φ _et.m0 (α _i , β _j , θ _l ) for each position of the AR (α _i , β _j , θ _l ) and for each center of the elementary zones binding, during operation, receiving signals from the first detected spacecraft of the global navigation satellite system, measuring the phase difference of the received signals in the antenna elements of the AR $$\Delta {\varphi }_{\mathrm{and}sm.\mathrm{<figure-callout\; id="0"\; label="m"\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">m</figure-callout>}0}^{\mathrm{one}}\left(\alpha ,\beta ,\theta \right)$$

, calculating the difference between the reference phase differences corresponding to the angles AP α ₀ , β ₀ , θ ₀ for the b _n- th elementary reference zone and the measured phase differences of the signals of the first spacecraft with an a priori known location $$\mathrm{<figure-callout\; id="0"\; label="\Delta \; \phi \; m"\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\Delta \; </figure-callout>}{\varphi }_m^{}{0}_{\mathrm{one}}^{}{\left({\mathrm{<figure-callout\; id="0"\; label="\alpha "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="\beta "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\beta </figure-callout>}}_0,{\theta }_0\right)}_n=\Delta {\varphi }_{\mathrm{uh}t.m0}{\left({\mathrm{<figure-callout\; id="0"\; label="\alpha "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="\beta "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\beta </figure-callout>}}_0,{\theta }_0\right)}_n-\Delta {\varphi }_{\mathrm{and}sm.\mathrm{<figure-callout\; id="0"\; label="m"\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">m</figure-callout>}0}^{\mathrm{one}}\left(\alpha ,\beta ,\theta \right)$$

squaring the measured phase differences and summing them over all M-1 AE pairs used in the work, storing the calculation results Δφ ₁ (α ₀ , β ₀ , θ ₀ ) receiving signals from other spacecraft and determining the values Δφ _s (α ₀ , β ₀ , θ ₀ ) for all S of the observed spacecraft, s = 1, 2, ..., S, the summation of the calculation results for all S noted in the spacecraft and storing in the element r (1,1,1) of the three-dimensional measurement matrix R ( α, β, θ), calculation of the value ∆φ (α _i , β _j , θ _l ) for all possible orientation angles of the AP (α _i , β _j , θ _l ), i = 0, 1, 2, ..., I; j = 0, 1, 2, ..., J; l = 0, 1, 2, ..., L, recording the results in the corresponding elements r (i + 1, j + 1, l + 1) of the three-dimensional measurement matrix R (α, β, θ), taking the AR and LA of the values of the angles (α _i , β _j , θ _l ) corresponding to the element r (i + 1, j + 1, l + l) of the measurement matrix R (α, β, θ) having a minimum value. To form the measurement matrix R (α, β, θ), the phase differences found for the first SC $$\mathrm{<figure-callout\; id="0"\; label="\Delta \; \phi \; m"\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\Delta \; </figure-callout>}{\varphi }_m^{}{0}_{\mathrm{one}}^{}{\left({\mathrm{<figure-callout\; id="0"\; label="\alpha "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="\beta "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\beta </figure-callout>}}_0,{\theta }_0\right)}_n$$

subtract from the corresponding values $$\Delta {\varphi }_{m0}^s{\left({\mathrm{<figure-callout\; id="0"\; label="\alpha "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="\beta "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\beta </figure-callout>}}_0,{\theta }_0\right)}_n$$

other S-1 KA: $$\Delta \Delta {\varphi }_{m0}^{s\mathrm{one}}\left({\mathrm{<figure-callout\; id="0"\; label="\alpha "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="\beta "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\beta </figure-callout>}}_0,{\theta }_0\right)=\Delta {\varphi }_{m0}^s{\left({\mathrm{<figure-callout\; id="0"\; label="\alpha "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="\beta "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\beta </figure-callout>}}_0,{\theta }_0\right)}_n-\mathrm{<figure-callout\; id="0"\; label="\Delta \; \phi \; m"\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\Delta \; </figure-callout>}{\varphi }_m^{}{0}_{\mathrm{one}}^{}{\left({\mathrm{<figure-callout\; id="0"\; label="\alpha "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="\beta "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\beta </figure-callout>}}_0,{\theta }_0\right)}_n$$

. The subtraction results are squared and summed over all M-1 pairs of AEs and S-1 KA to form the value ∆φ (α ₀ , β ₀ , θ ₀ ) with subsequent storage in the element r (1,1,1) the three-dimensional measurement matrix R (α, β, θ), similarly form the remaining elements r [i, j, l) of the matrix R (α, β, θ) for all possible orientation angles of the AP (α _i , β _j , θ _l ).

Thanks to the new combination of features in the claimed method, the phase incursion occurring in the analog paths of the meter is eliminated, which improves the accuracy of estimating the spatial orientation of the aircraft.

In the claimed device for determining the angular orientation of aircraft, the goal is achieved by the fact that in the known device, consisting of M, M≥4, identical receiving channels from a series-connected antenna element, low-noise amplifier, radio path and digital processing unit designed to convert an analog signal into digital form and its decomposition into quadratures, the two groups of outputs of which are the first and second groups of information outputs of the corresponding receive channel, block of formation reference signals, the output of which is connected to the second inputs of the radio paths of the receiving channels, a clock generator, S correlators, S analysis units, designed to assess the quality of signals received from spacecraft, S + 1 switches, the initial installation of correlators, S phase difference calculation units, S of the first subtraction blocks, the first memory block, the calculator-shaper, designed to form a three-dimensional measurement matrix R (α, β, θ), the decision block, designed to find the element a three-dimensional measurement matrix with a minimum value, a control unit designed to store the coordinates of the centers of the elementary binding zones and compare these coordinates with the coordinates of the detected spacecraft, display unit, first, second and third input mounting buses, a radio navigator and the M + 1 antenna element, the output of which is connected to the input of the radio navigator, the first information output of which is connected to the control input of the initial installation block of the correlators, the group of information inputs of which combined with the corresponding groups of information inputs of the correlators and the corresponding groups of information outputs of the receiving channels, the clock inputs of which are combined and connected to the clock inputs of the digital processing blocks of the receiving channels, the output of the clock generator, synchronization inputs of the correlators, clock inputs of the control unit, phase difference calculation blocks, the first block memory, first subtraction blocks, calculator-shaper, decision-making block, correlators initial installation block, S + 1-st commute torus, analysis blocks, the second groups of information outputs of which are connected to groups of information inputs of the corresponding phase difference calculation blocks, the first outputs of analysis blocks are connected to the control inputs of the corresponding switches, the third groups of outputs of analysis blocks are connected to the first groups of information inputs of the corresponding switches, groups of information inputs of blocks analysis are connected to groups of information outputs of the corresponding correlators, the first groups of control inputs of which are connected with the corresponding first groups of information outputs of the initial installation block of the correlators, the second groups of inputs of the control of the correlators are connected to the output groups of the corresponding switches, the second groups of information inputs of which are connected to the corresponding second groups of the information outputs of the initial installation of the correlators, the groups of information outputs of the blocks for calculating the phase difference are connected to corresponding groups of inputs of the S + 1-th switch, the group of address inputs of which is connected to the path of the address outputs of the correlators initial installation unit, a S groups of information outputs are connected to the groups of inputs of the subtracted corresponding first subtraction blocks, the groups of inputs of which are reduced are combined and connected to the group of information outputs of the first memory block, the group of information inputs of which is the second input installation bus of the device for determining the angular aircraft orientation, and the group of address inputs is connected to the group of information outputs of the control unit, the second group of the information inputs of which is the first input installation bus of the device for determining the angular orientation of aircraft, the first group of information inputs of the control unit is connected to the second group of information outputs of the radio navigator, the group of information outputs of the calculator-shaper is connected to the first group of information inputs of the decision block, the second group of information inputs of which connected to the third input mounting bus of the device for determining the angular orientation of the aircraft units, and the group of information outputs is connected to the group of information inputs of the display unit, a decryptor, a second memory block and S second subtraction blocks are additionally connected in series. The input groups of the reduced second subtraction blocks are connected to the information output groups of the corresponding S first subtraction blocks. The group of information inputs of the decoder is connected to the group of address outputs of the initial installation block of the correlators. An adder, the group of information inputs of which are connected to the group of information outputs of the corresponding S first subtraction blocks, and the group of information outputs is connected to the group of information inputs of the second memory block, the group of information outputs of which is connected to the group of inputs of the subtracted second subtraction blocks. The clock inputs of the second subtraction blocks are combined with the clock inputs of the second memory block and S of the first subtraction blocks. Groups of information outputs of the second subtraction blocks are connected to the corresponding groups of information inputs of the calculator-shaper.

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 increase the accuracy of estimating the spatial orientation of the aircraft.

The inventive objects are illustrated by drawings, which show:

figure 1 is a structural diagram of a two-channel analog path;

figure 2 - order of operations:

a, b) - the formation of elementary binding zones and the assignment of a serial number to them;

c) - determination of the coordinates of the center of elementary binding zones;

figure 3 is a variant of the formation of an array of reference values of phase differences Δφ _et.m0 (α _i , β _j , θ _l ) _n ;

;figure 4 is a variant of the formation of an array of measured values of phase differences $$\Delta {\varphi }_{\mathrm{and}sm.m0}^s\left(\alpha ,\beta ,\theta \right)$$

;

figure 5 - the sequence of calculation ∆φ (α ₀ , β ₀ , θ ₀ ) of the element r (1,1,1) of the measurement matrix R (α, β, θ) for the corresponding value of the angles (α _i , β _j , θ _l );

figure 6 is a variant of the formation of a three-dimensional measurement matrix R (α, β, θ);

7 is a structural diagram of the inventive device for determining the angular orientation of aircraft;

on Fig - algorithm for calculating the reference values of the phase differences of the arrival of signals;

figure 9 - algorithm of the analysis unit 8.s;

figure 10 - algorithm of the initial installation of the correlators;

figure 11 is an algorithm for forming a measurement matrix R (α, β, θ);

on Fig - algorithm of the decision block;

in Fig.13 - shows the results of modeling the accuracy of estimating the spatial parameter for various variants of the distortion of the phase parameters in the paths of the meter:

a) in the absence of phase incursion in the analog paths of the reception channels;

b) in the presence of a slight phase incursion in the reception channels;

c) with a large phase incursion in the reception channels;

g) with a large phase incursion in the reception and implementation channels of the inventive method and device.

In the above methods for determining the spatial orientation of an aircraft, the main operation is to find the deviation between the measured phase difference and the reference. However, none of them focuses on the incursion of the phase φ _channel , which is part of the measured phase.

Figure 1 shows the structural diagram of a two-channel analog path. Let the phase of the signal φ ₀ and the first channel φ ₁ be recorded at the input of the zero (reference) receiving channel. Despite the presence of a common reference generator, a unique phase incursion φ _kan0 and φ _kan1, respectively, occurs in each of them. The latter is caused by the scatter of the parameters of component parts and the features of their installation. The characteristics of analog paths undergo changes over time. In addition, repair of the receiving paths or their replacement during operation (the latter often takes place in meters on unmanned aerial vehicles) also complicates the situation. All this entails the estimation of the spatial parameters of the aircraft. Currently, the main means of dealing with them is channel calibration, which must be performed regularly.

The proposed method eliminates the influence of the phase incursion φ _channel . Its essence is that to determine the spatial orientation of an object, signals from several sources are used. All of them are received by the same channels, the phase incursion in which will be the same.

In general, the phase difference of the signal of the first spacecraft between the first and zero (reference) channels has the form

. $$\mathrm{<figure-callout\; id="1"\; label="\Delta \; \phi "\; filenames="00000044.png,00000046.png"\; state="\{\{state\}\}"><figure-callout\; id="0"\; label="\Delta \; \phi "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\Delta \; </figure-callout></figure-callout>}{\varphi }_{}^{}{}_{}^{}{}_{\mathrm{1,0}}^{\mathrm{one}}=|\; |\; |\Delta {\varphi }_{\mathrm{uh}t\mathrm{.1.0}}^{\mathrm{one}}-\Delta {\varphi }_{\mathrm{and}sm\mathrm{.1.0}}^{\mathrm{one}}+{\varphi }_{\mathrm{to}\mathrm{but}n\mathrm{.one}}-{\varphi }_{\mathrm{to}\mathrm{but}n.0}|\; |\; |$$

.

может быть записана в следующем виде:For signals of the second spacecraft $$\Delta {\varphi }_{0.1}^2$$

can be written as follows:

. $$\mathrm{<figure-callout\; id="1"\; label="\Delta \; \phi "\; filenames="00000044.png,00000046.png"\; state="\{\{state\}\}"><figure-callout\; id="0"\; label="\Delta \; \phi "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\Delta \; </figure-callout></figure-callout>}{\varphi }_{}^{}{}_{}^{}{}_{\mathrm{1,0}}^2=|\; |\; |\Delta {\varphi }_{\mathrm{uh}t\mathrm{.1.0}}^2-\Delta {\varphi }_{\mathrm{and}sm\mathrm{.1.0}}^2+{\varphi }_{\mathrm{to}\mathrm{but}n\mathrm{.one}}-{\varphi }_{\mathrm{to}\mathrm{but}n.0}|\; |\; |$$

.

(сигналы второго и первого источников проходят через одни и теже тракты) становится возможным избавиться от набега фазы. Таким образом, вычитая результаты измерений одного источника, например $$\Delta {\varphi }_{\mathrm{0,1}}^1$$

, из соответствующих измерений всех остальных источников устраняется их зависимость от набега фазы в аналоговых трактах, что в конечном счете повышает точность измерения пространственных углов ЛА (α,β,θ).When performing a subtraction operation $$\mathrm{<figure-callout\; id="1"\; label="\Delta \; \Delta \; \phi "\; filenames="00000044.png,00000046.png"\; state="\{\{state\}\}"><figure-callout\; id="0"\; label="\Delta \; \Delta \; \phi "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\Delta \; </figure-callout></figure-callout>}\Delta {\varphi }_{}^{}{}_{}^{}{}_{\mathrm{1,0}}^{2.1}=\mathrm{<figure-callout\; id="1"\; label="\Delta \; \phi "\; filenames="00000044.png,00000046.png"\; state="\{\{state\}\}"><figure-callout\; id="0"\; label="\Delta \; \phi "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\Delta \; </figure-callout></figure-callout>}{\varphi }_{}^{}{}_{}^{}{}_{\mathrm{1,0}}^2-\mathrm{<figure-callout\; id="1"\; label="\Delta \; \phi "\; filenames="00000044.png,00000046.png"\; state="\{\{state\}\}"><figure-callout\; id="0"\; label="\Delta \; \phi "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\Delta \; </figure-callout></figure-callout>}{\varphi }_{}^{}{}_{}^{}{}_{\mathrm{1,0}}^{\mathrm{one}}$$

(signals of the second and first sources pass through the same paths) it becomes possible to get rid of the phase incursion. Thus, subtracting the measurement results of one source, for example $$\Delta {\varphi }_{0.1}^{\mathrm{one}}$$

, from the corresponding measurements of all other sources, their dependence on the phase incursion in the analog paths is eliminated, which ultimately increases the accuracy of measuring the spatial angles of the aircraft (α, β, θ).

The implementation of the proposed method is illustrated as follows. At the preparatory stage, the following operations are performed. The sphere above the antenna array is evenly divided into N = D / D ₀ elementary snap zones (see figa). The dimensions of the elementary binding zone correspond to a predetermined accuracy of measuring the angular orientation of the object (accuracy of measuring pitch angles α ₁ , roll β _j and azimuth θ _{l of the} antenna array). The sphere above the AR is calculated at a distance of ~ 20 thousand km (the altitude of the spacecraft of global navigation satellite systems). Next are the geographical coordinates of the centers of the elementary binding zones {X, Y, Z} _n and each of them is assigned a serial number b _n (α _i , β _j , θ _l ) (see fig. 1b, c) from the set n = 1, 2, ..., N.

At the next stage, the reference values of the phase differences of the signal arrival are calculated (see Fig. 8) for each pair of antenna elements A _m0 , m = 1, 2, ..., M-1, relative to the coordinates of the location of the centers of each elementary binding zone.

The procedure for calculating the reference values of the phase differences ∆φ _et.m0 (α ₀ , β ₀ , θ ₀ ) is as follows. The topology of the antenna array of the object is introduced. The latter includes the mutual distances between the antenna elements of the AR and its orientation. When conducting the simulation, it is advisable to conditionally place them in the center of the study area at the height of upcoming measurements, for example, 2-3 km. In the process of calculating the values of ∆φ _et.m0 (α ₀ , β ₀ , θ ₀ ) _n, model the placement of the reference source alternately in the centers of all elementary binding zones b _n , n = 1, 2, ..., N. The AR orientation is successively discrete set values of the angles Δα, Δβ, Δθ in the predefined limits {α _min , α _max }, {β _min , β _max } and {θ _min , θ _max }, {α _max- α _min ) / Δα = I, (β _max- β _min ) / Δβ = J, (θ _max -θ _min ) / Δθ = L without changing the coordinates of the center of the AR relative to the centers of the elementary binding zones. It should be noted that the values Δα, Δβ, Δθ are in accordance with the number of elementary binding zones N = (I + 1) · (J + 1) · (L + 1) and are determined by the specified accuracy of the measurements. It is assumed that the front of the wave arriving at the AR is flat. For the combinations of pairs of antenna elements AR and all possible angles α _i , β _j , θ _{l used, the} values of the phase differences ∆φ _et.m0 (α _i , β _j , θ _l ) _n are calculated for each elementary binding zone b _n :

$$\Delta {\varphi }_{\mathrm{uh}t.m0}{\left({\alpha }_i,{\beta }_j,{\theta }_l\right)}_n=2\pi f_s{U}_{m0}\left({\gamma }_n,{\mu }_n\right)/C,\left(\mathrm{one}\right)$$

Where $$\begin{array}{l}{U}_{m0}\left({\gamma }_n,{\mu }_n\right)=\cos \left({\gamma }_n\right)\cos \left({\mu }_n\right)\left(x_0-x_n\right)+\sin \left({\gamma }_n\right)\cos \left({\mu }_n\right)\left({\gamma }_0-{\gamma }_n\right)+\hfill \\ +\cos \left({\gamma }_n\right)\left(z_0-z_n\right)-\hfill \end{array}\left(2\right)$$

the distance between the planar wave front in the m-th antenna elements and zero coming from b _n-th unit lattice anchor zone to the angles in the azimuth γ _n μ _n and vertical planes, m ≠ 0; x _m , y _m , z _m and x ₀ , y ₀ , z ₀ are the coordinates of the mth and zero antenna elements of the array, C is the speed of light, f _s is the frequency of the signal of the s-th satellite (see figure 2).

The coordinates of the AE location for various values of the angles of the antenna array are determined as follows:

x _m = (cos (β) cos (θ) -sin (α) sin (β) sin (θ)) x _m0 -cos (α) sin (θ) y _m0 + (sin (β) sin (θ) - sin (α) cos (β) cos (θ)) z _m0 ;

y _m = (cos (β) sin (θ) + sin (α) sin (β) sin (θ)) x _m0 + cos (α) sin (θ) y _m0 + (sin (β) sin (θ) - sin (α) cos (β) cos (θ)) z _m0 ;

z _m = -cos (α) sin (β) x _m0 + sin (α) y _m0 + cos (α) cos (β) z _m0 ,

where x _m0 , y _m0 , z _m0 are the coordinates of the antenna elements of the array at α = 0, β = 0 and θ = 0, m = 0, 1, ..., M-1.

The resulting values of the phase differences Δφ _et.m0 (α _i , β _j , θ _l ) _n are calculated as a reference data array, the embodiment of which is shown in FIG. 3.

, структура представления информации в котором приведена на фиг.4. Здесь представлены значения $$\Delta {\varphi }_{изм.m0}^s\left(\alpha ,\beta ,\theta \right)$$

для всех возможных сочетаний пар антенных элементов A_m0 и заданного числа КА. Количество последних S обычно определяется возможностями измерителя, например S=6, наличием в зоне видимости в данном районе в заданное время минимально необходимого количества КА и др.In the process, when detecting signals from the spacecraft of the global navigation satellite system, an array of measured phase differences is formed $$\Delta {\varphi }_{\mathrm{and}sm.m0}^s\left(\alpha ,\beta ,\theta \right)$$

, the structure of the presentation of information in which is shown in Fig.4. Values are presented here. $$\Delta {\varphi }_{\mathrm{and}sm.m0}^s\left(\alpha ,\beta ,\theta \right)$$

for all possible combinations of pairs of antenna elements A _m0 and a given number of spacecraft. The number of the latter S is usually determined by the capabilities of the meter, for example, S = 6, the presence in the visibility zone in a given area at a given time of the minimum required number of spacecraft, etc.

In the framework of the proposed method, the reliability of information about the signal field is achieved:

overall characteristics (spacing between antenna elements of the AR);

dimension (the number of antenna elements M) AR;

characteristics of antenna elements and their relative orientation.

The implementation of these requirements is discussed below as part of the implementation of the device for determining the angular orientation of aircraft.

:At the next stage of the implementation of the proposed method, the difference between the reference phase differences corresponding to the angles AR α ₀ , β ₀ , θ _{0 is} calculated for the b _n- th elementary reference zone (for the zone where the first satellite from the global navigation satellite system with known coordinates {x , y, z} _n ) and the measured phase differences $$\Delta {\varphi }_{\mathrm{and}sm.\mathrm{<figure-callout\; id="0"\; label="m"\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">m</figure-callout>}0}^{\mathrm{one}}\left(\alpha ,\beta ,\theta \right)$$

:

$$\Delta {\varphi }_{\mathrm{and}sm.\mathrm{<figure-callout\; id="0"\; label="m"\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">m</figure-callout>}0}^{\mathrm{one}}{\left(\alpha {}_0,{\mathrm{<figure-callout\; id="0"\; label="\beta "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\beta </figure-callout>}}_0,{\theta }_0\right)}_n=\Delta {\varphi }_{\mathrm{uh}t.m0}{\left({\mathrm{<figure-callout\; id="0"\; label="\alpha "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="\beta "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\beta </figure-callout>}}_0,{\theta }_0\right)}_n-\Delta {\varphi }_{\mathrm{and}sm.\mathrm{<figure-callout\; id="0"\; label="m"\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">m</figure-callout>}0}^{\mathrm{one}}\left(\alpha ,\beta ,\theta \right).\left(3\right)$$

Information about the location of the spacecraft comes from its board at a frequency f _s . Based on the latter, a decision is made on the current number of the elementary binding zone in which the spacecraft is located.

Similar operations are performed with signals of all S used in the operation of the spacecraft. As reference, measurements of the phase difference of the signals of one of the spacecraft, for example, the first detected, are selected.

в соответствии с выражениемFurther, for all M channels and S-1 KA, the phase difference difference is calculated $$\Delta \Delta {\varphi }_{m0}^{s\mathrm{one}}\left({\mathrm{<figure-callout\; id="0"\; label="\alpha "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="\beta "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\beta </figure-callout>}}_0,{\theta }_0\right)$$

according to the expression

$$\Delta \Delta {\varphi }_{m0}^{s\mathrm{one}}\left({\mathrm{<figure-callout\; id="0"\; label="\alpha "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="\beta "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\beta </figure-callout>}}_0,{\theta }_0\right)=\Delta {\varphi }_{m0}^s{\left({\mathrm{<figure-callout\; id="0"\; label="\alpha "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="\beta "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\beta </figure-callout>}}_0,{\theta }_0\right)}_n-{\rm B}\mathrm{<figure-callout\; id="0"\; label="\Delta \; \phi \; m"\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\Delta \; </figure-callout>}{\varphi }_m^{}{0}_{\mathrm{one}}^{}{\left({\mathrm{<figure-callout\; id="0"\; label="\alpha "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="\beta "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\beta </figure-callout>}}_0,{\theta }_0\right)}_n.\left(\mathrm{four}\right)$$

Performing this operation eliminates the incursion of the phase φ _kan in all used receiving channels.

возводятся в квадрат и накапливаютсяIn the next step, the values $$\Delta \Delta {\varphi }_{m0}^{s\mathrm{one}}\left({\mathrm{<figure-callout\; id="0"\; label="\alpha "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="\beta "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\beta </figure-callout>}}_0,{\theta }_0\right)$$

squared and accumulated

$$\Delta \varphi \left({\mathrm{<figure-callout\; id="0"\; label="\alpha "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="\beta "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\beta </figure-callout>}}_0,{\theta }_0\right)={\displaystyle \sum _{s=2}^S{\displaystyle \sum _{m=\mathrm{one}}^{M-\mathrm{one}}{\left(\Delta \Delta {\varphi }_{m0}^{s\mathrm{one}}\left({\mathrm{<figure-callout\; id="0"\; label="\alpha "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="\beta "\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\beta </figure-callout>}}_0,{\theta }_0\right)\right)}^2}}.\left(5\right)$$

Figure 5 illustrates the procedure for calculating the sums Δφ (α ₀ , β ₀ , θ ₀ ) for the initial position of the AP. The operation of squaring (5) is necessary so that the differences obtained in expression (3) having a different sign do not cancel each other as a result of the addition operation. The obtained value ∆φ (α ₀ , β ₀ , θ ₀ ) is stored in the element r (1,1,1) of the three-dimensional measurement matrix R (α, β, θ).

Similar operations (expressions 3-5) are performed for all possible angles (α _i , β _j , θ _l ) of the AP orientation, i = 0, 1, 2, ..., I; j = 0, 1, 2, ..., J, l = 0, 1, 2, ..., L. Based on the obtained values of Δφ (α _i , β _j , θ _l ), a three-dimensional measurement matrix R (α, β, θ), the dimension of which is determined by the expression (I + 1) × (J + 1) × (L + 1). This operation is realized by writing into the elements r {i + 1, j + 1, l + 1} of the measurement matrix R (α, β, θ) the corresponding values of Δφ (α _i , β _j , θ _l ) (see Fig. 6). The angles (α _i , β _j , θ _l ) corresponding to the element r {i + 1, j + 1, l + 1} of the measurement matrix R (α, β, θ) having the minimum value .

Thus, in the proposed method, improving the accuracy of estimating the spatial orientation of the aircraft is achieved by eliminating errors in the measurement of the phase of the signal due to its distortion (incursion) in the analog paths.

Figure 13 shows the results of modeling one-dimensional estimation of spatial parameters (determining one of the three spatial angles of the aircraft) using the prototype method and the proposed method. The experiment involved AR of four AEs and five spacecraft. The distance between the antenna elements was 1 meter. In the absence of phase incursion in the analog paths φ _channel 1 = φ _{channel 2} = φ _{channel 3} = φ _{channel 4} = 0 °, the deviation graph for all possible directions 0 ° -360 ° is shown in Fig.13a. From its consideration it follows that the minimum deviation function falls on the direction of 30 ° and coincides with the true direction.

When introducing a phase incursion in the receiving paths, φ _channel 1 = 0 °, φ _{channel 2} = 30 °, φ _{channel 3} = 40 °, φ _{channel 4} = 40 °, the minimum function is in the direction of 31.29 °, which corresponds to the error in determining the direction of 1.29 ° (see Fig.13b).

, обеспечивает устранение влияния набега фаз в каналах приема на оценку пространственных параметров, о чем свидетельствует фиг.13г. Выполненные практические испытания хорошо согласуются с представленными результатами.An increase in the phase incursion in the receiving paths to values of φ _channel 1 = 0 °, φ _{channel 2} = 80 °, φ _{channel 3} = 90 °, φ _{channel 4} = -70 ° (see Fig.13c) leads to a shift minimum function in the direction of 140 ° (error is 110 °). Therefore, with large phase incursions, the device loses its operability. The use in these conditions of the proposed method and device based on the use of $$\Delta \Delta {\varphi }_{m0}^{s\mathrm{one}}\left({\alpha }_i,{\beta }_j,{\theta }_l\right)$$

, provides the elimination of the influence of phase incursion in the reception channels on the assessment of spatial parameters, as evidenced by Fig.13g. The performed practical tests are in good agreement with the presented results.

The inventive device (see Fig.7) contains M, M≥4, identical receiving channels from the series-connected antenna element 1.0-1.M-1, low-noise amplifier 2.1-2.M, radio path 3.1-3.M and digital processing unit 5.0-5.M-1, designed to convert an analog signal into digital form and its decomposition into quadratures, two groups of outputs of blocks 5.0-5.M-1, which are the first and second groups of information outputs of the corresponding reception channel, block for generating reference signals 4 the output of which is connected to the second inputs of the radio paths 3.1-3. M-1 receiving channels, clock generator 6, S correlators 7.1-7.5, S analysis blocks 8.1-8.S, designed to assess the quality of signals received from spacecraft (SC), S + 1 switches 9.1-9.S and 11, the initial installation block of the correlators 10, S of the blocks for calculating the phase difference 15.1-15.S, S of the first subtraction blocks 16, the first memory block 22, the calculator-shaper 18, designed to form a three-dimensional measurement matrix R (α, β, θ), the adoption unit solution 25, designed to find an element of a three-dimensional measurement matrix with a minimum value , control unit 14, designed to store the coordinates of the centers of the elementary binding zones and compare these coordinates with the coordinates of the detected spacecraft, display unit 26, first 19, second 20 and third 24 input installation buses, radio navigator 12 and M + 1 antenna element 13 the output of which is connected to the input of the radio navigator 12. The first information output of block 12 is connected to the control input of the initial installation block of correlators 10. The groups of information inputs of block 10 are combined with the corresponding groups of information input correlators 7.1-7.S and the corresponding groups of information outputs of the receiving channels. The clock inputs of the receiving channels are combined and connected to the clock inputs of the digital processing blocks of the receiving channels 5.1-5.M-1, the output of the clock 6, the synchronization inputs of the correlators 7.1-7.S, the clock inputs of the control unit 14, the blocks for calculating the phase difference 15.1-15 .S, the first memory block 22, the first subtraction blocks 16, the calculator-shaper 18, the decision block 25, the initial installation block of the correlators 10, S + 1st switch 11, analysis blocks 8.1-8.S. The second groups of information outputs of blocks 8.1-8.S are connected to groups of information inputs of the corresponding blocks for calculating the phase difference 15.1-15.S. The first outputs of the analysis blocks 8.1-8.S are connected to the control inputs of the corresponding switches 9.1-9.S, the third groups of outputs of the analysis blocks 8.1-8.S are connected to the first groups of information inputs of the corresponding switches 9.1-9.S. The groups of information inputs of analysis units 8.1-8.S are connected to the groups of information outputs of the corresponding correlators 7.1-7.S, the first groups of control inputs of blocks 7.1-7.S are connected to the corresponding first groups of information outputs of the unit for initial installation of correlators 10. Second groups of control inputs correlators 7.1-7.S are connected to the output groups of the corresponding switches 9.1-9.S, the second groups of information inputs of the blocks 9.1-9.S are connected to the corresponding second groups of information outputs of the initial unit correlator branches 10. Information output groups of phase difference calculation blocks 15.1-15.S are connected to the corresponding input groups of S + 1-st switch 11. The group of address inputs of block 11 is connected to the group of address outputs of the initial installation block of correlators 10, and S of information output groups connected to the groups of inputs of the deductible corresponding first subtraction blocks 16. The groups of inputs of the unit to be reduced 16 are combined and connected to the group of information outputs of the first memory block 22. The group of information inputs of the block 22 is I am the second input installation bus 20 of the device for determining the angular orientation of aircraft, and the group of address inputs is connected to the group of information outputs of the control unit 14. The second group of information inputs of block 14 is the first input installation bus 19 of the device for determining the angular orientation of aircraft. The first group of information inputs of the control unit 14 is connected to the second group of information outputs of the radio navigator 12. The group of information outputs of the calculator-shaper 18 is connected to the first group of information inputs of the decision block 25, the second group of information inputs of which is connected to the third input installation bus 24 of the device for determining the angular orientation aircraft. The group of information outputs of the block 25 is connected to the group of information inputs of the display unit 26.

To increase the accuracy of measuring the spatial angles of the object by eliminating the influence of phase incursion in the analog paths of the meter, sequentially connected decoder 21, a second memory block 23 and 5 of the second subtraction blocks 17 are added, the groups of inputs of which are reduced are connected to the groups of information outputs of the corresponding 5 first subtraction blocks 16 The group of information inputs of the decoder 21 is connected to the group of address outputs of the initial installation block of the correlators 10. Adder 27, the group of information inputs which are connected to the groups of information outputs of the corresponding S first subtraction blocks 16, and the group of information outputs is connected to the group of information inputs of the second memory block 23. The clock inputs of block 16 are combined with the clock inputs of the second memory block 23 and S of the second subtraction blocks 17. Groups of information outputs of the block 17 are connected to the corresponding groups of information inputs of the calculator-shaper 18.

The operation of the claimed device for determining the angular orientation of aircraft (see Fig.7) is as follows. At the preparatory stage, by analogy with the prototype, the sphere above the antenna array, located at a distance of ~ 20 thousand kilometers, is evenly divided into N elementary snap zones (see figure 2). The area of the elementary binding zone D ₀ is determined by the given accuracy of measuring the pitch angles ∆α, roll ∆β and azimuth ∆θ. The coordinates of the location of the centers of the elementary binding zones {X, Y, Z} _{n are} calculated. Each elementary zone is assigned a serial number n, n = 1, 2, ..., N (see figure 2).

At the next stage, the reference values of the phase differences of the signal arrival are calculated for each pair of antenna elements A _m0 , m = 0, 1, 2, ..., M-1, relative to the coordinates of the location of the centers of each elementary binding zone ∆φ _et.m0 (α ₀ , β ₀ , θ ₀ ) _n . For this, the spatial characteristics of AR 1.0-1 are preliminarily described. M-1. The orientation of the AR is sequentially discretely changed to given angles Δα, Δβ, Δθ in predetermined limits {α _min , α _max }, {β _min , β _max } and {θ _min , θ _max } without changing the coordinates of the center of the AP relative to the centers of the elementary binding zones. For each position of the AR (α _i , β _j , θ _l ) and for each center of the elementary binding zones, in accordance with (1) and (2), the reference values of the phase differences Δφ _et.m0 (α _i , β _j , θ _l ) _n . These operations are easily implemented on a specialized microprocessor assembly and are not subject to consideration within the framework of the materials presented. The results of the above operations (namely, the numbers and coordinates of the centers of the elementary binding zones) are sent to the first input installation bus 19 of the device, and the corresponding reference values of the phase differences Δφ (α _i , β _j , θ _l ) _n are sent to the second input installation bus twenty.

сигналов с двойной фазовой манипуляцией BPSK и псевдослучайной последовательностью (ПСП) в условиях доплеровского сдвига F_допл частоты. Названные изменения реализованы с помощью блоков 7-13. Кроме того, для преобразования разности фаз $$\Delta {\varphi }_{изм.m0}^S\left(\alpha ,\beta ,\theta \right)$$

в угловые параметры объекта α, β и θ используются блоки 21, 22, 23, 16, 17, 18, 25, 26 и 27.The proposed device for the angular orientation of objects based on the satellite signals of global navigation satellite systems is based on a phase interferometer (see Torrieri DJ Principles of military communications systems. Dedham, Massachusetts. Artech House, inc., 1981. - 298 p.) With additions related to measurement $$\Delta {\varphi }_{\mathrm{and}sm.m0}^S\left(\alpha ,\beta ,\theta \right)$$

signals with double phase shift keying BPSK and pseudo-random sequence (PSP) under conditions of Doppler shift F _dopl frequency. The named changes are implemented using blocks 7-13. Also for phase difference conversion $$\Delta {\varphi }_{\mathrm{and}sm.m0}^S\left(\alpha ,\beta ,\theta \right)$$

blocks 21, 22, 23, 16, 17, 18, 25, 26, and 27 are used in the angular parameters of the object α, β, and θ.

The high-frequency signals received by the antenna elements 1.0-1.M-1 from the first detected spacecraft at a frequency f _s = 1575.42 MHz are amplified in the corresponding low-noise amplifiers 2.0-2.M-1 (see Fig. 7). Then they enter the inputs of the corresponding radio paths 3.0-3.M-1 of the reception channels. In blocks 3.0-3.M-1 provide the conversion of the received signals into electrical signals of intermediate frequency, their amplification by 20 dB, as well as selectivity for adjacent reception channels. It should be noted that the bandwidth of blocks 3.0-3.M-1 is consistent with the maximum possible Doppler frequency shift of the spacecraft signal. The value of the intermediate frequency is determined by the characteristics of the analog-to-digital converters blocks 5.0-5.M-1 and is, for example, 90.42 MHz.

The intermediate frequency signals are sampled and quantized in digital signal processing units 5.0-5.M-1. The sampling interval is chosen in accordance with the sampling theorem (see Introduction to Digital Filtering. Edited by R. Bogner and A. Konstantidis. - M .: Mir, 1976, pp. 26-27).

Most signal processing algorithms are designed to work with complex signals. To transition from real to complex signals, quadrature signal transformations are used. As a result, at the outputs of each of the M receiving channels, two sequences of samples I _m and Q _{m are formed} that describe the received signals of the spacecraft 90 degrees shifted relative to each other. The synchronization of the operation of the elements of the digital processing blocks 5.0-5.M-1 of the receiving channels is carried out by the signals of the clock generator 6. Similarly, signals from all S satellites are received, digitized and squared.

The spacecraft of global navigation satellite systems use phase-shift keying signals, for example BPSK, which can only be received coherently (see V. Grigoriev, Messaging overseas information networks. - L .: VAS, 1989. pp. 98-102). Coherent detection consists in comparing a phase-shifted signal with a reference voltage U _op (t), which is synchronously and in phase with the carrier and is usually obtained by processing the received signal itself.

It is known that using the GPS U-blox device (block 12 in the inventive device), the satellite signals of global navigation satellite systems are received with an interval of 1 second, which contain the following parameters:

the current position of the object {X, Y, Z};

GPS time (TOW);

ephemeris (for each satellite detected).

на данный спутник и его местоположение в пространстве {X,Y,Z}_s. Знание номера спутника s необходимо в связи с тем, что все КА излучают индивидуальные псевдослучайные последовательности. Последние используют далее для корреляционной свертки принимаемых от КА сигналов f_s.According to these data for each satellite determine its number, position in space and the Doppler frequency offset F _dopl . The latter is due to the fact that the satellite and the object are in motion. Practical tests have shown that the change in F _dopl is approximately 1 Hz for 1 s. The change itself occurs monotonously, but the speed of this change depends on the position of the satellite (the smaller the elevation angle, the greater the rate of "departure"). It was experimentally determined that the F _dopl parameter needs to be updated at least 1 time in 20 ms, and F _dopl arrives from the spacecraft only 1 time per second. This problem in the proposed device (by analogy with the prototype) is solved as follows. Using blocks 12 and 13, spacecraft signals are received. The radio navigator 12 determines the number of the detected satellite s, calculates the value of the Doppler frequency offset $$F_{d\mathrm{about}Pl{.}_s}$$

to this satellite and its location in the space {X, Y, Z} _s . The knowledge of the satellite number s is necessary due to the fact that all spacecraft emit individual pseudorandom sequences. The latter are used further for the correlation convolution of signals f _s received from the spacecraft.

. В результате на группе информационных выходов блока начальной установки корреляторов 10 присутствуют данные о позиции максимума K_s корреляционной функции, значение $$F_{допл{.}_s}$$

и номер спутника s. Указанные величины параллельно (каждая по своей шине) поступают на первую группу входов управления первого коррелятора 7.1. Исключение составляет значение K_s, которое поступает на вторую группу управляющих входов блока 7.1 через коммутатор 9.1. Кроме того, номер обнаруженного спутника s поступает на соответствующий адресный вход блока 11. При обнаружении сигналов очередных КА в блоках 13, 12 и 10 выполняются аналогичные операции, а результаты вычислений K_s и значения F_допл и s поступают на управляющие входы следующих корреляторов 7.2-7.S. Данная настройка корреляторов 7.1-7.S выполняется один раз на этапе инициализации. В дальнейшей работе устройства проводится только подстройка корреляторов 7.1-7.S с помощью блоков 8.1-8.S. Значения F_допл и s (сформированные блоком 12) в блоке настройки корреляторов 10 дешифрируют и направляют на раздельные управляющие входы корреляторов 7.1-7.S (см. фиг.10).From the first output of block 12 (RS232 junction) to the control input of the initial installation block of the correlators 10, information on the numbers of the detected satellites s and the corresponding Doppler frequency shifts F _dop . The functions of block 10 include determining the position of the maximum of the correlation function between the reference and estimated signals of all detected spacecraft. As a reference signal, we use a sample of SRP _s with a length of one period (2046 points) generated by block 10 in accordance with the number s of the detected satellite. As the estimated signal, a sample of points with a length of two periods of SRP _s (4092 points), adopted by one of the receiving channels and recorded in block 10, is used. At the same time, the correlation function is searched for the position of its maximum value K _s . It should be noted that the recording operation of the estimated signal in block 10 is preceded by a refinement of the signal frequency f _{s of the} s-th satellite at $$F_{d\mathrm{about}Pl{.}_s}$$

. As a result, the group of information outputs of the initial installation block of correlators 10 contains data on the position of the maximum K _{s of the} correlation function, the value $$F_{d\mathrm{about}Pl{.}_s}$$

and satellite number s. The indicated values are parallel (each on its own bus) to the first group of control inputs of the first correlator 7.1. The exception is the value of K _s , which is fed to the second group of control inputs of block 7.1 through switch 9.1. In addition, the number of the detected satellite s goes to the corresponding address input of block 11. When the signals of the next spacecraft are detected in blocks 13, 12 and 10, similar operations are performed, and the calculation results K _s and the values of F _dopl and s go to the control inputs of the following correlators 7.2- 7.S. This setting of correlators 7.1-7.S is performed once at the initialization stage. In the further operation of the device, only the correlators 7.1-7.S are adjusted using blocks 8.1-8.S. The values of F _add and s (formed by block 12) in the tuner of the correlators 10 are decrypted and sent to the separate control inputs of the correlators 7.1-7.S (see Fig. 10).

The purpose of correlators 7.1-7.S is to constantly calculate the correlation functions of the signals of the respective satellites s = 1, 2, 3, ..., S. The number of correlators usually corresponds to the number of satellites S. Each correlator contains M identical processing channels by the number of reception channels and tuned to the signals of "their" spacecraft. In the general case, the larger the number of observed spacecraft, and accordingly the correlators, the more accurately the angular parameters of the object α, β, and θ are estimated. However, this increases the complexity of the implementation of the device and the time spent on operations.

. Далее по аналогии с блоком 10 реализуют вычисление корреляционной функции, длина которой составляет 2046 символов. На этапе начальной установки выделяют позиции с максимальным значением функций корреляции K_s (определенные блоком 10) для всех S наблюдаемых КА. Дополнительно с каждой позицией K_s в корреляционных функциях выделяют соседние точки (например пять с обеих сторон). Например, если K_s=100, то в блоке 7.s выделяют позиции с 95 по 105. Это необходимо для отслеживания смещения корреляционного максимума блоками 8.1-8.S в процессе работы устройства из-за отсутствия синхронизации приемной и передающей частей. В результате на выходе каждого из корреляторов 7.1-7.S с интервалом 1 мс формируют значения 11·М квадратур сигналов, соответствующие максимальным и соседним значениям функции корреляции. Последние поступают на входы соответствующих блоков анализа 8.1-8.S. Здесь осуществляют анализ качества принимаемых от КА сигналов. Для этого на основе поступивших значений квадратур принятых сигналов вычисляют абсолютные значения элементов соответствующих функций корреляцииIn the correlators 7.1-7.S, a complex reduction of the signal frequency f _{s is} preliminarily performed by the corresponding value $$F_{d\mathrm{about}Pl{.}_s}$$

. Further, by analogy with block 10, the calculation of the correlation function, the length of which is 2046 characters, is implemented. At the initial installation stage, positions with the maximum value of the correlation functions K _s (determined by block 10) are selected for all S observed spacecraft. Additionally, with each position K _s in the correlation functions, neighboring points (for example, five on both sides) are distinguished. For example, if K _s = 100, then positions 95 to 105 are selected in block 7.s. This is necessary to track the correlation maximum by blocks 8.1-8.S during the operation of the device due to the lack of synchronization of the receiving and transmitting parts. As a result, at the output of each of the correlators 7.1–7.S with an interval of 1 ms, values of 11 · M quadrature of signals are generated that correspond to the maximum and neighboring values of the correlation function. The latter arrive at the inputs of the corresponding analysis blocks 8.1-8.S. Here, they analyze the quality of signals received from the spacecraft. To do this, based on the received values of the quadrature of the received signals, the absolute values of the elements of the corresponding correlation functions are calculated

$$A_{K_s}=\sqrt{I_{m_s}^2+Q_{m_s}^2},\left(6\right)$$

. Если качество сигнала отвечает заданным требованиям $$\left(A_{K_{s/\max }}>A_{пор}\right)$$

включается механизм подстройки соответствующих корреляторов (к работе подключается необходимый блок 8.s). На первых выходах этих блоков 8.1-8.S формируются управляющие сигналы, которые поступают на управляющие входы коммутаторов 9.1-9.S, переводя их во второе устойчивое положение. В результате вторые группы информационных выходов блока 10, несущие сведения о позиции максимума функции корреляции K_s, отключаются от вторых групп входов управления корреляторов 7.1-7.S, а вместо них подключаются к ним соответствующие группы выходов блоков анализа 8.1-8.S. Номера позиций максимума функции корреляции K_s через соответствующие коммутаторы 9.1-9.S поступают на управляющие входы корреляторов 7.1-7.S. Одновременно квадратуры сигналов, соответствующих максимальному значению $$A_{K_{s.\max }}$$

, со вторых групп выходов блоков анализа 8.1-8.S поступают на группы входов соответствующих блоков вычисления разности фаз 15.1-15.S.further determine the maximum values $$A_{K_{s.\max }}$$

. If the signal quality meets the specified requirements $$\left(A_{K_{s/\max }}>A_{P\mathrm{about}R}\right)$$

the adjustment mechanism of the corresponding correlators is turned on (the necessary 8.s block is connected to the work). At the first outputs of these blocks 8.1-8.S, control signals are generated that are fed to the control inputs of the switches 9.1-9.S, translating them into a second stable position. As a result, the second groups of information outputs of block 10, carrying information about the position of the maximum of the correlation function K _s , are disconnected from the second groups of control inputs of the correlators 7.1-7.S, and the corresponding output groups of the analysis blocks 8.1-8.S are connected to them. The position numbers of the maximum of the correlation function K _s through the corresponding switches 9.1-9.S arrive at the control inputs of the correlators 7.1-7.S. Simultaneously squaring the signals corresponding to the maximum value $$A_{K_{s.\max }}$$

, from the second output groups of the analysis blocks 8.1-8.S are fed to the input groups of the corresponding phase difference calculation blocks 15.1-15.S.

квадратуры сигналов с выходов соответствующих корреляторов блокируются блоками анализа и не поступают на входы блоков вычисления разности фаз 15.1-15.S.If threshold conditions are not met $$\left(A_{K_{s/\max }}<A_{P\mathrm{about}R}\right)$$

the quadratures of the signals from the outputs of the corresponding correlators are blocked by analysis units and do not enter the inputs of the blocks for calculating the phase difference 15.1-15.S.

Blocks 15.1-15.S provide the calculation of the phase difference between the signals received in the zero (blocks 1.0, 2.0, 3.0 and 5.0) and other M-1 reception channels

$$\Delta {\varphi }_{\mathrm{and}sm.m0}^s\left(\alpha ,\beta ,\theta \right)=\Delta {\varphi }_{\mathrm{and}sm.0}^s\left(\alpha ,\beta ,\theta \right)-\Delta {\varphi }_{\mathrm{and}sm.m}^s\left(\alpha ,\beta ,\theta \right).\left(7\right)$$

The results of the calculations from the outputs of blocks 15.1-15.S go to the corresponding input groups of S + 1 of the switch 11 and then to the corresponding inputs of the subtracted subtraction blocks 16.1-16.S. Here, by the next clock pulse of block 6, they are recorded in the corresponding buffer registers (see Fig. 4). At the same time, the control unit 14 performs an operation of comparing the coordinates of the centers of elementary binding zones {X, Y, Z} _n stored in its reprogrammable memory and the spacecraft coordinates (received from the second group of information outputs of the radio navigator 12) received on its first group. As a result, at the outputs of the control unit 14, a code number n is generated (corresponding to the number of the elementary binding zone in which the s-th spacecraft is currently located) arriving at the address inputs of the first memory block 22 (see Fig. 7). With the arrival of the next clock pulse of block 6, the values of the reference phase differences ∆φ _et.m0 (α _i , β _j , θ _l ) _n for the nth elementary zone of binding go to the input groups of the reduced blocks of subtraction 16.1-16.S. The functions of the S + 1st switch 11 include ensuring the passage of the measured phase difference (7) only from block 15.s. The latter correspond to the signals of the s-th KA, which is currently in the nth elementary binding zone. Current information about the satellite number s to the group of address inputs of block 11 comes from the address outputs of block 10. Similar operations using blocks 12, 10, 14, 11, 15.1-15.S, 14 and 16.1-16.S are performed on all S detected companions. The calculation results (expression 3, Fig. 5) are supplied to the corresponding groups of information inputs S of the second subtraction blocks 17.

(см. выражение 3) с соответствующей группы информационных выходов блока 16 (через сумматор 27) во второй блок памяти 23. С приходом очередных тактовых импульсов в блоке 17 определяется разность разности фаз $$\Delta \Delta {\varphi }_{m0}^{s1}\left({\alpha }_i,{\beta }_j,{\theta }_l\right)$$

в соответствии с (4). Выполнение этой операции позволяет устранить набег фаз φ_кан во всех используемых приемных каналах.At the same time, the number KA S from the group of address outputs of the initial installation block of the correlators 10 is supplied to the group of information inputs of the decoder 21. At the preparatory stage in block 21, the number KA S selected as the reference is set. Let KA with S = 1 be chosen as the latter. If this situation arises during operation of the device, a control signal is generated at the output of block 21, which implements a record of values $$\Delta {\varphi }_{m0}^{\mathrm{one}}{\left({\alpha }_i,{\beta }_j,{\theta }_l\right)}_n$$

(see expression 3) from the corresponding group of information outputs of block 16 (via the adder 27) to the second memory block 23. With the arrival of the next clock pulses in block 17, the phase difference is determined $$\Delta \Delta {\varphi }_{m0}^{s\mathrm{one}}\left({\alpha }_i,{\beta }_j,{\theta }_l\right)$$

in accordance with (4). Performing this operation allows you to eliminate the phase shift φ _kan in all used receiving channels.

When the first KA moves to the n + 1st elementary zone, the contents of block 23 are updated in accordance with the algorithm described above. Further, the results of calculations from S-1 of the groups of information outputs of block 17 are supplied to the corresponding groups of information outputs of the calculator-shaper 18.

The main task of the calculator-shaper 18 is the formation of a three-dimensional measurement matrix R (α, β, θ). To this end

the phase differences obtained in blocks 17.1-17.S-1 are squared and summed (expression 5). Similar operations are performed on the signals of all spacecraft used in the work. The results obtained (see FIGS. 5 and 6) are stored as an element of the three-dimensional measurement matrix R (α, β, θ). The functions of decision block 25 include finding the element r {i + 1, j + 1, l + 1} of the three-dimensional measurement matrix R (α, β, θ) with minimal values, which uniquely corresponds to the estimated angular parameters of the object α _i , β _j and θ _l . The measurement results in a given form are displayed in block 26.

The device that implements the proposed method uses known elements and blocks described in the scientific and technical literature. Blocks 1 to 16, 18, 22, 25 and 26 are implemented similarly to the corresponding blocks of the prototype. Implementation options for antenna elements 1.0-1. M-1, as well as 13 are widely considered in the literature (see Saidov A.S. et al. Design of phase automatic direction finders. - M.: Radio and Communications, 1997).

Antenna array 1.0-1. M-1 and AE 13 can be implemented on C576 antennas (see E-mail: support@novatel.com. Web: www.novatel.com US & Canada). Antenna elements are tuned to a frequency of 1575.42 MHz. In the case of using an antenna array of four AEs located in the same plane at the corners of the square, the distance between adjacent elements can be 1 m. In the general case, the plane of the antenna array 1.0-1. M-1 can be arbitrarily oriented relative to the symmetry axes of the object. In this case, the declination at angles α, β, and θ is introduced into the reference values (block 22) or in decision block 25.

Low-noise amplifiers 2.0-2.M-1 perform the functions of pre-selectivity on adjacent channels of reception and amplification. They can be realized from a series-connected PAW filter 801-RF1575.42M-D and an amplifier based on MGL453543. The filter passband is about 1 MHz.

Radio paths 3.0-3.M-1 are designed to provide basic selectivity on adjacent channels for receiving, amplifying and converting the frequency of the signal 1575.42 MHz to a frequency of 90.42 MHz. Each of the radio paths contains in series a first PAW filter, an amplifier, a second PAW filter, a mixer, and an intermediate frequency amplifier. The first and second PAW filters, respectively, can be implemented on elements 801-RF1575.42M-G. The amplifier is implemented on an MGA53543 chip. The mixer can be implemented according to a transformer circuit. The intermediate frequency amplifier can be realized from two amplifiers connected in series based on 2SC5551 elements, in the load of which there are LC filters.

The implementation of the block forming the reference stress 4 is widely known and does not cause difficulties. Its purpose is to form a harmonic oscillation with a frequency, for example, 1485, 42 MHz. Block 4 can be implemented on the basis of the UMS-1000 controlled voltage generator and the LMX23Q6 synthesizer.

The implementation of the digital processing unit 5 is known and does not cause difficulties. Block 5.m is designed to convert the analog signal from the output of block 3.m into digital form and decompose it into quadratures. Figure 9 descriptions of the prototype device (see Pat. RF No. 2374659) shows an embodiment of a digital processing unit that contains an analog-to-digital converter, a digital generator, the first and second multipliers, respectively, a phase shifter, a first and second low-pass filters.

If you use four receive channels in the inventive device, the digital processing units can be implemented using two sets of standard boards: the digital reception submodule ADMDDC2WB and ADP60PCI v.3.2 on the Sharc ADSP-21062 processor (see User Guide. E-mail: insys @ arc .ru www-server www.insys.ru). Most preferred is the implementation of blocks 5 on the basis of ADC LTC2208 chips (analog-to-digital converter) in combination with a programmable logic integrated circuit FPGA from Xilinx Virtex4SX35 (see FPGA-Virtex4: http://www.xilinx.com/products/silicon_solutions / fpgas / virtex / virtex4 / index / htm).

The construction of a clock generator 6, which provides the generation of signals with a frequency of 120 MHz, is known and widely covered in the literature (Radio receivers: a manual for radio engineering. Special. Universities / Yu.T. Davydov et al .; - M .: Higher school, 1989. - 342 p .; Functional units of adaptive interference cancellers: Part 2. V.V. Nikitchenko. - L .: YOU. - 1990. - 176 p .; Veniaminov DR and other microcircuits and their application. - M. : Radio with communication, 1989 - 240 p.).

The implementation of correlators 7.1-7.S is known and widely covered in the scientific and technical literature (see BC Shebshaevich, P.P.Dmitriev, N.V. Ivantsevich and others. Network satellite radio navigation systems. Under the editorship of BC Shebshaevich - M. : Radio and communications 1993; Red E. Reference manual on high-frequency circuitry: Circuits, blocks, 50 ohm technology: Translated from German.- M .: Mir, 1990. - 256 p.).

, а также снятие ПСП-модуляции путем построения функции корреляции. Поступающая управляющая информация с блоков 10 и 8.1-8.S позволяет выделить позицию максимума функции корреляции K_s, а следовательно, определить задержку сигнала при его распространении.It is known that BPSK spacecraft signals are modulated by individual SRPs, called rangefinder codes. Therefore, to measure the phase difference of the signals, it is first necessary to remove the a priori known modulation of the SRP, to take into account the Doppler frequency shift and the signal delay during its propagation. These tasks are solved using blocks 7.1-7.S in conjunction with blocks 8.1-8.S and 10. The functions of blocks 7.1-7.S include recording (offset) the frequency of the received signal by the value $$F_{d\mathrm{about}Pl{.}_s}$$

, as well as removing PSP modulation by constructing a correlation function. The incoming control information from blocks 10 and 8.1-8.S allows you to select the position of the maximum of the correlation function K _s , and therefore, determine the delay of the signal during its propagation.

All 7.1-7.S correlator blocks are identical and contain a digital generator, a bandwidth generator, M processing paths. Each processing path contains two mixers, two multipliers, respectively, a phase shifter, two memory blocks.

The work of correlators is discussed in detail in Pat. RF №2374659. It is advisable to implement 7.1-7.S blocks on a Xilinx programmable logic integrated circuit of the Virtex 4SX35 type. Based on one FPGA, it is possible to implement up to 16 correlators (see FPGA-Virtex4: http://www.xilinx.com/products/silicon_solutions/fpgas/virtex/virtex4/index/htm). The algorithm of the correlators is shown in Fig.12.

Blocks 8.1-8.S are intended for analysis of the quality of signals received from the spacecraft and on its basis decide on the translation of the quadrature signals (corresponding to positions K _s ) to the inputs of the blocks for calculating the phase difference 15.1-15.S. The analysis blocks 8.1-8.S are performed identically, and an embodiment of one of them is shown in FIG. 13 of the description of the prototype device (see Pat. RF No. 2374659).

Analysis blocks can be implemented using the TMS320c6416 signal processor (see TMS320c6416: http: //focus/ti/com/docs/prod/folders/print/TMS320c6416.html). The operation algorithm of the analysis unit 8.s is shown in Fig.9.

The implementation of switches 9.1-9.S is widely known and does not cause difficulties (see the Handbook of Integrated Circuits / B.V. Tarabkin, S.V. Yakubovsky, N.A. Barkanov and others; Edited by B.V. Tarabkin . - 2nd ed., Revised and enlarged. - M.: Energy, 1980. - 816 p.). They have two stable states and provide switching of output signals with K _s values of block 10 (second group of inputs) and blocks 8.1-8.S (first group of inputs) of the corresponding bit depth. They are controlled by signals from the first output of 8.1-8.S blocks (TTL level potentials).

Block 10 is intended for sequential adjustment of correlators 7.1-7.S to the signals of detected spacecraft. The initial setting block of the correlators 10 contains two decoders, a comparison unit, a pulse counter, S identical analysis paths consisting of two blocks of AND elements, a digital generator, a pseudo-random sequence generator, two mixers, a phase shifter, four multipliers, an adder, a square root extractor, and a search block maximum (see Fig.15 description of the prototype device, Pat. RF №2374659). The operation of unit 10 is described in detail in the same place (p. 33-34).

It is advisable to perform the initial installation of correlators 10 on the signal processor TMS320c6416 (see TMS320c6416: http: //focus/ti/com/docs/prod/folders/print/TMS320c6416.html). The operation algorithm of block 10 is shown in Fig.10.

с выходов соответствующих блоков 15.1-15.S. Реализация блоков элементов И известна и трудностей не вызывает.Block 11 (S + 1st switch) is designed for alternately (according to the instructions of block 10) connecting the outputs of blocks 15.1-15.S with the results of calculations (7) to the inputs of the subtracted corresponding first subtraction blocks 16.1-16.S. It can be performed using S blocks of elements I. The first inputs are block-wise combined and connected to the corresponding address output of block 10. The second inputs of the blocks are supplied with values $$\Delta {\varphi }_{\mathrm{and}sm.m0}^S\left(\alpha ,\beta ,\theta \right)$$

from the outputs of the respective blocks 15.1-15.S. The implementation of blocks of AND elements is known and does not cause difficulties.

The implementation of the radio navigator 12 is known and widely reported in the literature (see U-blox: http://www.u-blox.com/customersupport/antaris4_doc.html).

The control unit 14 performs two main functions:

storing the coordinates of the centers of the elementary binding zones {X, Y, Z} _n ;

comparing the values of {X, Y, Z} _n with the coordinates of the detected spacecraft {X, Y, Z} _s .

The implementation of the first function is carried out using a reprogrammable memory unit, in which at the preparatory stage the values {X, Y, Z} _{n are} written. The location addresses {X, Y, Z} _n correspond to the numbers "n" of the elementary binding zones, n = 1, 2, ..., N.

The implementation of block 14 is known and widely covered in the literature (see Pat. RF No. 2374659, Fig.16). It is easily implemented on discrete elements, for example, on microcircuits with TTL signal levels of 555, 1533 and other series.

The phase difference measurement blocks 15.1-15.S provide the calculation of the phase difference (7) between the signals received in the zero (blocks 1.0, 2.0, 3.0 and 5.0) and other M-1 reception channels. All S phase difference measurement blocks 15.1-15.S are identical. The implementation of blocks 15.1-15.S is known and does not cause difficulties (see Pat. RU No. 2283505, IPC6 G01S 13/46, published on September 10, 2006, Bulletin No. 25).

The implementation S of the first and second blocks of subtraction 16.1-16.S and 17.1-17.S, respectively, is known and does not cause difficulties. Using blocks 16.1-16.S, calculation (3) is implemented, and using blocks 17.1-17.S - expression (4), the execution order of which is shown in Fig.5. Blocks 16.1-16.S and 17.1-17.S can be implemented on discrete elements (elementary logic) according to well-known circuits (Red E. Reference manual on high-frequency circuitry: Circuits, blocks, 50 ohm technology: Translated from German - M.: Mir, 1990 .-- 256 p.). In the case when the signals of the same spacecraft, for example, the first detected one, are accepted as reference signals, the number of second subtraction blocks 17 can be reduced to S-1.

Block 22 is designed to store reference values of phase differences ∆φ _et.m0 (α _i , β _j , θ _l ), which are written to it at the preparatory stage of the device (see figure 3). The numbers of memory cells in which the values ∆φ _et.m0 (α _i , β _j , θ _l ) _n and the numbers of elementary binding zones n are written are in strict accordance. The capacity P of the first memory block 22 is determined by the expression:

P = (I + 1) · (J + 1) · (L + 1) · N · M.

The implementation of block 22 is known and does not cause difficulties (see Lebedev, O.N. Chips of memory and their application. - M .: Radio and communications, 1990. - 160 s .; Large integrated circuits of memory devices: Reference / A.Yu. Gordonov et al .; Edited by A.Yu. Gordonov and Yu.N. Dyakov. - M.: Radio and Communications, 1990. - 288 p.).

сигналов опорного КА. Реализуется аналогично с блоком 22.The second memory block 23 is designed to store the current value of the phase differences $$\mathrm{<figure-callout\; id="0"\; label="\Delta \; \phi \; m"\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\Delta \; </figure-callout>}{\varphi }_m^{}{0}_{\mathrm{one}}^{}{\left({\alpha }_i,{\beta }_j,{\theta }_l\right)}_n$$

reference spacecraft signals. It is implemented similarly with block 22.

Calculator-shaper 18 is designed to form a three-dimensional measurement matrix R (α, β, θ) of dimension (I + 1) · (J + 1) · (L + 1). The element values ∆φ {α _i , β _j , θ _l } of the measurement matrix R (α, β, θ) are preliminarily calculated. For this purpose, the phase differences ∆∆φ _m0 (α _i , β _j , θ _l ) measured by blocks 17.1-17.S are squared and summed in accordance with (4) and (5) (see FIG. 5). The found values of the elements Δφ {α _i , β _j , θ _l } are recorded in a three-dimensional array of the measurement matrix R (α, β, θ) at the address {i + 1, j + 1, l + 1} (see Fig. 6 ) The recording address is the values of the angles α _i , β _j , θ _l , which are stored in block 22 together with the reference phase differences and accompany them during the calculations in blocks 16.1-16.S, 17.1-17.S. Due to the fact that block 18 accounts for a significant part of the device’s time, it is advisable to implement the latter on the TMS320c6416 signal processor (see TMS320c6416: http: //focus/ti/com/docs/prod/folders/print/TMS320c6416.html) . The algorithm for generating the measurement matrix R (α, β, θ) is shown in Fig. 11.

Decision block 25 is designed to determine the element of the measurement matrix R (α, β, θ) with the address r {i + 1, j + 1, l + 1} (memory cells of the storage device from block 18) with the minimum amount ∆φ { α _i , β _j , θ _l } corresponding to the desired angular parameters of the antenna array (object) {α _i , β _j , θ _l }.

The block diagram of the decision block 21 is shown in Fig.21 description of the device of the prototype, and a description of its operation is on pages 39-40 (ibid.). Block 25 is also advisable to implement on the signal processor TMS320c6416 (see TMS320c6416: http: //focus/ti/com/docs/prod/folders/print/TMS320c6416.html). The operation algorithm of the decision block is shown in Fig. 12.

The implementation of the display unit 22 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, 1990. - 112 s .; Password N .V., Kaydalov SA Sign-Synthesizing Indicators and Their Application: Reference Book. - M.: Radio and Communications. 1998. - 128 p.).

во второй блок памяти 23. Реализация блока 21 трудностей не вызывает.The decoder 21 performs the function of comparing the code combinations arriving at its input with the current numbers s KA with the number of the assigned reference KA. When the code combinations coincide at the output of block 21, a control signal is generated that implements a record of the current value $$\mathrm{<figure-callout\; id="0"\; label="\Delta \; \phi \; m"\; filenames="00000045.png,00000047.png"\; state="\{\{state\}\}">\Delta \; </figure-callout>}{\varphi }_m^{}{0}_{\mathrm{one}}^{}\left({\alpha }_i,{\beta }_j,{\theta }_l\right)$$

in the second memory block 23. The implementation of block 21 does not cause difficulties.

The adder 27 is designed to combine the stream of output signals S of the first subtraction blocks 16.1-16.S to feed them to the group of information inputs of the second memory block 23. The implementation of block 27 is known and does not cause difficulties.

Claims (2)

1. The method for determining the angular orientation of aircraft (LA), which consists in the fact that at the preparatory stage or during the flight of the aircraft, the sphere above the antenna array (AR) is evenly divided into N = D / D ₀ elementary snap zones, where D and D ₀ - respectively, the area of the sphere at a distance of several thousand kilometers from the center of the AR and the elementary binding zone, each reference zone is assigned a serial number b _n , n = 1, 2, ..., N, the coordinates of the centers of the elementary binding zones are determined, the AR is made from M, M ≥4 spatially separated For each AE pair A _m0 , m = 1, 2, ..., M-1, the reference values of the phase differences of the signal arrival relative to the coordinates of the centers of each elementary binding zone ∆ are calculated φ _et.m0 (α ₀ , β ₀ , θ ₀ ) _n , where α _i , β _j , θ _l are the values of the pitch, roll and azimuth angles, respectively, sequentially discrete change the orientation of the AP on the given values of the angles Δα, Δβ , Δθ in the predefined intervals {α _min , α _max }, {β _min , β _max } and {θ _min , θ _max }, (α _max- α _min ) / Δα = I, (β _max - β _min ) / Δβ = J, (θ _max -θ _min ) / Δθ = L without changing the coordinates of the center of the AR relative to the center of the elementary binding zones, for each position of the AR (α _i , β _j , θ _l ) and for each center elementary binding zones calculate and remember the reference values of the phase differences ∆φ _et.m0 (α _i , β _j , θ _l ) _n , in the process of receiving signals from the first detected spacecraft (SC) of the global navigation satellite system, measure the phase differences of the received signals in AR antenna elements

, calculate the difference between the reference phase differences corresponding to the angles of the AP α ₀ , β ₀ , θ ₀ for the b _n- th elementary binding zone, and the measured phase differences of the signals of the first spacecraft with a priori known location

, the measured phase differences are squared and summed over all M-1 AE pairs used in the work, the calculation results Δφ ₁ (α ₀ , β ₀ , θ ₀ ) are stored, signals from other spacecraft are received, and Δφ _s (α ₀ , β ₀ , θ ₀ ) for all S of the observed spacecraft, s = 1, 2, ..., S, the calculation results are summed over all S noted in the spacecraft and stored in the element r (1,1,1) of the three-dimensional measurement matrix R ( α, β, θ), calculate the values Δφ (α _i , β _j , θ _l ) for all possible orientation angles of the AP (α _i , β _j , θ _l ), i = 0, 1, 2, ..., I; j = 0, 1, 2, ..., J; l = 0, 1, 2, ..., L, and the results are written into the corresponding elements r (i + 1, j + 1, l + 1) of the three-dimensional measurement matrix R (α, β, θ) for the measured orientation of the AR and LA take the values of the angles (α _i , β _j , θ _l ) corresponding to the element r (i + 1, j + 1, l + 1) of the measurement matrix R (α, β, θ) having a minimum value, characterized in that for the formation of the measurement matrix found for the first SC phase difference

subtract from the corresponding values

other S-1 KA:

, and the results of the subtraction are squared and summed over all М-1 pairs of AE and S-1 spacecraft to form the value Δφ (α ₀ , β ₀ , θ ₀ ) with subsequent storage in the element r (1,1, 1) a three-dimensional measurement matrix R (α, β, θ), similarly form the remaining elements r (i, j, l) of the matrix R (α, β, θ) for all possible orientation angles of the AP (α _i , β _j , θ _l ) 2. A device for determining the angular orientation of aircraft (LA), including M, M≥4, identical receiving channels from a series-connected antenna element, low-noise amplifier, radio path and digital processing unit, designed to convert an analog signal into digital form and decompose it into quadratures , two groups of outputs of which are the first and second groups of information outputs of the corresponding reception channel, a block for generating reference signals, the output of which is connected to the second inputs and channels of receiving channels, a clock generator, S correlators, S analysis units for evaluating the quality of signals received from spacecraft (SAC), S + 1 switch, correlators initial installation unit, S phase difference calculation blocks, S first subtraction blocks, first block memory, a calculator-shaper, designed to form a three-dimensional measurement matrix R (α, β, θ), a decision block, designed to find an element of a three-dimensional measurement matrix with a minimum value, a control unit, started for storing the coordinates of the centers of the elementary binding zones and comparing these coordinates with the coordinates of the detected spacecraft, the display unit, the first, second and third input installation buses, the radio navigator and the M + 1 antenna element, the output of which is connected to the input of the radio navigator, the first information output which is connected to the control input of the initial installation block of the correlators, the groups of information inputs of which are combined with the corresponding groups of information inputs of the correlators and correspondingly groups of information outputs of the receiving channels, the clock inputs of which are combined and connected to the clock inputs of the digital processing blocks of the receiving channels, the output of the clock generator, synchronization inputs of the correlators, clock inputs of the control unit, phase difference calculation blocks, the first memory block, the first subtraction blocks, the computer shaper, decision block, initial installation block of correlators, S + 1st switch, analysis blocks, the second groups of information outputs of which are connected to the group and information inputs of the corresponding phase difference calculation blocks, the first outputs of the analysis blocks are connected to the control inputs of the corresponding switches, the third groups of outputs of the analysis blocks are connected to the first groups of information inputs of the corresponding switches, the groups of information inputs of the analysis blocks are connected to the information outputs of the corresponding correlators, the first groups of inputs control which are connected with the corresponding first groups of information outputs of the initial set correlators, the second groups of control inputs of the correlators are connected to the output groups of the corresponding switches, the second groups of information inputs of which are connected to the corresponding second groups of the information outputs of the initial installation block of the correlators, the groups of information outputs of the phase difference calculation blocks are connected to the corresponding input groups of the S + 1-st switch , the group of address inputs of which is connected to the group of address outputs of the initial installation block of the correlators, a S groups of information the outputs are connected to the groups of inputs of the subtracted corresponding first subtraction blocks, the groups of inputs of which are reduced are combined and connected to the group of information outputs of the first memory block, the group of information inputs of which is the second input installation bus of the device for determining the angular orientation of aircraft, and the group of address inputs is connected to the group of information outputs of the control unit, the second group of information inputs of which is the first input installation bus of the device determining the angular orientation of the aircraft, the first group of information inputs of the control unit is connected to the second group of information outputs of the radio navigator, the group of information outputs of the computer-driver is connected to the first group of information inputs of the decision unit, the second group of information inputs of which is connected to the third input installation bus of the device for determining the angular orientation of aircraft, and the group of information outputs is connected to the group of information inputs indication unit, characterized in that a sequentially connected decoder, a second memory unit and S second subtraction units are introduced, the groups of inputs of which are reduced are connected to the information output groups of the corresponding S first subtraction units, the group of decoder information inputs is connected to the address output group of the initial installation unit controllers, an adder whose information input groups are connected to the information output groups of the corresponding first subtraction blocks, and the group information outputs is connected to the group of information inputs of the second memory block, the group of information outputs of which is connected to the group of inputs of the subtracted second subtraction blocks, the clock inputs of which are combined with the clock inputs of the second memory block and S of the first subtraction blocks, and the group of information outputs of the second subtraction blocks groups of information inputs of the calculator-shaper.

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