RU2536320C1 - Method of navigation of aircrafts - Google Patents

Abstract

FIELD: radio, communication.

SUBSTANCE: method of increasing accuracy of aircraft navigation consists in multipath measurements of the integral parameters of reflected signals using radio waves emitted in the form of rays, and determining the resulting vector of angular oscillations of aircrafts, which characterizes the angular oscillations of aircrafts in roll and in pitch based on the analysis of integral parameters of the reflected signals. Analysis of the integral parameters of the reflected pulses of multipath measurements is based on comparison of the integral parameters of the reflected pulses on the lateral rays of the multipath measurements over the flat area of the area surface. The rays of the multipath measurements are located in two orthogonal planes, one of which coincides with the direction of movement of the aircraft, the other plane of the rays is perpendicular to the aircraft direction of movement. The resulting vector of angular oscillations of the aircraft in the bound coordinate system of the aircraft is determined sequentially at regular intervals to detect changes in angular oscillations in pitch and in roll of the aircraft during its movement.

EFFECT: improving accuracy of aircraft navigation by analyzing the parameters of the reflected pulses obtained by multipath measurements over the flat surface, and to determine the resulting vector of angular oscillations of aircrafts, which characterizes the total angle of deflection in pitch and in roll of aircrafts to control their movements.

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Description

The invention relates to the field of radar technology and can be used in the construction of various radar systems designed to control the movement of aircraft.

To ensure the navigation of aircraft (LA) use the radio waves used in radar navigation systems.

Known radar navigation systems for determining the angular orientation of aircraft, using the reception of signals from navigation artificial earth satellites (NIE) at two separated points that are rigidly connected with the aircraft [1].

For angular orientation, the probing (emitted) signals of the NISS of global navigation satellite systems are used and the reception of these signals to two spaced antennas located parallel to one or two axes of the aircraft, measurement of the phase shift between the received signals to the separated antennas from each NISS and determination of the angular position of the aircraft axes by solving a system of equations [1].

The disadvantage of this method [1] is the low accuracy of determining angles, due to the fact that the antennas must be located at a small distance (less than the wavelength of the received signals). Increasing the distance between the antennas reduces the error in determining the angles, however, there is an ambiguity in phase measurements, leading to an ambiguous determination of the angular position of the aircraft. To eliminate the latter, sophisticated signal processing is used using a number of NESH to eliminate false results. At the same time, the time of determining the angular orientation (the time of convergence of the solution of the problem), which, for example, for four NESHs, is several minutes, is essential.

On the other hand, the method may fail when operation occurs in a complex jamming environment.

A known method of navigation of aircraft [2], selected for the prototype.

The implementation of the method [2] is as follows.

Use the information of the reference map of the terrain, installed on the aircraft before the start of movement, about the navigation field of the earth. The reference map is an array of terrain data and an array of data about the type of underlying surface.

Select the required area of the terrain of the reference map, which is a measured area and is determined by the value of the permissible deviations of the aircraft in range (uncertainty square).

A database of integrated parameters (PI) of the reference reflected signals is used, which is an array of data whose elements digitally store the values of the PI of the reference reflected pulses, taking into account the type of the underlying surface and the range of angles at which the inclined ranges to the underlying surface can be measured.

A current map is compiled using multipath measurements using three rays of radio waves located in one plane, which is at an angle to the horizon plane of the measured section.

Rays of radio waves emit sequentially in the following order: the first is the central beam (in the direction of movement of the aircraft), the second is the left beam and the third is the right beam relative to the central beam.

The slant ranges and integrated parameters of the reflected signals (measured signals) for each beam are measured.

The coordinates of the measurement points in the coordinate system associated with the aircraft are calculated from the measured inclined ranges.

Corrections to the coordinates of the location of the aircraft are determined by the planned coordinates of the measuring section and the height.

It should be noted that the presence of measurement errors due to the pitch angular oscillations of the aircraft leads to an additional error in determining corrections to the coordinates, to eliminate which the following operations are performed.

In the last measurement, the integral parameters (IP) of the measured reflected signals for all three beams are remembered.

On the reference map, the average angle of inclination of the surface and the type of underlying surface for each of the rays in the last measurement are determined from the previously determined measurement points in the local coordinate system.

A database is used about the integrated parameters of the reference reflected signals for three rays, taking into account the deviation of the beam from the vertical and the average angle of inclination of the surface, as well as the type of underlying surface for each beam.

The value of the additional angle of deviation from the vertical by the pitch of each of the rays is determined due to the error in measuring the angular oscillations of the aircraft by pitch using the integral parameters of the reference and measured reflected signals for each beam.

Corrections are made to the coordinates of the aircraft according to the planned coordinates and height based on the determination of the additional angle of deviation from the vertical by the pitch of each beam.

Corrections are given to the coordinates of the location of the aircraft in the planned coordinates of the measuring area in three coordinates.

Control the movement of the aircraft by correcting its location as it passes through the measuring section.

The disadvantage of this method [2] is the lack of accuracy in determining corrections to the coordinates of the location of the aircraft, because they determine the angular oscillations of the aircraft only by pitch with a measurement accuracy of units of degrees.

The technical result of the invention is to increase the accuracy of navigation of aircraft by determining the resulting vector of angular oscillations of the aircraft (total pitch and roll) to control their movement.

The technical result is achieved by the fact that in the method of navigating aircraft, which consists in measuring oblique ranges using multipath measurements of reflected signals using radio waves emitted in the form of rays, determining the integrated parameters of the reflected signals, determining the angular oscillations of the aircraft by pitch relative to the vertical based on analysis integral parameters of the reflected signals to control the movement of aircraft, to determine the angular oscillations of flying The heeling apparatus determines the resulting vector of angular oscillations of the aircraft, characterizing the total deviation angle in pitch and roll. The rays of multipath measurements are located in two orthogonal planes, one of which coincides with the direction of motion and to which the first central ray, the second lateral ray located behind the central ray, and the third lateral ray located in front of the central ray, the other ray plane is perpendicular to the flight direction apparatus, and to which the first central ray, the fourth lateral ray, located to the left of the central ray, and the fifth lateral ray, located to the right of the center, belong to lal ray in the direction of movement, and the angles of deviation of all side rays relative to the Central beam are the same. The analysis of the integrated parameters of the reflected signals of multipath measurements is carried out by comparing the integrated parameters of the reflected signals along the side beams of multipath measurements over a flat surface area. The integrated parameters of the reflected signals are compared in pairs for each plane. Get the component of the angle of deviation of the normal axis of the aircraft from the vertical pitch, located in a plane that coincides with the direction of movement of the aircraft, the value of which is determined by comparing the integral parameters of the second beam of the side and third side beam. Get the component of the angle of deviation of the normal axis of the aircraft from the vertical roll, located in a plane perpendicular to the direction of movement of the aircraft, the value of which is determined by comparing the integral parameters of the fourth ray of the lateral and fifth ray of the lateral. The resulting vector of angular oscillations of the aircraft is determined, which characterizes the total deviation angle of the normal axis of the aircraft from the vertical in pitch and roll in the associated coordinate system of the aircraft to control the movement of the aircraft. The determination of the resulting vector of angular oscillations of the aircraft in the associated coordinate system of the aircraft is carried out sequentially at regular intervals to detect changes in angular oscillations in pitch and roll of the aircraft during its movement.

The navigation method of the aircraft is explained by the following drawings:

- figure 1 shows the relative position of the rays of the radio waves when determining the shape of the reflected signals from individual beams: 1 - the first beam is central; 2 - second side beam; 3 - the third beam is lateral; 4 - the fourth beam is lateral; 5 - fifth lateral beam; rays 1, 2 and 3 are located in the same plane (plane B, FIG. 3), and rays 1, 4 and 5 are located in the other plane (plane C, FIG. 3);

- figure 2 shows the shapes of the reflected signals (pulses) for the plane in which 1, 2 and 3 rays are located. For the central beam 1 (perpendicular to a flat surface), the reflected pulse will have an amplitude (U _imp1 ), a front duration at a level of 0.1-0.9 of amplitude (t _f1 ) and a pulse duration at a level of 0.5 of amplitude (t _imp1 ) . For the side beam No. 2 (at an angle α _B2 to a flat surface), the reflected pulse will have an amplitude (U _imp2 ), a front duration at a level of 0.1-0.9 of amplitude (t _f2 ), and a pulse duration at a level of 0.5 of amplitude (t _imp2 ). For the side beam No. 3 (at an angle α _B3 to a flat surface), the reflected pulse will have an amplitude (U _imp3 ), a front duration at a level of 0.1-0.9 of the amplitude (t _f3 ), and a pulse duration at a level of 0.5 from amplitudes (t _imp3 );

- figure 3 shows the relative position of the orthogonal planes of the rays: the location of the plane B coincides with the direction of movement of the aircraft, the location of the plane C is perpendicular to the direction of movement of the aircraft; A1 is a vector characterizing the angular oscillations of the aircraft in the B plane (one orthogonal component of the angle of deviation of the normal axis of the aircraft from the vertical pitch in the associated coordinate system of the aircraft), A2 is the vector characterizing the angular oscillations of the aircraft in the plane C (another orthogonal component of the angle of deviation of the normal axis Aircraft from a vertical roll along a connected coordinate system of aircraft), A0 is the resulting vector characterizing the spatial angular oscillations of the aircraft; α _B is the angle defining the position of the vector A1 in the plane B (pitch deviation); α _C is the angle defining the position of the vector A2 in the plane C (roll deviation); α is the spatial angle of deviation of the resulting vector A0 from the vertical (the angle of deviation of the normal axis of the aircraft from the vertical both in pitch and roll in the associated coordinate system of the aircraft, characterizing the angular oscillations of the aircraft);

- figure 4 shows the associated coordinate system of the aircraft according to GOST 20058-80 [3], OY is the normal axis of the associated coordinate system of the aircraft;

- figure 5 presents the dependence of the sequence of temporary positions of the aircraft (three positions: 1, 2 and 3) along the path of movement and the spatial angles of deviation of the normal axis of the aircraft from the vertical: angle α ₁ for position “1”, angle α ₂ for position “2” and angle α ₃ for position “3” (positions are indicated in the direction of the aircraft);

- figure 6 shows the dependence of the duration of the front of the reflected pulse when changing the resulting vector of angular oscillations of the aircraft (its value and spatial position);

- figure 7 presents the dependence of the duration of the reflected pulse when changing the resulting vector of angular oscillations of the aircraft (its value and spatial position).

The navigation method is implemented as follows.

The implementation of the navigation method of the aircraft will be considered by the example of determining the angular oscillations of the aircraft using the rays of radio waves, three of which are located in the plane coinciding with the direction of movement of the aircraft, and three rays are in the plane perpendicular to the direction of movement of the aircraft.

The implementation of the method is as follows.

Select the required area of the underlying surface, which is a flat surface - smooth surfaces such as: concrete, asphalt, water. For example, consider the water surface.

Measurements of the shape of the reflected signals (pulses) from the underlying surface are carried out using multipath measurements using radio waves. Rays of radio waves emit as follows.

First emit rays located in the orthogonal plane B (figure 3), the position of which coincides with the direction of motion of the aircraft. The first emit a central beam perpendicular to the underlying surface (first beam, figure 1). Next, rays 2 and 3 are emitted (FIG. 1): a second lateral beam located behind the central beam (in the direction of flight of the aircraft), a third lateral beam located in front of the central beam (in the direction of movement of the aircraft).

Rays are emitted that are located in the orthogonal plane C (Fig. 3), located perpendicular to the direction of motion of the aircraft (plane C contains the first central beam). Rays 4 and 5 emit: the fourth lateral ray located to the left of the central ray (in the direction of flight of the aircraft), the fifth lateral ray located to the right of the central ray (in the direction of movement).

The deflection angles of all side rays relative to the central beam are the same.

When determining the resulting vector of angular oscillations of the aircraft, which characterizes the total angular oscillations of the aircraft in pitch and roll, an analysis is made of the integrated parameters (IP) of the reflected signals of multipath measurements by comparing the PI of the reflected signals from the side rays of multipath measurements above the water surface.

Measure the shape of the envelopes of the reflected signals for side rays averaged over the cycle of multipath measurements belonging to the orthogonal planes B (Fig. 3) (pitch angular oscillations) and C (Fig. 3) (roll angular oscillations).

The integral parameters of each reflected signal are determined. For example, as shown in FIG. 2 for plane B.

Record the obtained measurement results.

Compare the integrated parameters of the reflected signals in pairs for the planes B and C.

Get two orthogonal components of the resulting vector of angular oscillations of the aircraft in the associated coordinate system of the aircraft (figure 3).

The component of the deviation angle α _{B of} the aircraft’s normal axis from the vertical pitch is determined by the vector A1 (Fig. 3), which is located in the plane B that coincides with the aircraft’s direction of motion, and the value of α _B is determined by comparing the integral parameters of the second side beam and the third side beam.

The component of the angle of deviation α _{C of the} normal axis of the aircraft from the vertical roll is determined by the vector A2 (Fig. 3), which is located in the plane C perpendicular to the direction of movement of the aircraft, and the value of α _C is determined by comparing the integral parameters of the fourth lateral beam and fifth lateral beam.

Get the resulting vector AO, which determines the angle of deviation α of the normal axis of the aircraft from the vertical and the pitch and roll in the associated coordinate system of the aircraft (axis OY, figure 4).

Determine the deviation angle α of the resulting vector of angular oscillations of the aircraft in the associated coordinate system of the aircraft (figure 3).

Fix the results of measurements of the angle α to control the movement of the aircraft.

The obtained value of the angle α is the instantaneous value of the resulting vector of angular oscillations of the aircraft, which characterizes the total angular oscillations of the aircraft in pitch and roll. To identify the dynamics of changes in the angular oscillations of the aircraft during its movement, the values of the angle α of the resulting vector of angular oscillations of the aircraft are determined sequentially at equal intervals of time. In figure 5, three positions of the aircraft along the trajectory of movement, designated as: “1”, “2” and “3”, are selected. Each position of the aircraft has its own values of vectors A1 (for position “1” of the vector: A1 ₁ , A1 ₂ , A1 ₃ ), A2 (for position “2” of the vector: A2 ₁ , A2 ₂ , A2 ₃ ) and A0 (for position “ 3 ”vectors: A0 ₁ , A0 ₂ , A0 ₃ ) and their values of the deflection angles α. In this case, successive angles α ₁ , α ₂ , α ₃ (in pitch and roll) in the direction of aircraft movement are obtained. And in the general case

Let's consider the specified algorithm in more detail.

When determining the resulting vector of angular oscillations of the aircraft, a water surface is selected as the underlying surface (Fig. 2), since it allows to exclude from consideration the average angle of inclination of the underlying surface, which will be zero for the water surface. In addition, use the associated coordinate system of the aircraft according to GOST 20058-80 [3] (figure 4).

Measure the shape of the reflected signals in two beams (figure 2, side beams 2 and 3) and determine the IP pulses averaged over the cycle of multipath measurements, according to beams 2 and 3.

The reflected pulse of the first beam has a maximum amplitude, minimum front durations and pulse duration in relation to the amplitude, front durations and durations of the reflected pulses of the second and third (side) rays (figure 2)

$${\mathrm{<figure-callout\; id="2"\; label="t\; f"\; filenames="00000010.png"\; state="\{\{state\}\}">t\; </figure-callout>}}_f={\mathrm{<figure-callout\; id="3"\; label="t\; f"\; filenames="00000010.png"\; state="\{\{state\}\}">t\; </figure-callout>}}_f>t_{f\mathrm{one}},t_{\mathrm{and}m\mathrm{<figure-callout\; id="2"\; label="P"\; filenames="00000010.png"\; state="\{\{state\}\}">P</figure-callout>}2}=t_{\mathrm{and}m\mathrm{<figure-callout\; id="3"\; label="P"\; filenames="00000010.png"\; state="\{\{state\}\}">P</figure-callout>}3}>t_{\mathrm{and}mP\mathrm{one}},U_{\mathrm{and}m\mathrm{<figure-callout\; id="2"\; label="P"\; filenames="00000010.png"\; state="\{\{state\}\}">P</figure-callout>}2}=U_{\mathrm{and}m\mathrm{<figure-callout\; id="3"\; label="P"\; filenames="00000010.png"\; state="\{\{state\}\}">P</figure-callout>}3}<U_{\mathrm{and}mP\mathrm{one}}.(2)$$

With equal angles of deviation of the second and third rays relative to the central beam, the shapes of the reflected pulses of the second and third rays coincide (figure 2).

In the absence of angular vibrations of the aircraft in the plane coinciding with the direction of movement of the aircraft, the lateral angles α _B2 and α _B3 are equal to each other (figure 2)

$${\mathrm{<figure-callout\; id="2"\; label="\alpha \; B"\; filenames="00000010.png"\; state="\{\{state\}\}">\alpha \; </figure-callout>}}_B={\mathrm{<figure-callout\; id="3"\; label="\alpha \; B"\; filenames="00000010.png"\; state="\{\{state\}\}">\alpha \; </figure-callout>}}_B.(3)$$

On practice

$${\mathrm{<figure-callout\; id="2"\; label="\alpha \; B"\; filenames="00000010.png"\; state="\{\{state\}\}">\alpha \; </figure-callout>}}_B\ne {\mathrm{<figure-callout\; id="3"\; label="\alpha \; B"\; filenames="00000010.png"\; state="\{\{state\}\}">\alpha \; </figure-callout>}}_B.(\mathrm{four})$$

This means that there are angular oscillations of the aircraft in the plane B (pitch). Moreover, the shapes of the reflected pulses of the second and third rays are different, which leads to a difference in the PI of the second and third rays.

Measured PI reflected pulses of rays 2 and 3 (figure 2).

Use the database of the reflected signals PI and determine the angle of deviation of the normal axis of the aircraft from the vertical in the associated coordinate system of the aircraft in the plane B - α _B (pitch) (Fig. 3).

A similar situation exists for the angular oscillations of the aircraft in the plane C (roll). We initially assume

$$t_{f\mathrm{four}}={\mathrm{<figure-callout\; id="5"\; label="t\; f"\; filenames="00000007.png,00000011.png"\; state="\{\{state\}\}">t\; </figure-callout>}}_f>t_{f\mathrm{one}},t_{\mathrm{and}mP\mathrm{four}}=t_{\mathrm{and}m\mathrm{<figure-callout\; id="5"\; label="P"\; filenames="00000007.png,00000011.png"\; state="\{\{state\}\}">P</figure-callout>}5}>t_{\mathrm{and}mP\mathrm{one}},U_{\mathrm{and}mP\mathrm{four}}=U_{\mathrm{and}m\mathrm{<figure-callout\; id="5"\; label="P"\; filenames="00000007.png,00000011.png"\; state="\{\{state\}\}">P</figure-callout>}5}<U_{\mathrm{and}mP\mathrm{one}}.(5)$$

The presence of angular oscillations along the roll gives differences in the IP of the fourth and fifth side rays. Using the PI of the reflected pulses of rays 4 and 5 and the database of the PI of the reflected signals, determine the angle of deviation of the normal axis of the aircraft from the vertical in the associated coordinate system of the aircraft in the plane C - α _C (roll) (figure 3).

Having determined the angles α _B (pitch) and α _C (roll), find the resulting vector of angular oscillations of the aircraft in the associated coordinate system of the aircraft (figure 3).

The resulting vector of angular oscillations of the aircraft, which characterizes the total angle of deviation of the normal axis of the aircraft from the vertical in pitch and roll in the associated coordinate system of the aircraft (angle α), is determined by the set of angles arising from the movement of the aircraft and contributing to the angular oscillations of the aircraft.

Determine the value of the angular vibrations of the aircraft in the form of the value of the angle α, which is used to control the movement of the aircraft (figure 3).

If necessary, determine the sequence of values of the resulting vector of angular oscillations of the aircraft (values and spatial positions), which is characterized by a set of angles α _i , where i = 1, 2, 3, ... for a number of values of the temporal positions of the aircraft at regular intervals (Fig. 5).

Control the movement of the aircraft taking into account the obtained values of the angle of oscillations α _i LA (figure 5).

When conducting multipath measurements of reflected signals using radio waves emitted in the form of rays, there is a dependence of the duration of the reflected pulses and changes in the duration of their fronts on the resulting vector of angular oscillations of the aircraft (its values and spatial positions) in the associated coordinate system of the aircraft. Changes in the shape of the reflected pulses are significant. Therefore, it is possible to accurately measure, fix the IP of the reflected signals and create on their basis a database of the IP of the reflected signals.

Thus, the database of reflected light emitted signals contains information about the dependence of the reflected light emitted signals (duration of reflected pulses and changes in the duration of their fronts) when changing the value and spatial position of the resulting angular oscillation vector of the aircraft.

To determine the operability of the considered aircraft navigation method, its modeling was carried out. As a result, the dependencies shown in FIG. 6 and FIG. 7 were obtained.

Figure 6 presents the dependence of the duration of the front of the reflected pulse at a level of 0.1-0.9 when changing the resulting vector of angular oscillations of the aircraft (its value and spatial position) when used as a given section of the water surface.

The general dependence of the change in the duration of the front of the reflected pulse when changing the angle is characterized by extremely small nonlinearity and smoothness. The maximum change in the duration of the front is about 175 not at deviation angles of 30 ° -35 °, and the minimum - about 100 not at angles of 5 ° -10 °.

7 shows the dependence of the pulse duration at the level of 0.5 when changing the resulting vector of angular oscillations of the aircraft (its value and spatial position) when used as a given section of the water surface

The general dependence of the change in the duration of the front of the reflected pulse when changing the angle is characterized by extremely small nonlinearity and smoothness. The maximum change in the front duration is about 200 not at deviation angles of 30 ° -35 °, and the minimum - about 50 not at angles of 5 ° -10 °.

When carrying out measurements, the integrated parameters of the reflected pulses obtained by beams 2 and 3, by beams 4 and 5 are compared. The resulting vector of angular oscillations of the aircraft (its value and spatial position) is determined in the associated coordinate system of the aircraft, using the dependences shown in Fig.6 and Fig.7 (a database of IP of reflected signals).

The obtained changes in the duration of the reflected pulses and the duration of their front in the considered range of angles are quite large (from 50 to 200 ns), they can be measured and recorded in practice, ensuring the accuracy of measuring the total angle of deviation of the normal axis of the aircraft from the vertical pitch and roll in a linked aircraft coordinate system of the order of ten arc minutes.

Taking into account the angular vibrations during the movement of the aircraft along the pitch and roll in the form of two orthogonal components allows the navigation of the aircraft with higher accuracy. So, if in the prototype angular fluctuations in pitch were determined with an accuracy of units of degrees, this method allows you to determine angular vibrations in pitch and roll with an accuracy of about ten minutes.

This method of navigation of aircraft has significant differences from the known methods of navigation, since it provides control of the movement of the aircraft taking into account angular oscillations in pitch and roll during the movement of the aircraft, measured with an accuracy of about ten angular minutes.

Literature

1. Abrosimov V.N., Alekseeva V.I., Grebenko Yu.A. et al. Use of the NAVSTAR system for determining the angular orientation of objects // Foreign Radio Electronics. - 1989. - N1. - S. 46-53.

2. Patent No. 2471152, IPC G01C 23/00 (2006.01), G01S 5/02 (2010.01). Aircraft navigation method / Khrustalev A.A., Koltsov Yu.V. // Inventions. Useful models. - 2012. - Publ. 12/27/2012. - Bull. Number 36. (prototype).

3. GOST 20058-80. The dynamics of the aircraft in the atmosphere. Terms, definitions and designations. - M.: State Committee for Standards, 1980. - 54 p.

Claims (2)

1. A method of navigating aircraft, which consists in measuring inclined ranges using multipath measurements of reflected signals using radio waves emitted in the form of rays, determining the integrated parameters of the reflected signals, determining the angular oscillations of the aircraft relative to the vertical from the pitch based on the analysis of the integrated parameters of the reflected signals for controlling the movement of aircraft, characterized in that for determining the angular oscillations of aircraft The resultant vector of angular oscillations of the aircraft is described, which characterizes the total deviation angle in pitch and roll, moreover, the rays of multipath measurements are located in two orthogonal planes, one of which coincides with the direction of motion and to which the first beam is central, the second side beam, located behind the central beam, and a third lateral beam, located in front of the central beam, the other plane of the rays is perpendicular to the direction of movement of the aircraft, and to which belongs the first beam is central, the fourth side beam, located to the left of the central beam, and the fifth side beam, located to the right of the central beam in the direction of movement, the deviation angles of all side rays relative to the central beam are the same, and the integrated parameters of the reflected multipath measurements are analyzed by comparing the integrated parameters of the reflected signals along the lateral rays of multipath measurements over a flat surface area, and the integrated parameters of the reflected are compared signals in pairs for each plane, get the component of the angle of deviation of the normal axis of the aircraft from the vertical pitch, located in the plane coinciding with the direction of movement of the aircraft, the value of which is determined by comparing the integral parameters of the second beam of the side and third beam of the side, get the component of the angle of deviation of the normal the axis of the aircraft from the vertical roll, located in a plane perpendicular to the direction of movement of the aircraft, the value of Torah determined by comparing the integral of the beam parameters of the fourth and fifth lateral side of the beam define a resultant vector of the angular oscillations of the aircraft, characterized by the total angle of deviation of the aircraft normal axis from the vertical pitch and roll in the related coordinate system of the aircraft for controlling the aircraft movement. 2. The method according to claim 1, characterized in that the determination of the resulting vector of angular oscillations of the aircraft in the associated coordinate system of the aircraft is carried out sequentially at equal intervals of time to detect changes in angular oscillations in pitch and roll of the aircraft during its movement.

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