RU2531781C2 - Orientation method of instrument moved in piloted aircraft, and system for its implementation - Google Patents

Abstract

FIELD: aviation.

SUBSTANCE: method involves determination of a position and orientation of a freely moved instrument inside an aircraft. For that purpose, commands are supplied to emit pulse ultrasonic signals (UT) with emitters distributed along the instrument. Signals are received with UT receivers at distributed points on the instrument inside the aircraft. Moments of emission and reception of signals are synchronised via a radio channel. Temperatures are measured at arrangement points of UT emitters and UT receivers. As per this data and delay times of reception of signals, the above position and orientation of the instrument is determined. As per the current position of markers, turning angles of the instrument for its guidance to the same markers are calculated, and commands are generated for the instrument rotation. A guidance system includes required means for carrying out the above operations.

EFFECT: providing guaranteed guidance of an instrument freely moved relative to the instrument inside the aircraft to markers of any type.

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Description

The invention relates to aerospace engineering and can be used for orientation (guidance) by the crew of a manned spacecraft or aircraft of a hand-held device moving inside a moving space or aircraft.

There is a method of aiming (RF patent No. 2395054 dated 10/06/2008, IPC: F41G 3 / 00.1), which includes searching for a target and aiming at a target by combining an aiming mark of a weapon with a video image of a target on a monitor received from a surveillance video camera, while searching for a target is carried out by video image in a wide solid angle, and precise guidance is performed on the enlarged video image.

A system that implements this aiming method (patent of the Russian Federation No. 2395054 dated 10/06/2008, IPC: F41G 3 / 00.1) includes a weapon sight, a sight mounted on the weapon and one or two additional video cameras and a monitor connected to the video cameras.

The disadvantages of the data of the method and system of aiming include the fact that they do not provide the ability to aim at targets located outside the solid angle of the field of view of the survey camera.

A known method of pointing the line of sight of a device rotating around its axis relative to the base, on a laser radiation source (application for the invention of the Russian Federation No. 94000376/28, 05.01.1994, IPC 6: F41G 3/00, G05D 3/00), in which roughly determine the angular position of the radiation source relative to the base direction associated with the base, check whether the radiation matches the type of laser pointer, turn the base until the angular position of the radiation source is accurately determined, and then turn the pointing device until its line izirovaniya the radiation source.

A device for guiding the line of sight of a device, rotating around its axis relative to the base, to a laser radiation source (application for invention of the Russian Federation No. 94000376/28, 05.01.1994, IPC 6: F41G 3/00, G05D 3/00) that implements the aforementioned pointing method, it contains sensors, a panel, a guidance mode setting unit, a switch, base and device drives, a unit for determining the angular position and type of radiation source and a rotation task, a position sensor for the line of sight of the device.

The disadvantages of the data of the guidance method and device include the requirement to identify the target by the radiation emitted by the target, which limits the possibilities of their use.

As a prototype method, a method of pointing a television video spectral complex, implemented by a control system for a television video spectral complex of a spacecraft (SC) (RF patent No. 2068801 of 01/16/1992, IPC 6: B64G 9/00 is a prototype of the method), which includes guidance and tracking goals for which the axis of sight of the television and scientific equipment installed on the turntable is reoriented to the target selected in real time on the TV image, followed by automatic tracking ate, including a determination of the spatial position of the instrument relative to the spacecraft guidance, setting target coordinates, determining the position of the objectives with respect to a homing device, calculating the angles of rotation of the device targeting and turns pointing device.

As the prototype system, the control system for the television video spectral complex of the spacecraft (KA) that implements the prototype method was selected (RF patent No. 2068801 dated 01.16.1992, IPC 6: B64G 9/00 - system prototype) containing functional units for automatic guidance and tracking of specified goals, the coordinates of which are entered into the system, the functional control units for pointing the turntable and the reorientation of the equipment complex from the crew and the functional blocks for monitoring and acknowledging control information, including The prototype system includes: an automatic stabilized platform (ASP) with target scientific equipment and a television system, a block for setting the parameters of motion for the spacecraft, a block for setting the current orientation of the spacecraft, blocks for setting the coordinates of targets in inertial, orbital and Greenwich coordinate systems, ground and airborne telephone and telegraph systems (NTTS and BTTS), a block for synchronizing the reception of telephone and telegraph messages (BSP), blocks for forming an angular position (BFUP), a block for determining the angular velocity of guidance (BOSN), a block is formed Ia control actions (BFUV).

BFUP on information about the elements of the orbit and the current orientation of the spacecraft determines the position of the target relative to the guidance device.

The TSA also includes a block for determining the spatial position of the guidance device relative to the spacecraft, in which signals are generated corresponding to the current orientation angles of the TSA relative to the spacecraft, which from the outputs of the TSA are fed to the ACSN.

BOUSN determines the angular velocity of pointing to the target and the relative position of the axis of sight of the TSA and the direction to the target.

BFUV calculates the commands for turning the guidance device, which from the output of the BFUV enter the TSA and upon receipt of which the TSA starts moving at a given speed.

A television system installed on the TSA transmits a television signal to the Earth, through which a teleoperator on Earth has the ability to visually control the guidance process.

NTTS and BTTS provide the transmission and reception of telephone and telegraph messages from the Earth to the spacecraft and contain transceiver devices, one of which is installed on the spacecraft, and the other on Earth.

BSP provides synchronization of sequential reception of word bits of telephone and telegraph messages with the frequency of the channel of the telephone and telegraph system.

The disadvantages of the prototypes of the method and system include the fact that they allow you to aim only at the target, on the one hand, limited by the range of angles of rotation of the turntable, and on the other hand, limited by getting into the current frame of the TV image, which, in addition to the mentioned restrictions on the range of angles the rotation of the turntable has limited coverage, determined by the field of view of the TV camera. At the same time, the very fact of placing guidance equipment on the turntable limits the freedom of movement of the equipment when aiming and tracking the target by the spacecraft crew. These disadvantages significantly limit the possibility of using prototypes of the method and system.

The problem to which the present invention is directed, is to provide orientation (guidance) of the device, freely moving inside the manned spacecraft (PA) and not having a mechanical connection with it.

The technical result achieved by the implementation of the present invention is to ensure guaranteed orientation (guidance) of the device, freely movable relative to the PA and not having a mechanical connection with it, according to the specified landmarks.

The technical result is achieved by the fact that in the method of orienting the device being moved in a manned spacecraft, including determining the spatial position of the device relative to the manned spacecraft, setting landmarks, determining the position of landmarks relative to the device, calculating the device's rotation angles and device rotations, additionally generate control commands for pulsed ultrasonic radiation signals by at least three ultrasonic emitters located at spaced points on the the instrument is buoyantly moved relative to the manned apparatus, the emitted pulsed ultrasonic signals are received by at least three ultrasonic receivers located at spaced points on the manned apparatus, the delay time of the ultrasonic signals is measured by the emitted and received ultrasonic signals, while the synchronization of the moments of emission and reception of pulsed ultrasonic signals carried out by radio channel, measure the temperature at the locations of the ultrasonic emitter th and in the locations of ultrasonic receivers, from the received delay times of receiving ultrasonic signals and temperature measurements, determine the distances from the ultrasonic emitters placed on the device to the ultrasonic receivers located on the manned device, while the spatial position of the device relative to the manned device is determined by certain distances from those placed on the device ultrasonic emitters to ultrasonic receivers located on the manned spacecraft, determines The current position of the landmarks relative to the manned vehicle is determined, the spatial position of the landmarks relative to the device is determined by the current position of the landmarks relative to the manned vehicle and the determined spatial position of the device relative to the manned vehicle, the angles of rotation of the device are calculated to orient it according to the landmarks, after which the commands to rotate the device corresponding to calculated values of the rotation angles of the device.

The technical result is also achieved by the fact that the guidance system of the device relative to the manned vehicle, including a synchronizer, a unit for determining the spatial position of the device relative to the manned device, a unit for determining the position of a landmark relative to the device, a unit for calculating commands for turning the device, two transceiver devices, one of which is installed on manned spacecraft, further comprises a unit for determining the current position of the landmark relative to the manned spacecraft a, at least three ultrasonic emitters and at least one temperature sensor installed on the device, at least three ultrasonic receivers and at least one temperature sensor installed on the manned spacecraft, emitter control command generation unit, controllers, amplification unit signals, an automatic gain control unit, a multi-channel analog-to-digital converter, a unit for measuring the delay time of signals, and a unit for reproducing commands to rotate the device, the other of which is transceiver triads are installed on the device, while the inputs of the ultrasonic emitters are connected to the outputs of the emitter control command generation unit, the input of which is connected to the first output of the first controller, the second output and the first and second inputs of which are connected to the input and output of the transceiver installed on the device, and the output of the temperature sensor mounted on the device, and the outputs of the ultrasonic receivers are connected to the inputs of the signal amplification unit, the outputs of which are connected to the inputs of the unit and automatic gain control, the outputs of which are connected to the inputs of a multi-channel analog-to-digital converter, the output of which is connected to the first input of the signal delay time measurement unit, the second input of which is connected to the output of the synchronizer, which is also connected to the first input of the second controller, the second input and the first and the second outputs of which are connected respectively to the output and input of the transceiver installed on the manned spacecraft, and the first input of the spatial determination unit about the position of the device relative to the manned vehicle, the second and third inputs and output of which are connected to, respectively, the output of the signal delay time measurement unit, the output of the temperature sensor installed on the manned device, and the input of the landmark position determination unit relative to the device, the other input and output of which are connected with, respectively, the output of the unit for determining the current position of the landmark relative to the manned vehicle and the input of the unit for calculating commands for turning the device, the output of which is connected with the input of the playback instruction to the rotation unit.

Figure 1 presents a block diagram of the proposed system that implements the proposed method, and introduced the following notation:

1 - PA;

2 - device;

3 - block determining the current position of the landmark relative to the PA;

4, 5, 6 - ultrasonic emitters;

7 - temperature sensor mounted on the guidance device;

8, 9, 10 - ultrasonic receivers;

11 - temperature sensor mounted on the PA;

12 - unit for generating control commands for emitters;

13, 14 - controllers;

15 - transceiver mounted on the device;

16 - transceiver installed on the PA;

17 - signal amplification unit;

18 - block automatic gain control;

19 - multi-channel analog-to-digital Converter;

20 is a block measuring the delay time of the signals;

21 - synchronizer;

22 - unit for determining the spatial position of the device relative to the PA;

23 - block determining the position of the landmark relative to the device;

24 - unit calculation commands for turning the device;

25 - block playback commands to rotate the device;

26 is a block setting the coordinates of the landmark relative to the planet;

27 - unit for determining the position of the center of mass of PA;

28 - block determining the orientation of the PA;

29 - computer.

To measure the six coordinates of the spatial position of the oriented instrument — three linear and three angular parameters — it is necessary to use at least three ultrasonic emitters placed on the guidance device and at least three ultrasonic receivers placed on the PA. Temperature sensors, the measurements of which are used to determine the current propagation velocity of ultrasonic signals between emitters and receivers, can be placed either directly next to each emitter and each receiver, or one at a time on an orientable device and on a PA.

The description of the method is compatible with the description of the system for its implementation when using three ultrasonic emitters and one temperature sensor installed on the oriented device, and three ultrasonic receivers and one temperature sensor installed on the PA.

In this embodiment, the system contains PA 1, device 2, a unit for determining the current position of the landmark relative to PA 3, three ultrasonic emitters 4, 5, 6 and a temperature sensor 7 installed on the device 2, three ultrasonic receivers 8, 9, 10 and a temperature sensor 11 mounted on PA 1, a unit for generating control commands for emitters 12, controllers 13, 14, a transceiver 15 installed on the device 2, a transceiver 16 installed on PA 1, a signal amplification block 17, an automatic gain control unit 18, multi-channel analogue-to-digital converter 19, a unit for measuring the delay time of signals 20, a synchronizer 21, a unit for determining the spatial position of the device relative to the PA 22, a unit for determining the position of a landmark relative to the device 23, a unit for calculating commands for turning the device 24, a unit for reproducing commands for turning the device 25.

Ultrasonic emitters 4, 5, 6 are placed at spaced points with known coordinates in the coordinate system associated with the device 2. The inputs of the ultrasonic emitters 4, 5, 6 are connected to the outputs of the unit for generating commands for controlling the emitters 12, the input of which is connected to the first output of the first controller 13, the second output and the first and second inputs of which are connected to, respectively, the input and output of the transceiver 15 installed on device 2, and the output of the temperature sensor 7 mounted on the device 2.

Ultrasonic receivers 8, 9, 10 are placed at spaced points with known coordinates in the coordinate system associated with PA 1. The outputs of the ultrasonic receivers 8, 9, 10 are connected to the inputs of the signal amplification unit 17, the outputs of which are connected to the inputs of the automatic gain control unit 18, the outputs of which are connected to the inputs of the multi-channel analog-to-digital converter 19, the output of which is connected to the first input of the signal delay time measurement unit 20, the second input of which is connected to the output of the synchronizer 21, which is also connected to the first input of the second controller 14, the second input and the first and second outputs of which are connected to, respectively, the output m and the input of the transceiver 16 installed on the PA 1, and the first input of the unit for determining the spatial position of the device relative to the PA 22, the second and third inputs and the output of which are connected to, respectively, the output of the unit for measuring the delay time of signals 20, the output of the temperature sensor 11 installed on PA 1, and the input of the block determining the position of the landmark relative to the device 23, the other input and output of which is connected to, respectively, the output of the block determining the current position of the landmark relative to PA 3 and the input Lok calculation commands to turn the device 24, whose output is connected to the input of commands to the playback unit 25 of the device rotate.

At the beginning of each measurement frame, the synchronizer 21 generates a trigger trigger pulse, which is transmitted to the signal delay time measuring unit 20 and simultaneously through the second controller 14, the transceiver 16 installed on the PA 1, the transceiver 15 installed on the device 2, and the first controller 13 on unit for generating control commands for emitters 12.

Upon receipt of the aforementioned signal, the emitter control command generation unit 12 sequentially generates pulses with a fixed time delay t between them at its outputs. These pulses are fed to ultrasonic emitters 4, 5, 6, which alternately generate pulsed ultrasonic signals.

The emitted ultrasonic signals are received using ultrasonic receivers 8, 9, 10 located on the PA. The mentioned time delay between pulsed ultrasonic signals τ is determined by the working area of the device relative to the PA, which is determined by the maximum possible distance from the device to each of the ultrasonic receivers located on the PA. Moreover, the frequency of the synchronizer 21 generating triggering pulses by the synchronizer 21 is determined by the given time delay τ and the total number of ultrasonic emitters.

The received ultrasonic signals through the signal amplification unit 17 and the automatic gain control unit 18 are fed to a multi-channel analog-to-digital converter 19, from the output of which the digitized values are fed to the input of the signal delay time measurement unit 20.

The signal delay time measuring unit 20 analyzes the digitized values of the signals of the receivers 8, 9, 10, separates the working signals received from the emitters 4, 5, 6 from the noise, and calculates the time delays between the start pulse and the received working signals. Moreover, since the emitted pulsed ultrasonic signals are separated in time, then in each of the receivers the received working signals are also separated in time.

From the output of the unit for measuring the delay time of the signals 20, the measured delay times of the signals are sent to the unit for determining the spatial position of the device relative to the PA 22.

The signal from the temperature sensor 7 installed on the device 2 through the first controller 13, the transceiver 15 installed on the device 2, the transceiver 16 installed on the PA 1, and the second controller 14 also enters the unit for determining the spatial position of the device relative to the PA 22.

The signal from the temperature sensor 11 installed on the PA 1 also enters the unit for determining the spatial position of the device relative to the PA 22.

In the unit for determining the spatial position of the device relative to PA 22, the distances between ultrasonic emitters 4, 5, 6 and ultrasonic receivers 8, 9, 10 are calculated from the obtained delay times, and the speed of sound is calculated taking into account the average temperature obtained from temperature sensors 7, 11. By the obtained distances are calculated the spatial position of the device relative to the PA, - the linear and angular coordinates of the device in the coordinate system associated with the PA, which are transmitted to the orientation position determination unit and relative device 23.

In the block determining the current position of the landmark relative to the PA 3 determines the current position of the landmark relative to the PA, which is also transmitted to the block determining the position of the landmark relative to the device 23.

For example, the unit for determining the current position of a landmark relative to PA 3 may include a unit for setting coordinates of a landmark relative to the planet 26, a unit for determining the position of the center of mass of PA 27 and a unit for determining the orientation of PA 28, the outputs of which are connected to a computer 29, in which the current spatial position of the landmark in the axes is calculated coordinate system associated with the PA, while the output of the calculator 29 is a block for determining the current position of the landmark relative to the PA 3. Block for determining the position of the center of mass of the PA 27 and the block ELENITE orientation PA 28 can be performed based on the navigation measurement means PA movement.

As an orientable device, for example, an optical device can be used, the sensitivity axis of which needs to be directed at targets set on the planet’s surface, a measuring device that needs to be oriented in a predetermined manner relative to the magnetic field, or any other measuring device that requires special orientation at the time of measurement. In this case, when orienting the device relative to the magnetic field, the direction of the lines of force of the magnetic field can be considered as a guide.

In the block determining the position of the landmark relative to the device 23, the spatial position of the landmark relative to the coordinate system of the device is calculated, which is transmitted to the unit for calculating commands for turning the device 24.

The unit for calculating the rotation commands of the device 24 performs the calculation of the rotation angles by which it is necessary to rotate the device, and presents them in the form of commands to rotate the device.

The unit for reproducing commands to rotate the device 25 reproduces prepared commands by means of technical means of reproduction, for example, by reproducing commands in sound or visual formalized formats adapted for perception by the spacecraft crew — sound-reproducing equipment that outputs sound, for example, to external speakers or headphones, or by means of visual display outputting the image, for example, on the display or glasses.

The operator on board the PA perceives the reproduced commands and manually rotates the device in accordance with the received commands, thereby realizing the required orientation of the device relative to the landmark.

In the present invention, the transceiver devices 15, 16 are made in the form of radio transceivers, the frequency range of which is selected based on safety requirements, the absence of interference and interference with the operation of other standard radio equipment inside the PA. Nominally, these radio transceivers can work, for example, in the Wi-Fi range (2.4 GHz frequency) using the SimpliciTI protocol.

As ultrasonic emitters and receivers, for example, ultrasonic sensors from Murata Manufacturing Co., Ltd. can be used. (http://www.murata.com): MA40E8-2 - an ultrasonic transceiver, MA40E7R - an ultrasonic receiver, MA40E7S - an ultrasonic emitter, while the weight of the sensor does not exceed 5 grams with dimensions of several millimeters. The frequency range of operation of ultrasonic emitters is also selected based on safety requirements, the absence of interference and interference with the operation of other standard radio equipment inside the PA. The nominal operating frequency of ultrasonic emitters may be, for example, 40 kHz.

As temperature sensors can be used, for example, precision temperature sensors TMP35, TMP36, TMP37 manufactured by Analog Devices or temperature sensors built into modern microcontrollers.

In the present invention, a limited number of elements are required to be placed on an orientable device, the main of which are ultrasonic emitters, a temperature sensor and a radio transceiver. The low weight and dimensions of modern ultrasonic emitters, a temperature sensor, and a radio transceiver provide minimization of the mass and dimensions of elements that must be placed on an orientable device.

In the case of pointing the axis of sensitivity of the device through the PA porthole to the reference points set on the planet's surface, ultrasonic radiation receivers can be installed, for example, around the perimeter of the PA porthole used for observation when installing ultrasonic emitters with parallel radiation axes and the axis of sensitivity of the device.

In the General case, ultrasonic emitters and receivers of ultrasonic radiation are placed on the device and on the PA in such a way and in such a quantity that ensures the presence of direct visibility between at least three ultrasonic emitters installed on the device and at least three receivers of ultrasonic radiation, mounted on the PA, at any possible position of the device at the moments of its orientation. Moreover, in the case when the ultrasonic radiation receivers are installed on different sides of the working area of the device, the temperature sensors installed on the PA are placed directly next to each such receiver.

We describe the technical effect of the invention.

The proposed method and system provides guaranteed orientation (guidance) of the device, freely moving relative to the manned spacecraft or aircraft and not having mechanical connection with it, according to the specified landmarks, while ensuring that any measuring device that requires special orientation at the time of measurement is guided towards the landmarks any type and / or landmarks of any type. Also, in the proposed invention, along with the absence of restrictions on the movement of the oriented device relative to the PA, there is no need to use surveillance cameras to search for a target.

The achievement of the technical result in the proposed invention is provided:

- in terms of ensuring the possibility of free movement of the device relative to the PA and the exclusion of mechanical (including wired) communication between the device and the PA - using pulsed ultrasonic signals emitted by at least three ultrasonic emitters placed on the device, received by at least three ultrasonic receivers placed on the PA, as well as synchronization of the moments of emission and reception of pulsed ultrasonic signals over the radio channel between the radio transceiver located on the PA and the radio transceiver rum placed on the device;

- in terms of eliminating the dependence of orientation accuracy on changes in the propagation speed of ultrasonic signals - by measuring the temperature at the locations of the ultrasonic emitters and at the locations of the ultrasonic receivers and taking into account the temperature measurement data when determining the current velocity of propagation of ultrasonic signals between the emitters and receivers;

- in terms of ensuring the identification of signals emitted by different emitters - using a temporary separation method in which ultrasonic emitters send pulsed signals alternately with a time delay;

- in terms of reducing the dimensions of the elements placed on the device - using as elements that must be placed on the device, ultrasonic emitters and temperature sensors, which have an insignificant mass and dimensions in relation to the device;

- in terms of providing orientation of any device according to landmarks of any type - providing the possibility of using any landmarks that allow a formalized mathematical description, including targets on the surface of the planet, in the celestial sphere, directions of magnetic field lines, etc.

Including the achievement of the technical result in the proposed system is provided by the introduction of the proposed temperature sensors, radio transceivers, a unit for determining the current position of the landmark relative to the PA, a unit for reproducing commands for turning the device and functional blocks that implement radiation, reception and processing of ultrasonic signals, as well as the introduction of the proposed functional connections between blocks and the proposed execution of already known blocks.

An assessment of the effectiveness of the application of the invention on the international space station showed that its use will qualitatively increase the efficiency of performing measurement sessions using a variety of measuring equipment that requires special orientation at the time of measurement.

Industrial execution of the essential features characterizing the invention is not complicated and can be performed using known technologies.

Claims (2)

1. A method of orienting a device to be moved in a manned spacecraft, including determining the spatial position of the device relative to the manned spacecraft, setting landmarks, determining the position of landmarks relative to the device, calculating device rotation angles and device turns, characterized in that control commands are generated for the emission of pulsed ultrasonic signals less than three ultrasonic emitters located at spaced points on freely movable relative to the saws of the device being pulled by the device, emitted pulsed ultrasonic signals are received by at least three ultrasonic receivers located at spaced points on the manned apparatus, the delay time of ultrasonic signals is measured from the emitted and received ultrasonic signals, while the moments of radiation and reception of pulsed ultrasonic signals are synchronized via the radio channel carry out temperature measurement at locations of ultrasonic emitters and at locations of ultrasound x receivers, based on the received delay times of receiving ultrasonic signals and temperature measurements, determine the distances from the ultrasonic emitters placed on the device to the ultrasonic receivers located on the manned device, while the spatial position of the device relative to the manned device is determined by certain distances from the ultrasonic emitters placed on the device to those placed on manned apparatus of ultrasonic receivers, determine the current position of landmarks relative For a manned vehicle, the spatial position of the landmarks relative to the device is determined by the current position of the landmarks relative to the manned vehicle and the determined spatial position of the device relative to the manned vehicle, the angles of rotation of the device are calculated to orient them by landmarks, and then the commands for turning the device corresponding to the calculated values of the rotation angles are reproduced instrument. 2. The orientation system of the device to be moved in a manned vehicle, including a synchronizer, a unit for determining the spatial position of the device relative to the manned device, a unit for determining the position of a landmark relative to the device, a unit for calculating commands for turning the device and two transceiver devices, one of which is installed on the manned device that the unit for determining the current position of the landmark relative to the manned vehicle, at least three ultrasonic emitters and n e at least one temperature sensor installed on the device, at least three ultrasonic receivers and at least one temperature sensor installed on the manned device, a unit for generating emitter control commands, controllers, a signal amplification unit, an automatic gain control unit, multi-channel analog- a digital converter, a unit for measuring the delay time of the signals and a unit for reproducing commands for turning the device, and another transceiver is installed on the device, while the inputs are the ultrasonic emitters are connected to the outputs of the emitter control command generation unit, the input of which is connected to the first output of the first controller, the second output and the first and second inputs of which are connected to the input and output of the transceiver installed on the device and the output of the temperature sensor installed on the device, moreover, the outputs of the ultrasonic receivers are connected to the inputs of the signal amplification unit, the outputs of which are connected to the inputs of the automatic gain control unit, the outputs of the cat They are connected to the inputs of a multi-channel analog-to-digital converter, the output of which is connected to the first input of the signal delay time measurement unit, the second input of which is connected to the output of the synchronizer, which is also connected to the first input of the second controller, the second input and the first and second outputs of which are connected to, respectively the output and input of the transceiver device installed on the manned vehicle, and the first input of the unit for determining the spatial position of the device relative to the manned aircraft an apparatus, the second and third inputs and the output of which are connected to the output of the signal delay time measuring unit, the output of the temperature sensor installed on the manned spacecraft, and the input of the landmark position determination unit relative to the device, the other input and output of which is connected to the output of the current position determination unit, respectively reference relative to the manned vehicle and the input of the unit for calculating commands for turning the device, the output of which is connected to the input of the unit for playing commands for turning boron.

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