RU2534220C1 - Apparatus for determining motion parameters of object - Google Patents

Abstract

FIELD: radio engineering, communication.

SUBSTANCE: apparatus has a transmitting position and a receiving position at a point away from the transmitting position. In the transmitting position there are horizontally and vertically polarised transmitting antennae connected by the input to the output of a transmitting apparatus, and in the receiving position the antenna consists of horizontally and vertically polarised receiving antennae coupled to a receiving apparatus which, besides first and second receiving paths of main channels, includes a receiving path of an additional channel, a unit for generating phased reference voltages, first and second phase detectors, a phase difference meter, first and second integrators, outputs of which are the outputs of the corresponding receiving apparatus of the receiving position, and a phase changer, appropriately coupled with each other, wherein the output of the horizontally polarised receiving antenna is coupled to the input of the receiving path of the additional channel, the output of the vertically polarised antenna is connected to the inputs of the first and second receiving paths of the main channels, outputs of the receiving position are connected to corresponding inputs of a device for measuring the direction of arrival of an interference signal, series-connected Doppler frequency meter, a measured parameter extrapolation unit, a unit for calculating the time at which the target crosses the base line, a unit for determining the surface of position and a unit for calculating trajectory parameters, as well as a unit for determining statistical characteristics of measurement errors of Doppler frequency and direction of arrival of the interference signal, connected by the output to the input of a unit for final calculation of trajectory parameters.

EFFECT: high accuracy of estimating coordinates of a target by realising a coherent accumulation procedure.

2 cl, 5 dwg

Description

The invention relates to the field of radar, in particular to methods for restoring the path of a target in a spaced radar.

Various devices are known for determining the motion parameters of an object in diversity radar.

The physical basis of the operation of these devices is based on the method described in [1. see Shirman Y.D., Golikov V.N., Busygin I.N. et al. Ed. POISON. Shirman. Theoretical Foundations of Radar, p. 321 - M .: Sov. Radio, 1970, 560 pp.].

The principle of operation of an exploded radar system is based on the radiation of the signal by the transmitter, its reception by the receiver in two ways: direct and after reflection by the target. In this case, the total (total) distance is measured, equal to the path length of the transmitting position - the target is the receiving position, as well as the angles of arrival of the reflected signal, with a known base (the shortest distance between the transmitting and receiving positions). The total distance determines the position of the target on the surface of the ellipsoid of revolution, the foci of which are located at the points of location of the transmitter and receiver. The intersection of the straight line characterizing the direction of arrival of the reflected signal with the surface of the ellipsoid of revolution determines the position of the target in space.

In (2. see Averyanov V.Ya. Diversified radar stations and systems. M: Nauka i Tekhnika, 1978, p. 28, Fig. 11.) the construction of a receiving-coordinate device is considered.

The device consists of an antenna of the start receiver, the output of which is connected to the input of the start receiver, an antenna of the echo signal receiver, the output of which is connected to the echo signal receiver, the output of which is connected to the first input of the calculating device, the second input of which is the output of the launch receiver, the output of the computer connected to the indicator input.

The signal reflected from the observed object is received by the signal receiver and introduced into the calculating-decoding device together with information about the direction of arrival of the echo signal. From the difference in the time of arrival of the signal reflected from the target and the signal propagating from the transmitter to the receiver, the magnitude of the base and the angle between the directions to the irradiator and the observed object, the counting-resolving device determines the distance to the target.

In this device, it is difficult to implement coherent accumulation procedures, and therefore, the capabilities of the system are not fully used in terms of obtaining the potential accuracy of measuring the coordinates of the target.

In addition, when the target is near the base line, the time difference between the signal reflected by the target and the signal propagating from the transmitter to the receiver is small, which makes it difficult to resolve them. This necessitates the use of short-duration radio pulses, which complicates the design of signal generation and reception devices.

It is known (3. see the patent for the invention of the Russian Federation No. 2142202, M. class G01S 13/06, publ. 12/27/1998) a device for determining the parameters of the target’s movement, containing a transmitting position and a receiving position located at a point remote from it, consisting of an antenna connected in series with a receiver, detector and low-pass filter, the output of which is connected to the inputs of the unit for measuring the direction of arrival of the interference signal and the inputs of the unit for measuring the Doppler frequency, the output of the block for measuring the direction of arrival of the interference signal and connected at the first inputs of the extrapolation unit of the measured parameters and the trajectory parameter calculation unit, one of the inputs of the extrapolation unit of the measured parameters is connected to the output of the unit for measuring the direction of arrival of the interference signal, and the other input is the output of the unit for measuring the Doppler frequency, the output of the extrapolation unit of the measured parameters is connected with the input of the unit for calculating the time moment when the target intersects the base line and one of the inputs of the position surface determining unit, the other input of which it is the only one with the output of the block for calculating the time moment when the target intersects the base line, the output of the block for calculating the path parameters is the output of the system.

In this device, the Doppler frequency measuring unit has low accuracy, due to the wide passband of the low-pass filter (determined by the range of Doppler frequencies), in addition, the device cannot implement the coherent accumulation procedure, which leads to incomplete use of the system's capabilities in terms of obtaining the potential accuracy of coordinate measurement goals.

It is also known (4. see the patent for the invention of the Russian Federation No. 2133480, M. class G01S 3/72, G01S 7/42, publ. 07/20/1999) a device containing a transmitting position and a receiving position located at a point remote from it consisting of an antenna connected in series with a receiving device, a detector and a low-pass filter, the output of which is connected to the inputs of the unit for measuring the direction of arrival of the interference signal and the inputs of the unit for measuring the Doppler frequency, the output of the unit for measuring the Doppler frequency is connected to the input of the polo surface detection unit the output of which is connected to the first input of the block for calculating the path parameters, the second input of which is connected to the output of the block for measuring the direction of arrival of the interference signal, the output of the block for calculating the path parameters is the output of the system.

In this device, the limited accuracy of the unit for measuring the direction of arrival of the interference signal, due to a wide band of the interference spectrum passing through the low-pass filter, reduces the accuracy of determining the angular coordinates of the target, in addition, it does not have a coherent accumulation procedure.

In addition, in (5. see the patent for the invention of the Russian Federation No. 2168740, M. class G01S 13/06, published on June 10, 2001)) a device for determining the parameters of the target’s movement, containing a transmitting position and located far from At this point, the receiving position, consisting of an antenna connected to a receiving device having N partial channels, the outputs of which are connected to the corresponding inputs of the Doppler frequency measuring unit and the measuring unit for the direction of arrival of the interference signal, each of the N partial channels consists of a receiver, and contains there is also a unit for extrapolating the measured parameters, a unit for calculating the instant of crossing the base line with the target and a unit for determining the position surface, the output of which is connected to one of the inputs of the unit for calculating the path parameters, another input for the unit for calculating the path parameters is connected to the output of the unit for measuring the direction of arrival of the interference signal, and the output is the output of the entire device, one of the inputs of the extrapolation unit of the measured parameters is connected to the output of the unit for measuring the direction of arrival of the interference a signal, and the output - with the input of the unit for calculating the instant of time the target intersects the base line and one of the inputs of the position surface determining unit, the other input of which is connected to the output of the unit for calculating the instant of the target's intersection of the base line, the reference voltage division unit, whose input inputs of the receiving device, and one of the outputs is connected directly to the input of the corresponding receiver, summing devices are introduced into the remaining N-1 partial channels, one of the inputs of which is an input s of the receiving device, and the other is connected to the corresponding output of the reference voltage division unit, the output of each summing device is connected to the corresponding receiver, in addition, a signal identification and frequency and false signal subtraction unit is introduced into the device, the input of which is connected to the output of the Doppler frequency measurement unit, and the output is with one of the inputs of the extrapolation unit of the measured parameters.

In this device, due to the impossibility of implementing coherent accumulation, each partial channel has limited accuracy.

It is also known (6. see patent for utility model of the Russian Federation No. 107370, M. class G01S 13/06, publ. 08/10/2011) a device for determining the parameters of the target’s movement, containing a transmitting position consisting of a transmitter and a transmitting antenna and located at a point remote from it, the receiving position, consisting of a receiving antenna, two circuits, including a receiver, detector and a low-pass filter connected in series, while the outputs of the low-pass filters of the first and second circuits are connected respectively to the first and second inputs of the measurement unit directions I receive an interference signal whose output is connected to the first input of the trajectory parameter calculation unit, the output of which is the output of the device, as well as the first Doppler frequency measurement unit, the input of which is connected to the low-pass filter output of the first circuit, and the first output of the receiving antenna is connected to the receiver input the first circuit, the transmitting position contains a second transmitter and a summing unit connected in series, the second input of which is connected to the output of the first transmitter, and the output is connected to the input transmitting antenna, the receiving position further comprises a separation unit, the input of which is connected to the second output of the receiving antenna, and its first output is connected to the input of the receiver of the second circuit, a third circuit consisting of a receiver, detector and low-pass filter connected in series, the input of the receiver of the third circuit connected to the second output of the separation unit, a phase difference meter connected in series, the first and second inputs of which are connected respectively to the outputs of the low-pass filters of the second and third circuit drink, and the total range estimation unit, the output of which is connected to the second input of the trajectory parameter calculation unit, the second Doppler frequency measurement unit, the input of which is connected to the output of the low-pass filter of the third circuit, and the unit for estimating the rate of change of the arrival direction of the interference signal, the second input which is connected to the output of the unit for measuring the direction of arrival of the interference signal, the third input is connected to the output of the first unit for measuring the Doppler frequency, and the output is sub It is connected to the third input of the block for calculating the trajectory parameters, the fourth input of which is connected to the output of the scaling unit, the input of which is connected to the output of the first block for measuring the Doppler frequency.

This device has limitations on obtaining high accuracy of measuring both the Doppler frequency and the angular position of the target due to the impossibility of narrowing the passband of the low-pass filter (determined by the range of Doppler frequencies) and the inability to implement the coherent accumulation procedure.

A device is also known (7. see the patent for a utility model of the Russian Federation No. 109869, M. class G01S 3/46, publ. 10/27/2011) for determining the motion parameters of the target, containing a transmitting position, consisting of a series-connected transmitter and antenna , and at a point remote from it, the receiving position, which consists of the antenna of the receiving position, having N outputs, each of which, except for the central one, is connected to one of the inputs of the corresponding summing device, the output of which is connected to the corresponding receiver, and the central output of the antenna is connected to b a reference voltage dividing locomotive, one of the outputs of which is connected directly to the input of the receiver of the central partial channel, and the remaining N-1 outputs are connected to the second inputs of the summing devices of the corresponding partial channels, the azimuthal position determination unit of the antenna pattern of the transmitting position, the input of which is connected to the second output the receiver of the central partial channel, and the output is connected to the second input of the block for calculating the trajectory parameters, while the transmitter is transmitting its position contains in series a synchronization unit, a frequency synthesizer, a power amplifier and a beam control unit, the second input of which is connected to the second output of the synchronization unit, and the output is connected to the input of the transmitting antenna, while the outputs of the receiver of each of the partial channels are separately connected to the corresponding inputs of the unit measuring the direction of arrival of the interference signal, the output of which is connected to the first input of the block for calculating the trajectory parameters, the output of which is the output of the whole triplets.

This device also does not allow full use of the capabilities of the system in terms of obtaining the potential accuracy of measuring the coordinates of the target due to the lack of a coherent accumulation procedure.

A device is known (8. see the patent for the invention of the Russian Federation No. 2154840, M. class G01S 13/06, publ. 08/20/2000) for determining the parameters of the movement of an object containing a transmitting position and at a remote point receiving position, consisting from an antenna connected to a receiving device, the output of which is connected to the inputs of the unit for measuring the Doppler frequency and inputs of the unit for measuring the direction of arrival of the interference signal, the extrapolation unit of the measured parameters, one input of which is connected to the output of the unit for measuring the Doppler frequency, the second input d - with the output of the unit for measuring the direction of arrival of the interference signal, and the output is connected to the input of the unit for calculating the instant of crossing the target of the base line, the unit for determining the position surface connected with one input to the output of the unit for calculating the instant of crossing the target of the base line, and the second with the output of the block extrapolation of the measured parameters, and the output with one of the inputs of the block for calculating the path parameters, the other input of which is connected to the output of the block for measuring the direction of arrival of interference about the signal, the unit for determining the statistical characteristics of errors in measuring the Doppler frequency and the direction of arrival of the interference signal and the unit for the final calculation of the trajectory parameters, and one input of the unit for determining the statistical characteristics of errors in measuring the Doppler frequency and the direction of arrival of the interference signal is connected to the output of the unit for measuring the direction of arrival of the interference signal, the second the input is with the output of the Doppler frequency measuring unit, and the output is connected to one of four inputs of the block for the final calculation of the trajectory parameters, the other three inputs of which are separately connected to the outputs of the block for measuring the direction of arrival of the interference signal, the block for measuring the Doppler frequency and the block for calculating the path parameters, while the output of the entire device is the output of the block for the final calculation of the path parameters.

This device is selected as a prototype.

The prototype does not fully utilize the capabilities of the system in terms of obtaining the potential accuracy of measuring the coordinates of the target, which is due to the lack of the possibility of organizing the procedure for coherent accumulation of the reflected signal by the target during the entire observation time.

Achievable technical result of the invention is to increase the accuracy of estimating the coordinates of the target due to the implementation of the coherent accumulation procedure.

To achieve the above result, a device for determining the parameters of the object’s movement, comprising a transmitting position and at a point remote from it, a receiving position consisting of an antenna connected to the input of a two-channel receiving device, the outputs of which are connected to the corresponding inputs of the interference signal arrival direction meter, connected to the Doppler meter frequency, extrapolation unit of the measured parameters, unit for calculating the instant of time when the target intersects the base line, bl an eye for determining the position surface and the block for calculating the trajectory parameters, as well as the block for determining the statistical characteristics of errors in measuring the Doppler frequency and the direction of arrival of the interference signal, the output associated with the input of the block for the final calculation of the trajectory parameters, the output of which is the output of the receiving position, while the output of the measuring instrument of the direction of arrival of the interference the signal is connected to the second inputs of the extrapolation unit of the measured parameters, the trajectory pair calculation unit meters, the block for the final calculation of the trajectory parameters, the output of the block for the extrapolation of the measured parameters is connected to the second input of the block for determining the position surface, the second output of the block for calculating the path parameters is connected to the third input of the block for the final calculation of the path parameters, the output of which is the output of the entire device, characterized in that the position contains transmitting antennas of horizontal and vertical polarization, connected in input to the output of the transmitting device, in the receiving position the antenna consists of receiving antennas of horizontal and vertical polarization, the receiving device contains, in addition to the first and second receiving paths of the main channels, an additional channel receiving path, a phased reference voltage generation unit (BFF), the first and second phase detectors, a phase difference meter, the first and second integrators, the outputs of which are the outputs of the receiving device of the receiving position, and a phase shifter, while the output of the receiving antenna of horizontal polarization is connected to the input of the receiving path d additional drip, the output of the receiving antenna of vertical polarization is connected to the inputs of the first and second receiving paths of the main channels, the outputs of which are connected to the inputs of the first and second phase detectors, respectively, and to the first and second inputs of the BFFON, respectively, the first output of which is connected to the second input of the first phase detector , the output of the second receiving path of the main channel is also connected to the first input of the phase difference meter, to the second input of which the output of the phase shifter is connected, the input of which is it is single with the second input of the second phase detector and the second output of the BFFON, the third input of which is connected to the output path of the additional channel, the outputs of the first and second phase detectors are connected respectively to the inputs of the first and second integrators, the outputs of which are the outputs of the receiver of the receiving position, the output of the direction meter the arrival of the interference signal is additionally connected to the third input of the position surface determining unit, and the second output of the Doppler frequency meter Keys to the fourth input of the final calculation of the trajectory of the parameter block.

In this case, the phased reference voltage generating unit (BFFON) consists of parallel connected first and second phase meters, the first inputs of which are inputs for connecting the outputs of the first and second receiving paths of the main channels, respectively, the first and second keys, the first and second memory devices, the first and second controlled phase shifters, a multivibrator, the output of which is connected to the second inputs of the first and second keys and the first and second storage devices, the second inputs of the first and second The first phase meters and the first and second controlled phase shifters are inputs for connecting the output path of the additional channel, and the outputs of the first and second controlled phase shifters are the first and second outputs of the BFFON, respectively.

The achievement of the technical result is ensured by the indicated differences by periodically changing the phase of the reference signal so as to ensure that the reference signal and the signal from the target are in phase (coherence) during the entire time the target is monitored. As a result, the amplitude detection of the signal (carried out in the prototype) turned out to be possible to replace with synchronous detection, which is carried out in phase detectors 6.1 and 6.2, which ensure the operation of the meter for the direction of arrival of signal 9, and in the meter for phase difference 6.3, which ensures the operation of the Doppler frequency meter 10. The synchronous detector has high frequency selectivity.

The signal is extracted from noise due to the high frequency selectivity of the synchronous detector and the subsequent integration of the signal in integrators 7.1 and 7.2. [9. Stepanov A.V. Synchronous detector. Description of the task. Moscow State University M.V. Lomonosov, Faculty of Physics. Workshop of the Department of Physics of Oscillations. Electronic resource .msu.ru / mediawiki / upload / c / cc / Sync_detector.doc access mode free from the screen]

In the drawings attached to the description, are given:

figure 1 is a structural diagram of a prototype;

figure 2 is a structural diagram of the proposed device;

figure 3 is a block diagram of the formation of phased reference voltages (BFF);

figure 4 shows the geometry of the problem of bistatic location;

figure 5 shows the results of modeling the ratio of standard errors (RMS) of determining the range relative to the receiving position for the prototype and the claimed device.

A device for determining the parameters of the movement of targets contains (figure 2):

1 - transmitting device (PRD);

2.1 - transmitting antenna vertical polarization;

2.2 - transmitting antenna of horizontal polarization;

3.1 - receiving antenna of vertical polarization;

3.2 - receiving antenna of horizontal polarization;

4.1. - the first receiving path of the main channel (PR 4.1);

4.2. - the second receiving path of the main channel (PR 4.2);

4.3. - receiving path of the additional channel (PR 4.3);

5 - a block for the formation of phased reference voltages (BFF);

6.1 - the first phase detector (PD 6.1);

6.2 - second phase detector (PD 6.2);

6.3 - phase difference meter (IF 6.3);

7.1 - the first integrator;

7.2. - second integrator;

8 - phase shifter;

9 - a measure of the direction of arrival of the interference signal (SIP);

10 - Doppler frequency meter (ISM);

11 - block extrapolation of the measured parameters (the dependence of the Doppler frequency and the angular coordinate of the target on time);

12 is a unit for calculating the time point when the target intersects the base line

13 - block determining the position surface;

14 - block calculating the path parameters;

15 is a block for determining the statistical characteristics of measurement errors of the Doppler frequency and the direction of arrival of the interference signal;

16 - block final calculation of trajectory parameters.

Moreover, the antennas of vertical 2.1 and horizontal 2.2 polarization of the transmitting position are connected by an input to the output of the transmitting device 1, while the output of the receiving antenna 3.2 of horizontal polarization is connected to the input of the receiving path 4.3 of the additional channel, the output of the receiving antenna 3.1 of vertical polarization is connected to the inputs of the first 4.1 and 4.2 receiving paths of the main channels, while the output of the receiving antenna 3.2 of horizontal polarization is connected with the input of the receiving path 4.3 of the additional channel, the output of the receiving antenna is 3.1 vert of polar polarization is connected to the inputs of the first 4.1 and second 4.2 receiving paths of the main channels, the outputs of which are connected to the inputs of the first 6.1 and second 6.2 phase detectors, respectively, and to the first and second inputs of the BFFON 5, respectively, the first output of which is connected to the second input of the first single detector 6.1 , the output of the second receiving path 4.2 of the main channel is also connected to the first input of the phase difference meter 6.3, the second input of which is connected to the output of the phase shifter 8, the input of which is connected to the second input of the second phase a detector 6.2 and a second output of BFFON 5, the third input of which is connected to the output of the receiving path 4.3 of the additional channel, the outputs of the first and second phase detectors 6.1 and 6.2 are connected respectively to the inputs of the first 7.1 and second 7.2 integrators, the outputs of which are the outputs of the receiving device positions connected to the corresponding inputs of the measuring instrument 9 of the direction of arrival of the interference signal, the output of which is connected to the third input of the position surface determining unit 13, with the second inputs of the ext interpolation of the measured parameters, the trajectory parameter calculation unit 14 and the trajectory parameter final calculation unit 16, the output of the phase difference meter 6.3 is connected to the input of the Doppler frequency meter 10, the first output of which is connected to the first input of the measured parameters extrapolation unit 11, and the second output to the second input unit 15 for determining the statistical characteristics of errors in measuring the Doppler frequency and the direction of arrival of the interference signal and the fourth input of block 16 of the final calculation trajectory of the parameters, the output of the measured parameter extrapolation unit 11 is connected to the input of the unit 12 for calculating the time moment of crossing the target line base and the second input of the position surface determining unit 13, the first input of which is connected to the output of the unit 12 for calculating the time moment for the target crossing the base line, the output of the determination unit 13 the position surface is connected to the first input of the trajectory parameter calculation unit 14, the first output of which is connected to the first input of the measurement error statistical characteristics determination unit 15 the determination of the Doppler frequency and the direction of arrival of the interference signal, the output of which is connected to the first input of the trajectory parameter calculation final block 16, and the second output of the trajectory parameter calculation block 14 is connected to the third input of the trajectory parameter final calculation block 16, the output of which is the output of the entire device.

The unit for the formation of phased reference voltages (BFF) contains according to figure 3:

17.1 - the first phase meter;

17.2 - second phase meter;

18.1 - the first key;

18.2 - the second key;

19.1 - the first storage device;

19.2 - second storage device;

20.1 - the first controlled phase shifter;

20.2 - the second controlled phase shifter;

21 - multivibrator.

The first 17.1 and second 17.2 phase meters are connected in parallel and their first inputs are inputs for connecting the outputs of the first 4.1 and second 4.2 receiving paths of the main channels, respectively, the output of the multivibrator 21 is connected to the second inputs of the first 18.1 and second 18.2 keys and the first 19.1 and second 19.2 storage devices, the second inputs of the first 17.1 and second 17.2 phase meters and the first 20.1 and second 20.2 controlled phase shifters are inputs for connecting the output of the receiving path 4.3 of the additional channel, and the outputs of the first 20 .1 and second 20.2 controlled phase shifters are the first and second outputs of the BFFON 5, respectively. Consider the operation of the device in accordance with figure 2. The transmitting device (PRD) 1 generates a monochromatic oscillation of the form:

$$U_0(t)=A_P\cos ({\omega }_{0}t+{\varphi }_0),(\mathrm{one})$$

Where:

And _P is the amplitude of the probe signal;

ω ₀ = 2πf ₀ is the carrier frequency;

φ ₀ - the initial phase of the oscillation.

By means of a vertical polarization transmitting antenna (ANT) 2.1, this signal is channelized from a transmitting device (transmitting device) 1 into space.

The same signal is transmitted through the horizontal polarization transmitting antenna (ANT) 2.2 in the direction of the base line.

The received signal from the vertical polarization receiving antenna (ANT 3.1), which is not reflected by the target, from the output of the first receiving and second receiving paths of the main channel (PR 4.1) and (PR 4.2) receivers is represented as :;

$$U_{C\mathrm{one}}=A_{C\mathrm{one}}\cos ({\psi }_{\mathrm{one}}(t)),(2)$$

$${\mathrm{<figure-callout\; id="2"\; label="U\; C"\; filenames="00000029.png,00000030.png"\; state="\{\{state\}\}">U\; </figure-callout>}}_C=A_{\mathrm{<figure-callout\; id="2"\; label="C"\; filenames="00000029.png,00000030.png"\; state="\{\{state\}\}">C</figure-callout>}2}\cos ({\psi }_2(t)),(3)$$

Where:

$${\psi }_{\mathrm{one}}(t)=2\pi f_{0}t-f_0\frac{R_{\Sigma }}{c}t-2\pi f_0\frac{R_{\Sigma 0}}{c}+{\mathrm{<figure-callout\; id="0"\; label="\phi "\; filenames="00000032.png"\; state="\{\{state\}\}">\varphi </figure-callout>}}_0+{\varphi }_{\mathrm{about}tR},(\mathrm{four})$$

$${\psi }_2(t)=2\pi f_{0}t-f_0\frac{R_{\Sigma }}{c}t-2\pi f_0\frac{R_{\Sigma 0}}{c}+{\mathrm{<figure-callout\; id="0"\; label="\phi "\; filenames="00000032.png"\; state="\{\{state\}\}">\varphi </figure-callout>}}_0+\Delta \varphi +{\varphi }_{\mathrm{about}tR},(5)$$

R _Σ0 - total range, transmitting position - target - receiving position at the time of the start of measurement (see figure 4);

R _Σ is the rate of change of the total range;

φ _neg - phase jump upon reflection from the target;

Δφ is the phase shift due to the difference in the wave path between the irradiators of the receiving antenna.

The reference signal received by the horizontal polarization receiving antenna (ANT 3.2) is represented as:

$$U_{\mathrm{ABOUT}P}=A_0\cos \left(2\pi f_0\left(t-\frac{L}{c}\right)+{\varphi }_0\right)(6)$$

where: L is the base between the radar.

The reflected signals from the outputs of the receiving channels 4.1-4.3. arrive at the first second and third inputs of the block 5 of the formation of phased reference voltages (BFF), which performs the following operations:

1. measurement of the phase shift Δψ ₁ between the signals U _C1 (t) and U _OP (t);

на величину Δψ₁=ψ_c1(t_i) в моменты времени, t_i=nT, где n=0, 1, … ∞, Т - период коррекции фазы опорного сигнала, в результате в моменты времени t_i=nT сигналы U_C1(t) и $$U_{ОП}^{\text{'}}(t)$$

окажутся в фазе;2. phase shift of the reference signal $$U_{\mathrm{ABOUT}P}^{\text{'}\text{'}}(t)$$

by the value Δψ ₁ = ψ _c1 (t _i ) at time instants, t _i = nT, where n = 0, 1, ... ∞, T is the period of correction of the phase of the reference signal, as a result, at times t _i = nT, signals U _C1 (t) and $$U_{\mathrm{ABOUT}P}^{\text{'}\text{'}}(t)$$

will be in phase;

3. measurement of the phase shift Δψ ₂ between the signals U _C2 (t) and U _OP (t);

на величину Δψ₂=ψ_с2(t_i), при этом в моменты времени t_i=nT сигналы U_C2(t) и $$U_{ОП}^{\text{'}\text{'}}(t)$$

также окажутся в фазе. Таким образом, на первом и втором выходах БФФОН 5 формируются напряжения:4. phase shift of the reference signal $$U_{\mathrm{ABOUT}P}^{\text{'}\text{'}\text{'}\text{'}}(t)$$

by the value Δψ ₂ = ψ _c2 (t _i ), while at the time t _i = nT the signals U _C2 (t) and $$U_{\mathrm{ABOUT}P}^{\text{'}\text{'}\text{'}\text{'}}(t)$$

will also be in phase. Thus, the voltages are formed at the first and second outputs of BFFON 5:

$$U_{\mathrm{ABOUT}P}^{\text{'}\text{'}}(t)=A_{\mathrm{ABOUT}P\mathrm{one}}\cos ({\omega }_{0}t+{\psi }_{c\mathrm{one}}\left(t_i\right)),(7)$$

$$U_{\mathrm{ABOUT}P}^{\text{'}\text{'}\text{'}\text{'}}(t)=A_{\mathrm{ABOUT}\mathrm{<figure-callout\; id="2"\; label="P"\; filenames="00000029.png,00000030.png"\; state="\{\{state\}\}">P</figure-callout>}2}\cos ({\omega }_{0}t+{\psi }_{c2}\left(t_i\right)),(8)$$

where: A _OP1 , A _OP2 are the amplitudes of the reference voltage generated at the first and second outputs of the BFFON, respectively.

The reference voltages (7) and (8) are applied to the second inputs of the phase detectors PD 6.1 and PD 6.2. respectively. Since phasing is carried out with a period T shorter than the correlation time of the useful signal, the useful signal in the interval T can be considered harmonic oscillation and the constant components of the voltages at the outputs of FD 6.1 and FD 6.2 are respectively determined by the relations:

$$\begin{array}{l}{\overline{U}}_{FD\mathrm{one}}=\frac{\mathrm{one}}{T}{\displaystyle \underset{0}{\overset{T}{\int }}{A}_{C\mathrm{one}}\cos ({\omega }_{C}t+{\psi }_{C\mathrm{one}}\left(t\right))A_{\mathrm{ABOUT}P\mathrm{one}}\cos ({\omega }_{0}t+{\psi }_{C\mathrm{one}}(t_i))dt=}\\ =\frac{A_{C\mathrm{one}}{A}_{\mathrm{ABOUT}P\mathrm{one}}}{2T}\left[{\displaystyle \underset{0}{\overset{T}{\int }}\cos (2\pi F_{R\Sigma }t)dt+{\displaystyle \underset{0}{\overset{T}{\int }}\cos (2\pi ({\mathrm{<figure-callout\; id="0"\; label="f"\; filenames="00000032.png"\; state="\{\{state\}\}">f</figure-callout>}}_0+f_C)t+2{\psi }_{C\mathrm{one}}(t_i))dt}}\right]=\\ =\frac{A_{C\mathrm{one}}{A}_{\mathrm{ABOUT}P\mathrm{one}}}{2T}{\displaystyle \underset{0}{\overset{T}{\int }}\cos (2\pi F_{R\Sigma }t)dt,}\end{array}$$

$$\begin{array}{l}{\stackrel{<figure-callout\; id="2"\; label="\; ̄\; F\; D"\; filenames="00000029.png,00000030.png"\; state="\{\{state\}\}">¯\; </figure-callout>}{U}}_{FD}=\frac{\mathrm{one}}{T}{\displaystyle \underset{0}{\overset{\mathrm{<figure-callout\; id="2"\; label="T\; A\; C"\; filenames="00000029.png,00000030.png"\; state="\{\{state\}\}">T\; </figure-callout>}}{\int }}{A}_C{2}_{}\cos ({\omega }_{C}t+{\psi }_{C2}\left(t\right))A_{\mathrm{ABOUT}\mathrm{<figure-callout\; id="2"\; label="P"\; filenames="00000029.png,00000030.png"\; state="\{\{state\}\}">P</figure-callout>}2}\cos ({\omega }_{0}t+{\psi }_{C2}(t_i))dt=}\\ =\frac{A_{C2}{A}_{\mathrm{ABOUT}\mathrm{<figure-callout\; id="2"\; label="P"\; filenames="00000029.png,00000030.png"\; state="\{\{state\}\}">P</figure-callout>}2}}{2T}\left[{\displaystyle \underset{0}{\overset{T}{\int }}\cos (2\pi F_{R\Sigma }t)dt+{\displaystyle \underset{0}{\overset{T}{\int }}\cos (2\pi (f_C+f_0)t+2{\psi }_{C2}(t_i))dt}}\right]=\\ =\frac{A_{C2}{A}_{\mathrm{ABOUT}\mathrm{<figure-callout\; id="2"\; label="P"\; filenames="00000029.png,00000030.png"\; state="\{\{state\}\}">P</figure-callout>}2}}{2T}{\displaystyle \underset{0}{\overset{T}{\int }}\cos (2\pi F_{R\Sigma }t)dt,}\end{array}$$

since the phase correction period T is much larger than the period of the carrier frequency of the signal, we can assume that

$$\frac{A_{c\mathrm{one}}{A}_{on\mathrm{one}}}{2T}{\displaystyle \underset{0}{\overset{T}{\int }}\cos (2\pi (f_C+f_0)t+2{\psi }_{C\mathrm{one}}(t_i))dt\approx 0}$$

and

. $$\frac{A_{c2}{\mathrm{<figure-callout\; id="2"\; label="A\; o\; n"\; filenames="00000029.png,00000030.png"\; state="\{\{state\}\}">A\; </figure-callout>}}_{on}}{2T}{\displaystyle \underset{0}{\overset{T}{\int }}\cos (2\pi (f_C+f_0)t+2{\psi }_{C2}(t_i))dt\approx 0}$$

.

Both of these relations determine the values of the constant components of harmonic functions on the time interval T. Since T is much larger than the durations of the periods of the reduced functions, their constant components are approximately equal to zero. If T = K / fc + fo, i.e. averaging is performed over K whole periods, then the constant component is exactly equal to zero.

Given the equality of the amplitudes of the reference signals at both outputs of block 5, we obtain:

$$U_{FD\mathrm{one}}=\frac{A_{C\mathrm{one}}{A}_{\mathrm{ABOUT}P\mathrm{one}}}{2T}\frac{\sin (2\pi F_{R\Sigma }T)}{2\pi F_{R\Sigma }T}=k{A}_{C\mathrm{one}}\frac{\sin (2\pi F_{R\Sigma }T)}{2\pi F_{R\Sigma }T},(9)$$

$${\mathrm{<figure-callout\; id="2"\; label="U\; F\; D"\; filenames="00000029.png,00000030.png"\; state="\{\{state\}\}">U\; </figure-callout>}}_{FD}=\frac{A_{C2}{A}_{\mathrm{ABOUT}\mathrm{<figure-callout\; id="2"\; label="P"\; filenames="00000029.png,00000030.png"\; state="\{\{state\}\}">P</figure-callout>}2}}{2T}\frac{\sin (2\pi F_{R\Sigma }T)}{2\pi F_{R\Sigma }T}=\mathrm{<figure-callout\; id="2"\; label="k\; A\; C"\; filenames="00000029.png,00000030.png"\; state="\{\{state\}\}">k\; </figure-callout>}{A}_C{2}_{}\frac{\sin (2\pi F_{R\Sigma }T)}{2\pi F_{R\Sigma }T},(10)$$

.Where: $$k=\frac{A_{o\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="00000029.png,00000030.png"\; state="\{\{state\}\}">n</figure-callout>}}}{2}$$

.

в районе малых аргументов меняется мало, то очевидно, что реальные доплеровские сдвиги частоты ухудшают эффективность когерентного накопления незначительно.Since the function is like $$\frac{\sin (x)}{x}$$

in the region of small arguments changes little, it is obvious that real Doppler frequency shifts worsen the efficiency of coherent accumulation slightly.

With the release of phase detectors PD 6.1 and PD 6.2. voltages (9) and (10) are supplied to the inputs of the integrators INT 7.1 and INT 7.2, where they accumulate over a number of phasing periods T during the entire processing time of the signal, while the amplitude ratios A _c1 and A _c2 are stored, which allows 1 meter 9 directions of arrival of the interference signal (SIP) measure the target azimuth by the amplitude method. But unlike the prototype, the signal-to-noise ratio at the first and second inputs of the SIP 9 will be higher due to the coherent accumulation procedure for a number of phasing periods T, which is carried out during the entire time the target is within the radiation pattern.

The potential accuracy of determining the angular coordinate and Doppler frequency are subordinate to the dependencies [1. see Shirman Y.D., Golikov V.N., Busygin I.N. et al. Ed. POISON. Shirman. Theoretical Foundations of Radar, p. 290, formula 4. - M .: Sov. Radio, 1970, 560 pp.], And [10. see Aces G.I. Isolation and processing of Doppler information. M .: Soviet radio, 1967, 255 pp.]:

$${\sigma }_{\beta }=\frac{{\theta }_{0.5\beta }}{\sqrt{\pi }q},{\sigma }_F=\frac{\sqrt{3}}{\pi q{T}_{KH}}(\mathrm{eleven})$$

where θ _0,5β is the _bottom width of the antenna at half power level; T _KH - measurement time (coherent accumulation time).

The accuracy of measuring the Doppler frequency in these systems is important because it is used to measure the total range by the method considered, for example, in (8. see patent for the invention of the Russian Federation No. 2154840, M. class G01S 13/06, published on 08/20/2000 )

In the case of a monochromatic probe signal, the signal-to-noise ratio q in power at the output of a coherent storage device (narrow-band filter-integrator) is [11. see Okhrimenko A.E. Fundamentals of radar and electronic warfare / A.E. Ohrimenko. p.234 formula (11.12). - M.: Military Publishing, 1983. - 449 p.]:

$$q=\frac{{\sigma }_c^2}{{\mathrm{<figure-callout\; id="0"\; label="N"\; filenames="00000032.png"\; state="\{\{state\}\}">N</figure-callout>}}_{0\Sigma }\left(\Delta f_c+\frac{\mathrm{one}}{T_H}\right)},PR\mathrm{and}\Delta F_F\le \Delta f_c+\frac{\mathrm{one}}{T_{KH}},(12)$$

- средняя мощность отраженного сигнала.where N _0Σ is the spectral density of the noise power; ΔF _F - bandpass filter; Δf _C is the signal spectrum width; T _H - coherent accumulation time; $${\sigma }_C^2$$

- average power of the reflected signal.

As the coherent accumulation time increases, the signal-to-noise ratio increases, and consequently, the measurement accuracy of both angular coordinates and Doppler frequency shift improves.

Consider the work of blocks 6.3. and 8. Block 6.3 measuring the phase difference is a phase detector, similar to phase detectors 6.1. and 6.2, but with a limit on the amplitude of the first input. Therefore, the voltage at the output 6.3 will depend only on the phase relations of the input signals. Block 8 is a 0.5π phase shifter, and therefore, the input voltage (input 1) U _C (t) of block 6.3 and the reference signal (input 2) U _OP (f) at the moment of phase correction (at τ = 0) become quadrature. In this case, the output voltage of the phase difference meter 6.3 is written in the form:

$$\begin{array}{c}{U}_{FD}(t)=U_C(t)U_{\mathrm{ABOUT}P}(t)=A_C\cos ({\omega }_{C}t+{\varphi }_C(t))A_0\cos ({\omega }_{\mathrm{ABOUT}P}t+{\varphi }_C(t)+0.5\pi )=\\ =0.5A^0{}_C{A}_O(\sin ({\omega }_C-{\omega }_{\mathrm{ABOUT}P})t+\sin (\omega C+{\omega }_{\mathrm{ABOUT}P})t+2{\varphi }_C(t)+0.5\pi )\end{array}(13)$$

. Как было показано выше, интеграл от второго слагаемого в формуле (13) равен нулю, тогдаSince the low-pass filter, which is part of the phase difference meter 6.3, must emit a constant voltage component, its output voltage is $$U_F=\frac{\mathrm{one}}{T}{\displaystyle \underset{0}{\overset{T}{\int }}U(t)dt}$$

. As shown above, the integral of the second term in formula (13) is zero, then

$$\begin{array}{c}U=\frac{\mathrm{one}}{2T}{\displaystyle \underset{0}{\overset{T}{\int }}0.5A_c^0{A}_O\sin ({\omega }_C-{\omega }_{\mathrm{ABOUT}P})tdt=-\frac{A_c^0{A}_O}{\mathrm{four}T\pi F_R}\cos (2\pi F_{R}t)|\; |\; |{}_0^T=}\\ =\frac{A_c^0{A}_O}{\mathrm{four}T\pi F_R}(\mathrm{one}-\cos (2\pi F_{R}t))=K_{\mathrm{one}}\frac{{\mathrm{<figure-callout\; id="2"\; label="sin"\; filenames="00000029.png,00000030.png"\; state="\{\{state\}\}">sin</figure-callout>}}^2\pi F_{R}T}{\pi F_{R}T}\end{array}$$

, где А_с - амплитуда сигнала после ограничения. moreover $$K_{\mathrm{one}}=\frac{A_{\mathrm{<figure-callout\; id="0"\; label="c"\; filenames="00000032.png"\; state="\{\{state\}\}">c</figure-callout>}}^0}{\mathrm{four}}{A}_0$$

where And _with - the amplitude of the signal after the limitation.

The voltage from the output of block 6.3, proportional to the Doppler frequency, is supplied to the Doppler frequency meter 10 and then goes to the input of the position surface determining unit (OPP) 11, and then to the input of the trajectory parameter calculation (VTC) block 12.

Consider the operation of the block 5 of the formation of phased reference voltages (BFF).

High-speed phase meters (FI) 17.1 and 17.2 during each signal period measure the phase difference between the reference signal coming from block 4.3 and the signals from the output of blocks 4.1 and 4.2.

At time t _{i, the} measured phase differences ψ _C1 (t _i ) and ψ _C2 (t _i ) are transmitted through electronic keys 18.1 and 18.2 to the inputs of memory devices 19.1 and 19. 2, where the phase values are stored for the period T before arrival next control pulse.

The signals from the outputs of the memory 19.1 and 19.2 are fed to controlled phase shifters (UVB) 20.1 and 20.2, where the phase of the reference voltage changes to ψ _C1 (t _i ) and ψ _C2 (t _i ), respectively.

равна фазе обрабатываемого сигнала ψ_C1(t_i), а фаза сигнала $$U_{ОП}^{\text{'}\text{'}}(t)$$

равна фазе обрабатываемого сигнала ψ_C2(t_i).The interval T is chosen less than the correlation time of the phase of the useful signal, which should be measured experimentally for a given class of targets, then we can assume that on the interval of the phasing period T the phase of the reference signal $$U_{\mathrm{ABOUT}P}^{\text{'}\text{'}}(t)$$

equal to the phase of the processed signal ψ _C1 (t _i ), and the phase of the signal $$U_{\mathrm{ABOUT}P}^{\text{'}\text{'}\text{'}\text{'}}(t)$$

equal to the phase of the processed signal ψ _C2 (t _i ).

Consider an example of blocks of the proposed device. The transmitting device (PRD) 1 can be performed on the basis of known radio transmitting devices, as in similar systems (see 12. Filkenstein MI, Fundamentals of Radar. M: Sov. Radio, 1973, p. 93, Fig. 2.3.1 ):

The transmitting antenna of vertical polarization 2.1 and the transmitting antenna of horizontal polarization 2.2 can be made on the basis of known elements of the antenna technique applicable in similar systems (see 12. Filkenstein MI, Fundamentals of Radar. M: Sov. Radio, 1973, p. 93. Fig. 2.3.1).

The receiving antenna of vertical polarization 3.1 and the receiving antenna of horizontal polarization 3.2 can be made on the basis of well-known elements of antenna technology applicable in similar systems (see 12. Filkenstein MI, Fundamentals of Radar. M: Sov. Radio, 1973, p. 93 , Fig. 2.3.1).

The first receiving path of the main channel (PR 4.1), the second receiving path of the main channel (PR 4.2), the receiving path of the additional channel (PR 4.3) are typical elements of the receiving path of the radar and can be performed by analogy with the block diagram of the Doppler radar (see 1. Theoretical Foundations of Radar, Edited by Y. D. Shirman, Moscow: Sovetskoe Radio, 1970, p. 356, Fig. 6.26).

Block 5 of the formation of phased reference voltages (BFF), as well as its components: the first phase meter 17.1, the second phase meter 17.2, the first key 18.1 and the second key 18.2, the first memory device 19.1, the second memory device 19.2, the first controllable phase shifter 20.1, a second controlled phase shifter, 20.2 and a multivibrator 21, as well as a block 11 for extrapolating the measured parameters (dependences of the Doppler frequency and the angular coordinate of the target on time), block 12 for calculating the time moment when the target intersects the base line, block 13 determines of positioning the position surface, block 14 for calculating the trajectory parameters, block 15 for determining the statistical characteristics of errors in measuring the Doppler frequency and direction of arrival of the interference signal and block 16 for the final calculation of the path parameters, the first phase detector (PD 6.1), the second phase detector (PD 6.2), the difference meter phases (IF 6.3), the first integrator 7.1 and the second integrator 7.2 and the phase shifter 8 inherently represent devices that implement computational procedures and can be performed as (13. see RF Patent for utility model RF No. 72339, M. cl. G06F 15/16, publ. 04/10/2008).

The measuring instrument 9 of the direction of arrival of the interference signal (SIP) is based on the use of the amplitude monopulse method, so the block can be performed on the basis of the amplitude comparison circuit or the subtraction circuit [1. Theoretical foundations of radar. Under. ed. Shirmana Y.D. M.: Soviet Radio, 1970, 560 pp., P. 297, Fig. 5.62.). The Doppler frequency meter (ISM) 10 is made in the form of a resistive scaling device, since a constant voltage proportional to the Doppler frequency is supplied from the output of the phase detector 6.3.

Claims (2)

1. A device for determining the parameters of the movement of an object, containing a transmitting position and at a point remote from it, a receiving position consisting of an antenna connected to the input of a two-channel receiving device, the outputs of which are connected to the corresponding inputs of the measuring instrument of the direction of arrival of the interference signal, connected in series to the Doppler frequency meter, an extrapolation unit for the measured parameters, a unit for calculating the time point when the target intersects the base line, a unit for determining the position surface, and a block for calculating the trajectory parameters, as well as a block for determining the statistical characteristics of errors in measuring the Doppler frequency and the direction of arrival of the interference signal, the output associated with the input of the block for the final calculation of the trajectory parameters, the output of which is the output of the receiving position, while the output of the measuring instrument of the direction of arrival of the interference signal is connected to the second inputs extrapolation unit for measured parameters, trajectory parameter calculation unit, final track calculation unit parameters, the extrapolation unit of the measured parameters is connected to the second input of the position surface determining unit, the second output of the trajectory parameter calculation unit is connected to the third input of the final trajectory parameter calculation unit, the output of which is the output of the entire device, characterized in that the transmitting position contains transmitting antennas of horizontal and vertical polarization input connected to the output of the transmitting device, in the receiving position, the antenna consists of receiving antennas zonal and vertical polarization, the receiving device contains, in addition to the first and second receiving paths of the main channels, a receiving path for an additional channel, a phased reference voltage generating unit (BFFON), first and second phase detectors, a phase difference meter, the first and second integrators, the outputs of which are outputs of the receiving receiving position devices, and a phase shifter, wherein the output of the horizontal polarization receiving antenna is connected to the input of the additional channel’s receiving path, the output of the receiving vertical polarization cords are connected to the inputs of the first and second receiving paths of the main channels, the outputs of which are connected to the inputs of the first and second phase detectors, respectively, and to the first and second inputs of the BFFON, respectively, the first output of which is connected to the second input of the first phase detector, the output of the second receiving path the main channel is also connected to the first input of the phase difference meter, to the second input of which the output of the phase shifter is connected, the input of which is connected to the second input of the second phase the detector and the second output of the BFFON, the third input of which is connected to the output of the receiving path of the additional channel, the outputs of the first and second phase detectors are connected respectively to the inputs of the first and second integrators, the outputs of which are outputs of the receiving device of the receiving position, the output of the interference direction measuring instrument is additionally connected to the third input of the position surface determining unit, and the second output of the Doppler frequency meter is connected to the fourth input of the unit of course calculating parameters of the trajectory. 2. The device according to claim 1, characterized in that the phased reference voltage generating unit (BFF) consists of parallel connected first and second phase meters, the first inputs of which are inputs for connecting the outputs of the first and second receiving paths of the main channels, respectively, of the first and second keys , the first and second storage devices, the first and second controlled phase shifters, a multivibrator, the output of which is connected to the second inputs of the first and second keys and the first and second storage devices tv, second inputs of first and second fazoizmeriteley and first and second controlled phase shifters are inputs to connect the output of the receiving supplemental channel path, and the outputs of the first and second controllable phase shifters are first and second outputs respectively BFFON.

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