RU2537818C1 - Method for spacecraft flight path correction and device for its implementation - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: method for spacecraft flight path correction and device for its implementation relate to space engineering, specifically to satellite systems navigation. Reconfiguring sequence is used: single-sideband signal reception and single-sideband reception with compensation of parasitic phase signal displacement from doppler displacement.

EFFECT: improving navigation accuracy by complexing errors of determined origin in counts of diagonal matrix used in optimisation of modified dynamic filter of Kalman in control loop during path integration.

3 cl, 22 dwg

Description

The invention relates to space technology, in particular to navigation of satellite systems.

State of the art

The principle of construction and design of satellite navigation systems is described in the patent-associated literature, in particular in the monographs:

E.P. Molotov “Terrestrial radio-technical systems for controlling spacecraft” [1], Moscow, FIZMATLIT, 2004. Proceedings of FSUE “RNII KP”;

A.V. Vasiliev, report “Using the method of deep integration of the GLONASS radio navigation software receiver and micromechanical ANNs to improve the accuracy and reliability of navigation definitions of promising small spacecraft samples” [2], IV NPK “MICROTECHNOLOGIES IN AVIATION AND COSMONAUTICS”, RAS, Moscow, 2006;

V.D. Dishel, report “High-precision navigation and orientation methods, their flight testing and application in terminal inertial-satellite control systems for launch and launching and descent means” [3], IKI RAS Collected Works, Russia, Tarusa, ntk, 22 September 25, 2008 p. 157-190;

Liu; Gang Kevin; et al. “A navigation unit device including hybrid global positioning systems (GPS) and an inertial navigation system” [10], United States Patent Application No. 2008011454, May 15, 2008, Class at Publication 701/480;

Mizuochi; Shunichi; et al. “Satellite Signal Tracking Method and Signal Receiver” [11], United States Patent Application No.20120038508, August 15, 2011, Class at Publication 342 / 357.23;

“Radio reception device for high-speed information of a space radio line” [4], description of a utility model, patent RU116293, priority dated 12/20/2011;

"Radio receiver of digital information" [5], invention, patent RU 2371845 published in 2008;

"The device shifting the frequency band" [6], the invention, and.with. USSR No. 824401, published in 1979.

In the methods of high-precision navigation of systems for various purposes, satellite navigation systems GLONASS and GPS are used. The GLONASS system is intended for mass servicing of systems of various technical construction and various purpose, consumers (NAP) use GLONASS signals, which determine their coordinates and generate, if necessary, control actions to change the flight path. The ground-based sector's flight control center analyzes the generated control actions, confirms their implementation or performs trajectory measurements, clarifies the control actions, issues a performance command on board the spacecraft.

Orientation of spacecraft (SC) and other mobile vehicles, correction of the trajectory of their movement requires the achievement of ever-increasing accuracy.

The consumers of the GLONASS system - navigation spacecraft (NKA) [1, p. 221] are provided with information on carriers in the bands 1600 and 1250 MHz. In digital information, data is transmitted to the consumer: almanac and operational information. The structure of the radio navigation signal contains a pseudo-random sequence of a 5.11 Mbps range-finding speed code and digital information (navigation messages) at a speed of 50 bits / s.

The coordinates of the consumer using NAP are determined by calculating the measured distances from consumers to the NCA. Errors from the influence of the troposphere and ionosphere on the propagating radio signal are subtracted from measurements of the values of transmitted data (PD). To determine ionospheric errors, it uses coherent frequencies f ₁ and f ₂ , the ratio of frequencies γ = (f ₁ / f ₂ ) ² [1, p. 230]. The range is measured by the delay of the binary periodic signal of the PN sequence on the path, the radial speed is determined by the Doppler shift of the carrier frequency, restored after the “convolution” of the PN modulation. PD errors:

- errors of ephemeris information and time-frequency corrections;

- errors due to receiver noise and external interference;

- Features of the propagation of radio waves in the troposphere and ionosphere.

The GLONASS high-orbit satellite system for navigating low-orbit space vehicles is formed by an orbital constellation of 24 navigation spacecraft (NSCs) located in 3 planes with 8 NSCs in each plane. The GLONASS system includes a segment of user navigation equipment. The height of the group’s circular orbit is 19.1 · 10 ³ km above the Earth’s surface.

A consumer at any point up to heights of 2 · 10 ³ km above the Earth's surface receives signals from at least four spacecraft. At altitudes of more than 2 · 10 ³ km, the radionavigation field becomes discrete in space. The launch of the spacecraft into the working orbit is shown in figure 1. When a spacecraft is flying in the satellite’s orbit or flight to the planet, the flight path is divided into several sections: launch, surface, flight, approach, formation of the working orbit. Corrections of the spacecraft flight path are shown in FIG. 2.

Navigation Tools

In the report of A.V. Vasiliev [2] considered a method of combining the consumer equipment of the GLONASS system and inertial navigation systems on the device of Figure 4. The actions of the method are considered: generating control actions autonomously to change the flight path; Improving the accuracy of navigation definitions from deep integration of the GLONASS radio navigation signals software receiver, micromechanical inertial systems (INS) is shown. Based on the projection values of the projections of the acceleration vector and the velocity of motion developed by the processor, the components of the linear velocity and coordinates of the location of the vehicle in space are calculated in the navigation computer, and information is used to control the center of mass directly on board the vehicle.

The signal processor circuit contains: a multidimensional correlator, a delay tracking scheme for radio navigation signals, a unit for estimating the frequency of radio navigation signals, a circuit for extracting information symbols, a signal search circuit for a satellite, and a reference reference frequency generator. The navigation processor performs secondary processing with a Kalman filter and storage of ephemeris information. The inertial navigation system unit (SINS) contains: a block of accelerometers, a block of gyroscopes, a SINS navigation computer.

и доплеровского сдвига частоты $${\hat{f}}_{dop}$$

.The main blocks of the radio receiving device are: correlator, reference baseband generator, satellite signal search unit, delay tracking schemes (tracking range meter) and Doppler frequency shift of received radio navigation signals (RSN), information symbol extraction circuits, ephemeris information storage unit, filter Kalman, specified delay values $$\hat{\tau }$$

and Doppler frequency shift $${\hat{f}}_{dop}$$

.

и доплеровского сдвига частоты $${\hat{f}}_{\partial on}$$

используются в схеме поиска сигналов НКА, схемах слежения за задержкой и доплеровским сдвигом частоты радионавигационных сигналов от каждого НКА системы ГЛОНАСС до борта НАП.The calculated values (initial values) of the delay $$\hat{\tau }$$

and Doppler frequency shift $${\hat{f}}_{\partial on}$$

They are used in the search circuit for signals from the spacecraft, tracking schemes for the delay and Doppler frequency shift of radio navigation signals from each spacecraft of the GLONASS system to the board of the NAP.

The report noted that the method of integration in the processing of information allows to achieve the required quality of navigation definitions in the case of operability of the motion parameters meters. Tracking failures in the tracking schemes for the delay and carrier frequency were quite common, the alleged reason is the low noise immunity of the consumer equipment.

In the report of V.D. Dishel [3] “Methods of high-precision navigation and orientation, their flight testing and application in terminal inertial-satellite control systems for launch and launching and descent means”, an information-safety technology for integrating inertial and satellite navigation systems containing two phases of flight is described.

The first phase of the accumulation of measurement information (accumulation phase):

a) receiving signals (single “raw” ASN measurements) from m different navigation spacecraft (NSC), at the current time t;

, где µ - шаги определений, на возрастающих интервалах осреднения, текущего времени t участка уточнений;b) repetition of a. a) periodically at averaging intervals $${\lfloor {\mathrm{<figure-callout\; id="0"\; label="t"\; filenames="00000038.png,00000039.png"\; state="\{\{state\}\}">t</figure-callout>}}_0,t_f\rfloor }_{\mu }$$

, where µ are the steps of determinations, at increasing intervals of averaging, of the current time t of the refinement section;

, в цифровом исполнении бортовым процессором, где µ - шаги определений, на возрастающих интервалах осреднения;c) determine the generalized (smoothed) measurements in the averaging steps $${\lfloor {\mathrm{<figure-callout\; id="0"\; label="t"\; filenames="00000038.png,00000039.png"\; state="\{\{state\}\}">t</figure-callout>}}_0,t_f\rfloor }_{\mu }$$

, digitally performed by the on-board processor, where µ are the determination steps, at increasing averaging intervals;

, параметры оценок:g) determine, in steps of averaging $${<figure-callout\; id="0"\; label="\lfloor \; t"\; filenames="00000038.png,00000039.png"\; state="\{\{state\}\}">\lfloor \; </figure-callout>t_{}{}_0,t_f\rfloor }_{\mu }$$

, evaluation parameters:

;- range $$h_{D_j}(j=\mathrm{one},2,...,m)$$

;

;- speeds $$h_{{\dot{D}}_j}(j=\mathrm{one},2,...,m)$$

;

- state vectors x _H (t);

i = 0, 1, 2, ..., k, t _{i + 1} = t _i + ΔT _meas ; t _k = t _f ;

d) form a vector of one-time measurements of dimension 2m h (x, t _i );

f) obtain estimates of the vector of generalized measurements δJ of dimension 2m,

g) refine the “integrable trajectory” by estimating the state vector of the generalized measurements δJ;

h) minimize the errors of estimation of navigation accuracy using the vector of multidimensional space, linear filtering, the optimal filter is a modified Kalman filter.

Second phase of accurate navigation, phase operations:

determine the convergence of the integrable trajectory and the auxiliary integrable trajectory;

form and transmit to the NKU (for control) navigation definitions of dynamic maneuver;

determine the control actions of executive technical devices;

accept a command to confirm the implementation of the navigation definitions;

eliminate deviations and adjust the trajectory to achieve the final result of the standard navigation stage;

perform a dynamic maneuver.

The positive results of information and safety technology were obtained during flight design tests using the GLONASS / GPS satellite navigation equipment and the ground control complex (NKU), during the launches of the RKK as part of the Soyuz launch vehicle with the Frigate booster from the launches of 2003-2006 . [3, p. 180].

In the description of the application for the grant of US patent No. 20080114544 [10] "Assessment of the relative position between the navigation units" is a hybrid device of the navigation unit. The first navigation unit includes a hybrid of global positioning system (GPS) and inertial navigation system (INS). The hybrid GPS / INS component provides primary information from the GPS module and from the first navigation unit. The first navigation unit is configured to receive second GPS information and second INS information from the second navigation unit and includes a Kalman filter.

The examples show the use of a navigation unit for autonomous refueling in the air of an unmanned aerial vehicle (first vehicle) with a tanker (second vehicle) for quick and accurate connection of the boom refueling Fig.20. Another example of applications under consideration is the exact approach and landing of an airplane (helicopter) on a ship. An important problem that is being solved is the automatic, reliable, accurate relative positioning of two moving vehicles.

The computer program for the positioning system contains a set of instructions for obtaining the first global positioning system: NAP information, information of the inertial navigation system (INS) for the first vehicle transmitted to the second aircraft; GPS and INS information for the second vehicle, determining double carrier phase difference measurements based on the first and second GPS information; estimating the relative speed between the first vehicle and the second vehicle based on the first and second means of INS information.

The navigation block contains a Kalman filter configured to update the INS estimate, which eliminates errors in the estimation of the relative position between the first and second navigation units based on double GPS differences of carrier phase measurement and the first and second INS information.

In the considered device of the navigation unit containing hybrid GPS / INS systems, the following main distinguishing features of the device are revealed:

Spaceship of satellite navigation system (204 - designations on the diagram),

the first vehicle is an unmanned aerial vehicle (UAV) (102), containing NAP consumer equipment, a positioning system for its spatial position, with a navigation unit;

the second vehicle is a tanker (104), containing NAP consumer equipment, a positioning system for its spatial position, with a navigation unit;

a computer program for positioning the spatial position of the UAV 102 relative to the tanker 104 for quickly accurately connecting the refueling boom 106, as shown in Fig. 20, using the determination of the double differences of the carrier phase measurements based on the first and second GPS information.

U.S. Patent Application No. 201,038,058 [11] discloses a method for tracking a satellite signal and a signal receiver. The receiver receives a satellite positioning signal and performs the following operations: calculating a first Doppler frequency of use of a received signal obtained by receiving a satellite signal, calculating a second Doppler frequency using a first Doppler frequency, and a signal from a sensor unit including at least an acceleration sensor, and received satellite signal taking into account the Doppler frequency. For the car, its motion parameters were calculated using an individual inertial navigation system and a space navigation system.

On Fig presents a block diagram of a navigation device of a car containing a GPS antenna (50), a GPS receiver (100), an inertial navigation system unit, a main processor, a key input device, a display, an audio message unit, a clock and a storage device, radio frequency block, receiver circuit (SW), baseband processing circuit (120), INS block (200), main processor (400), control unit (500), display (600), sound (700), clock block (800 ), a storage device (900), which is a storage device for x injuring various types of programs or data to implement a system program or navigation functions.

The sensor unit (300), known as an inertial measuring device, includes an acceleration sensor as one of the types of inertial sensors. The results obtained by the sensor unit (300) are output to the INS unit (200) when necessary.

The main processor (400) [0119] is a device for controlling each unit of the machine, transmits temporary GPS data output from the GPS receiver unit (100), performs a display process on the map, indicates the current position of the vehicle. On the display unit (600), based on the output of the GPS data, the sound is used for voice navigation (700).

The manipulator (500) [0120] includes a touch panel, switch, keys, signal buttons used in the host processing unit (400).

A display unit (600) [0121], including a liquid crystal display, is a device for displaying various information based on an input signal.

The experimental result of obtaining the trajectory and the calculated values of the vehicle are illustrated by the result: in a strong electric field of the environment; under a weak electric field of the environment; in multipath conditions. The result under a weak electric field is shown in FIG. 22. Weak electric field - the accuracy of the calculation drops dramatically, the true trajectory is not tracked (anomalous measurement). Strong electric field - “excess” means a phenomenon in which the calculation does not turn on.

The following features of the operations were used in the technical solution: digital processing of the signals of the NCA and the inertial INS system by the processor using software [0193 - designation of the place in the description of the application for the grant of patent No.20120038508]; receiving signals from the NKA [0022]; measuring the signal-to-noise ratio of the carrier frequency in the radio receiving device of the mobile vehicle [0181]; obtaining measurement information using signal data correlation [0056]; calculation of Doppler frequencies from received signals of navigation spacecraft (NSC) [0011]; calculation of the predicted Doppler frequency using the signal from the sensors of speed and acceleration of the ANN of the vehicle [0011]; the use of loop filters to isolate signals [0022, 0023]; the use of storing the calculated data of the signal processing circuit [0038, 0040]; calculation of pseudo-distance from the spacecraft [0057]; calculating the location of the vehicle [0051]; preprocessing by smoothing the process [0182]; the exclusion of the reception of "weak" signals in the process of signal pre-processing (skipping satellites giving a weak signal, as well as a strong signal) [0185], processing with the transition to the next satellite [0189]; correction of the total Doppler frequency and direction of motion, obtaining a motion vector [0193]; repeating the forecasting process using the Kalman filter, updating and correcting the process of the state of the system, updating the velocity vector [0083]; calculating the current position of the vehicle, completing the operations of the computing process [0194]; storage of program blocks of the navigator [0124]; displaying a map with a display indicating the current position of the vehicle [0119]; formation of an audio message, sound reproduction by the navigator [0122].

The considered tools use in trajectory measurements information processing using a dynamic Kalman filter (of Kalman).

Based on the analysis of patent-associated literature and patent documentation, a significant number of technical solutions have been identified containing combined motion control systems (GNSS / INS) as separate vehicles: cars, sea and river vessels, airplanes, spacecraft, as well as the use of these tools comprehensively in airplanes (helicopters) and aircraft carriers (helicopter carriers); refueling and long-range aircraft; spacecraft and the international space station, etc.

Since the spacecraft moves at the first space speed (about 6 km / s), which is many times higher than the speed of an airplane, car or sea (river) ship, a significant shift in the frequency of the radio signal is possible due to the Doppler effect and fading. For vehicles moving at different speeds, the Doppler effect manifests itself in different ways. For spacecraft, a significant shift in the frequency of the radio signal is possible due to the Doppler effect and fading.

Prototype Characterization

Way

Of the considered analogues of the prototype of the proposed method for correcting the trajectory of the spacecraft, the method selected in the report of V.D. Dichel “Methods of high-precision navigation and orientation, their flight testing and application in terminal inertial-satellite control systems for launch and launching and descent means” [3], and the device described in the report by A.V. Vasilieva “Using the method of deep integration of the GLONASS radio navigation software receiver and micromechanical ANNs to improve the accuracy and reliability of navigation definitions of promising small spacecraft samples” [2].

The information and safety technology of the integrated inertial and satellite navigation system contains two phases of flight: accumulation of measurement information and accurate navigation:

The first phase of the accumulation of measurement information (accumulation phase) contains:

a) receiving signals (single “raw” ASN measurements) from m different navigation spacecraft (NSC), at the current time t;

, где µ - шаги определений, на возрастающих интервалах осреднения, текущего времени t участка уточнений;b) repeat step a) periodically at averaging intervals $${\lfloor {\mathrm{<figure-callout\; id="0"\; label="t"\; filenames="00000038.png,00000039.png"\; state="\{\{state\}\}">t</figure-callout>}}_0,t_f\rfloor }_{\mu }$$

, where µ are the steps of determinations, at increasing intervals of averaging, of the current time t of the refinement section;

, в цифровом исполнении бортовым процессором, где µ - шаги определений, на возрастающих интервалах осреднения;c) determine the generalized (smoothed) measurements in the averaging steps $${\lfloor {\mathrm{<figure-callout\; id="0"\; label="t"\; filenames="00000038.png,00000039.png"\; state="\{\{state\}\}">t</figure-callout>}}_0,t_f\rfloor }_{\mu }$$

, digitally performed by the on-board processor, where µ are the determination steps, at increasing averaging intervals;

, параметры оценок:g) determine, in steps of averaging $${\lfloor {\mathrm{<figure-callout\; id="0"\; label="t"\; filenames="00000038.png,00000039.png"\; state="\{\{state\}\}">t</figure-callout>}}_0,t_f\rfloor }_{\mu }$$

, evaluation parameters:

;- range $$h_{D_j}(j=\mathrm{one},2,...,m)$$

;

;- speeds $$h_{{\dot{D}}_j}(j=\mathrm{one},2,...,m)$$

;

- state vectors x _H (t);

i = 0, 1, 2, ..., k, t _{i + 1} = t _i + ΔT _meas ; t _k = t _f ;

d) form a vector of one-time measurements of dimension 2m h (x, t _i );

f) obtain estimates of the vector of generalized measurements δJ of dimension 2m;

g) refine the “integrable trajectory” by estimating the state vector of the generalized measurements δJ;

h) minimize the errors of estimation of navigation accuracy using the vector of multidimensional space, linear filtering, the optimal filter is a modified Kalman filter.

Second phase of accurate navigation, phase operations:

determine the convergence of the integrable trajectory and the auxiliary integrable trajectory;

form and transmit to the NKU (for control) navigation definitions of dynamic maneuver;

determine the control actions of executive technical devices;

accept a command to confirm the implementation of the navigation definitions;

eliminate deviations and adjust the trajectory to achieve the final result of the standard navigation stage;

perform a dynamic maneuver.

In the process of information processing, a Kalman filter is used, the matrix of which takes into account the law of distribution of a random variable, the scatter of measurements.

The positive results of information and safety technology were obtained during flight design tests using the GLONASS / GPS satellite navigation equipment and the ground control complex (NKU), during the launches of the RKK as part of the Soyuz launch vehicle with the Fregat booster unit of launches 2003-2006 [ 3, p. 180].

Device

The prototype of the claimed device receives a radio signal from one side to eliminate deep fading from the Doppler effect [2], is shown in Figure 4, and contains: serial connection of the antenna unit 1, the radio frequency unit 2 with the reception of radio signals of one side band in the accumulation phase, analog digital converter (ADC) 3 phase-modulated signals, signal processors 4 and navigation 5, inertial navigation system 6 and the unit for calculating the expected values of the delay of the RNS and Doppler frequency shift 7.

радионавигационных сигналов (I_P, Q_P) 11, выход $${\hat{f}}_{dop}$$

которого соединен с первым входом схемы слежения за задержкой радионавигационных сигналов 10, входом схемы выделения символов информации 12 и выходом схемы выделения символов информации 12; схему поиска сигналов НКА 13, третий вход которой соединен с третьим входом сигнального процессора и вторым входом схемы слежения за задержкой радионавигационных сигналов 10; генератор опорной ПСП 15, выход которого соединен со входом многомерного коррелятора 14, а вход соединен с выходом схемы поиска сигналов навигационного космического аппарата 13.The signal processor 4 contains: a multidimensional correlator 14, the first output of which is connected to the first input of the delay tracking radio navigation signals (I _E , Q _E ; I _L , Q _L ) 10, the second output of the multidimensional correlator 14 is connected to the second input of the frequency estimation unit $${\hat{f}}_{dop}$$

radio navigation signals (I _P , Q _P ) 11, output $${\hat{f}}_{dop}$$

which is connected to the first input of the delay tracking circuit of the radio navigation signals 10, the input of the information symbol extraction circuit 12 and the output of the information symbol extraction circuit 12; a signal search circuit NKA 13, the third input of which is connected to the third input of the signal processor and the second input of the delay tracking circuit of the radio navigation signals 10; the reference reference generator 15, the output of which is connected to the input of the multidimensional correlator 14, and the input is connected to the output of the signal search circuit of the navigation spacecraft 13.

схемы слежения за задержкой радионавигационных сигналов 10 и с выходом $${\hat{f}}_{dop}$$

блока оценки частоты радионавигационных сигналов 11.The navigation processor 5 contains a block of secondary processing algorithms (Kalman filter) 8 and an ephemeris information storage unit 9. The input of the ephemeris information storage unit 9 is connected to the third input of the navigation processor connected to the third output of the signal processor 4, which is connected to the output ϑ _inf (t) information symbol extraction schemes 12. The first and second inputs of the secondary processing algorithm block (modified Kalman filter) are connected respectively to the first and second inputs of the navigation processor, with the corresponding first and second inputs of the signal processor, which are respectively connected to the output $$\hat{\tau }$$

delay tracking radionavigation signals 10 and with output $${\hat{f}}_{dop}$$

unit for estimating the frequency of radio navigation signals 11.

.After putting into orbit, satellite navigation systems and command-measuring systems are used to change the flight path, which give greater accuracy than the inertial navigation system 6, which contains the accelerometer block 17, the gyroscope block 18, connected to the navigation calculator 16, which is connected to the expected value calculation unit delays of radio navigation signals and Doppler frequency shift 7, the output of which contains the predicted Doppler frequency $${\tilde{f}}_{dop}$$

.

In information processing, a Kalman filter is used, the matrix of which takes into account the distribution law of a random variable, the scatter of measurements.

The main disadvantage of the prototypes of the method and device is that the integration does not take into account that in the scatter of all measurements there are scatter components from the Doppler effect of deterministic origin in the form of deep fading, giving signal-to-noise ratios below the threshold, and distortion.

Disclosure of invention

Way

The technical result of the proposed method for correcting the spacecraft flight path is to compensate for the deterministic distortions caused by the Doppler effect (eliminating deep fading and signal distortion) in order to reduce the spread of raw measurements and signal loss.

The technical result is achieved by the fact that the radio reception of the NCA signals is performed after entering into communication.

1. A method for correcting a flight path of a spacecraft, comprising an accumulation phase and a correction phase of a flight path, characterized in that:

in the accumulation phase, they receive (from one side) signals and perform actions:

i) determine the spectrum of the fast Fourier transform (FFT) of the initial installation of the control frequency F ₁ reference frequencies;

j) receive signals from m different navigation spacecraft (NSC), at current time t, perform operations:

emit an exemplary signal (coherent frequencies f ₁ and f ₂ ), form a block of phase samples of the control frequency, enter into memory;

phase readings of the radio navigation signal (rangefinder) signal (“raw” measurements of the rangefinder signal) are isolated, stored;

phase readings of the control frequency are transferred to the frequency domain of the fast Fourier transform (FFT), the discrepancies of the spectral components in the frequency domain are obtained;

transferred to the frequency domain of the fast Fourier transform (FFT) phase readings of the radio navigation signal ("raw" measurements of the rangefinder signal), stored in the memory;

eliminate the discrepancy of the spectral components from the Doppler effect in the spectral components of the "raw" measurements of the radio navigation signal, obtain a phase spectrum of the received radio navigation signal;

receive phase readings of the radio navigation signal by the inverse Fourier transform (OPF);

, где µ - шаги определений, на возрастающих интервалах осреднения, текущего времени t участка уточнений;b) repeat step k) periodically, at averaging intervals $${\lfloor {\mathrm{<figure-callout\; id="0"\; label="t"\; filenames="00000038.png,00000039.png"\; state="\{\{state\}\}">t</figure-callout>}}_0,t_f\rfloor }_{\mu }$$

, where µ are the steps of determinations, at increasing intervals of averaging, of the current time t of the refinement section;

, в цифровом исполнении бортовым процессором, где µ - шаги определений, на возрастающих интервалах осреднения;c) determine the generalized (smoothed) measurements in the averaging steps $${\lfloor {\mathrm{<figure-callout\; id="0"\; label="t"\; filenames="00000038.png,00000039.png"\; state="\{\{state\}\}">t</figure-callout>}}_0,t_f\rfloor }_{\mu }$$

, digitally performed by the on-board processor, where µ are the determination steps, at increasing averaging intervals;

, параметры оценок:g) determine, in steps of averaging $${\lfloor {\mathrm{<figure-callout\; id="0"\; label="t"\; filenames="00000038.png,00000039.png"\; state="\{\{state\}\}">t</figure-callout>}}_0,t_f\rfloor }_{\mu }$$

, evaluation parameters:

;- range $$h_{D_j}(j=\mathrm{one},2,...,m)$$

;

;- speeds $$h_{{\dot{D}}_j}(j=\mathrm{one},2,...,m)$$

;

- state vectors x _H (t);

_i = 0, 1, 2, ..., k, t _{i + 1} = t _i + ΔT _meas ; t _k = t _f ;

d) form a vector of one-time measurements of dimension 2m h (x, t _i );

f) obtain estimates of the vector of generalized measurements δJ of dimension 2m,

refine the “integrable trajectory” by estimating the state vector of the generalized measurements δJ;

minimize errors of estimation of navigation accuracy using a vector of multidimensional space, linear filtering, optimal filter - Kalman filter;

In the phase correction phase of the spacecraft’s flight path, the following operations are performed:

form and transmit to the NKU navigation definitions of dynamic maneuver, calculated on board;

determine the control actions of executive technical devices;

accept a command confirming the implementation of navigation definitions with or without refinements to the TCU;

eliminate deviations to achieve the final result of the full-time navigation stage, perform a dynamic maneuver.

Device

The technical result of the claimed device for correcting the flight path of a spacecraft is aimed at eliminating deep fading and compensating for deterministic distortions from the Doppler effect.

A device for correcting the flight path of a spacecraft contains: an antenna unit, a radio frequency unit, a signal processor, a navigation processor, a unit of an inertial navigation system (SINS), a unit for calculating the expected delay values of radio navigation signals (RNS) and Doppler frequency shift, a device for compensating for stray phase shift spectral components (CC SSS).

The device for compensating the stray phase shift of the spectral components (CC SSS) contains: a sample signal demodulator (DM _OS ), a model signal distortion calculator (VIS), a distortion compensation unit (BKI), a corrected phase signal (SFC) sample block, a symbol solving unit (RBS) ), the memory block of the phase samples of the recipient signal (PAM _P ), the memory block of samples of the reference signal (PAM _OS ) connected to the output of the demodulator of the reference signal, the difference compensation processor.

Description of drawings and detail of the device

The features and essence of the claimed invention are explained in the following detailed description, illustrated by drawings (see Fig.1-Fig.19), which shows the following.

Figure 1. Launch of the spacecraft into the working orbit;

Figure 2. Correction of the spacecraft flight path;

Figure 3. A graphical representation of the sequence of operations in the phase of accurate navigation;

Figure 4. Block diagram of a satellite navigation system device, prototype;

Figure 5. Globalstar-1 spacecraft launch launch experimental data, navigation and orientation system output parameters, scatter of raw measurements of the onboard equipment signal processor;

6. Explanations for the processes of rejection and smoothing of measurements, integration of two navigation paths (standard and auxiliary), input phases of information accumulation and accurate navigation;

7. Block diagram of a device for correcting the flight path of a spacecraft;

Fig. 8. The scheme of the device for compensation of the parasitic phase shift of the spectral components (CC SSS) 19;

Fig.9. Spectral representation of a modulating sinusoid;

Figure 10. Vector representation of the components of the fast Fourier transform;

11. Vector image of a reference signal;

Fig. 12. Fading from the Doppler effect;

Fig.13. The signal of the component vectors, where φ _r = 0;

Fig.14. Component phase shift, signal fading;

Fig.15. Signal modulation meander;

Fig.16. Square wave distortion from phase shift;

Fig.17. Distortion of the meander;

Fig. 18. The area of erroneous decisions of the decisive character block;

Fig.19. A graphical representation of the sequence of operations in the accumulation phase;

Fig.20. Implementation of the device in an unmanned aerial vehicle (UAV) and tanker aircraft;

Fig.21. Functional configuration diagram of a car navigation device;

Fig.22. A variant of satellite positioning of a terrestrial consumer under a weak electric field.

The inventive device for correcting the flight path of a spacecraft is characterized in FIG. 7 by the following interconnected elements:

1 - antenna unit;

2 - radio frequency block receiving radio signals;

4 - signal processor;

5 - navigation processor;

6 - block inertial navigation system (SINS);

7 is a block for calculating the expected delay values of radio navigation signals and Doppler frequency shift;

8 - block of secondary processing algorithms (Kalman filter);

9 - block storage of ephemeris information;

10 is a diagram of tracking the delay of radio navigation signals;

11 is a block for estimating the frequency of radio navigation signals;

12 is a diagram for allocating information symbols;

13 is a signal search diagram of a navigation spacecraft;

14 - multidimensional correlator;

15 - generator reference pseudo-random sequence;

16 - navigation computer unit inertial navigation system;

17 - block accelerometers;

18 - block gyroscopes;

19 is a device for compensating the stray shift of the spectral components of the received NAL signals.

The compensation device for the stray shift of the spectral components of the received signals NAP 19 is characterized by Fig, which shows:

20 - calculator distortion reference signal (VIS);

21 - block distortion compensation (BKI);

22 is a block of samples of the corrected phase signal (BFS);

23 - the second decisive block character (RBS);

24 - memory block phase samples of the recipient signal (PAM _P );

25 - memory side samples of a reference signal (PAM _OS ),

26 — discrepancy compensation processor;

27 - sample signal demodulator (DM _OS ).

A device for correcting the flight path of a spacecraft, comprising: an antenna unit 1, the output of which is connected to the input of the radio-frequency unit for receiving radio signals 2; signal processor 4, comprising: a tracking circuit for delaying radio navigation signals 10, a frequency estimation unit for radio navigation signals 11, an information symbol extraction circuit 12, a signal search circuit for navigation spacecraft 13, a multidimensional correlator 14, a pseudo-random sequence generator 15; a navigation processor containing a block of secondary processing algorithms (Kalman filter) 8 and an ephemeris information storage unit 9; an inertial navigation system unit 6, comprising: an accelerometer block 17, a gyroscope block 18, a navigation calculator 16, the first and second inputs of which are connected respectively to the outputs of the accelerometer block 17 and the gyroscope block 18, and the first and second outputs are respectively connected to the first and second inputs of the block calculating delay values of the radio navigation signal and Doppler frequency shift 7; a parasitic shift compensation device for the spectral components of the received signals of NAP 19, the first and second inputs of which are connected respectively to the first and second outputs of the radio frequency signal receiving unit 2, and the third input is connected to the fourth output of the signal processor 4, the first input of the signal processor 4 is connected to the output of the compensation device the stray shift of the spectral components of the received signals NAP 19, the second and third inputs of the signal processor 4 are connected respectively to the first and second outputs of the block calculating the delay values of the radio navigation signal and the Doppler frequency shift 7, the third input of which is connected to the second output of the navigation processor 5 and the fourth input of the signal processor 4, the first, second, third outputs of which are respectively connected to the first, second and third outputs of the navigation processor 5, the first and the second inputs of the navigation processor 5 are connected respectively to the first and second inputs of the secondary processing algorithm block (Kalman filter) 8, the output of which is connected to the first output ohm navigation processor 5; the first output of the signal processor 4 is connected to the output of the delay tracking circuit of the radio navigation signals 10, the first input of the delay tracking circuit of the radio navigation signal 10 is connected to the first output of the multidimensional correlator 14, the second input of the delay tracking circuit of the radio navigation signal 10 is connected to the output of the radio navigation signal frequency estimation unit 11, the input of the information symbol extraction circuit 12, with the second output of the signal processor 4, the third input of the delay tracking radio navigation signal 10 is connected to a third input signal search pattern navigation of the spacecraft 13 and the signal processor 4, a third output coupled to an output circuit 12 allocation information symbols; the fourth input of the signal processor 4 is connected to the first input of the signal search circuit of the navigation spacecraft 13; the second input of the signal processor 4 is connected to the second input of the signal search circuit of the navigation spacecraft 13, the output of which is connected to the first input of the reference pseudo-random sequence generator 15, the first output of which is connected to the fourth output of the signal processor 4, and the second output to the second input of the multidimensional correlator 14 the first input of which is connected to the first input of the signal processor 4, and the second output to the second input of the frequency estimation unit of the radio navigation signals 11.

The device for compensating the stray phase shift of the spectral components (CC SSS) 19, contains: a sample signal demodulator (DM _OS ) 27, a sample signal distortion calculator (VIS) 20, a distortion compensation unit (BKI) 21, a corrected phase signal (BFS) sample block 22 second symbol decider (RBS) 23, memory block counts signal recipient _(P AMP) 24, a memory block of signal samples exemplary PAM _OS 25, compensation discrepancies processor 26, wherein: the first device input compensation of the parasitic phase shift spectral components their (CC CCC) 19 is connected to the input of the demodulator reference signal (DM _OS) 27, whose output is connected to the first input of the storage unit samples an exemplary signal (AMP _OS) 25, a second input coupled to a first output compensation processor discrepancies 26, the first processor input discrepancy compensation 26 is connected to the third input of the device for compensation of parasitic shift of spectral components (CC CCC) 19, the second input of which is connected to the first input of the receiver of the receiver signal samples (PAM _P ) 24, the second input of the block of samples the recipient’s drive (PAM _P ) 24 is connected to the second output of the discrepancy compensation processor 16, the input-output of which is connected to the inputs / outputs of the distortion compensation unit (BKI) 21 and the sampled block of the corrected phase signal (BFS) 22, the output of which is connected to the input of the second critical symbol block (RBS) 23, the output of which is connected to the output of the device for compensation of the parasitic phase shift of the spectral components (CC CCC) 19; the input of the corrected phase signal sampling block (BFS) 22 is connected to the output of the distortion compensation block (BKI) 21, the second input of which is connected to the output of the receiver signal sampling memory block (PAM _P ) 24, and the first input is connected to the output of the distortion calculator of the reference signal (VIS) ) 20, the input-output of which is connected to the input-output of the memory block of samples of the reference signal (PAM _OS ) 25.

The stages of the flight of the spacecraft, which perform the correction of the trajectory using high-precision navigation of satellite systems, are shown in Fig.1-2, and a graphical representation of the sequence of operations in the phase of accurate navigation is shown in Fig.3.

A comparative analysis of the circuit solutions shown in Fig.4 and Fig.7, allows us to conclude that the claimed invention has structural differences that achieve the claimed technical result in comparison with the prototype:

the radio-frequency block for receiving radio signals (Figure 4) has one input and one output, and the radio-frequency block for receiving radio signals 2 (Figure 7) has one input and two outputs;

analog-to-digital Converter (ADC) of the consumer signal 3 (Figure 4) has one input and one output, and the device for compensating the stray phase shift of the spectral components of the received signals NAP (CC SSS) 19 has three inputs: the first and second inputs of the device CC SSS 19 connected respectively to the first and second outputs of the radio frequency side of receiving the radio signals 2, the third input of the CC CCC 19 device is connected to the third output of the signal processor 4, which is connected to the first output of the reference reference generator 15, and the CCC 8 CC output device is connected to the fourth input of the signal processor 4, connected to the first output of the reference reference memory generator.

Figure 5 shows the results of the launch data of the Globalstar-1 spacecraft according to the method of launching into orbit [3].

Figure 6 shows the accumulation of information in two phases of predicting the correction of trajectories (standard and auxiliary) for accurate navigation.

Figure 9 shows a spectral representation of a modulating sinusoid.

Figure 10 shows a vector representation of the components of the fast Fourier transform.

11-17 in the patterns of distortion and fading used signal conversion schemes in the receiving devices on the vector diagrams of complex signals [4, p.27, 31].

11 shows a vector image of an exemplary signal. The following notation is used in the text:

SSPD - means of communication and data transmission;

"Message" - a high-frequency or low-frequency signal of the receiving device in a temporary form or spectral form, carrying information transmitted to the consumer (software);

“Reference signal” - reference signal s _arr [λ, t], a high-frequency or low-frequency signal of the receiving device in a temporary form or spectral form, used to determine the discrepancy of the spectrum components from the Doppler effect, transmitted in the radio link in total with the radio signal of the message s [λ, φ (t), t] and the synchronization signal s ₁ [λ, t];

s _fs [λ, t] - characteristics of the transmitted message — signal in the block (initial displacement φ _g and parameter Ω _{g of the} linear law of the change in time displacement);

f _s (t _i ) - samples of the phase signal in the transmitted data block.

On Fig shows the fading from the Doppler effect, the reception of two side ("a" and "b"), the total signal side ("c"), fading ("g").

In Fig.13 shows the signal of the component vectors, where: φ _r = 0.

On Fig shows the fading of the signal at the output of the demodulator, the phase shift of the components is equal to π, φ _r = π.

On Fig shows the modulation signal meander. If there is no phase shift, then φ _r = 0 (Fig.15 "b").

In Fig.16 shows the distortion of the meander by Doppler, the phase shift of the component vectors. There is no phase shift (Fig. 9 “a”): φ _r = 0.

On Fig shows the distortion of the meander by the phase difference of the component frequencies.

On Fig shows the occurrence of the area of erroneous decisions of the decision block of the character.

On Fig shows a graphical representation of the sequence of operations in the accumulation phase.

In Fig.20-22 shows embodiments of devices including: unmanned aerial vehicle (UAV) and a tanker (Fig.20); configuration of the navigation device of the car (Fig.21); option satellite positioning of a terrestrial consumer under a weak electric field (Fig.22).

The implementation of the invention

The prototype of the device for implementing high-precision navigation during launching and descent contains the main elements of an integrated system: inertial control system, signal processor, navigation processor, consumer equipment of the space navigation system, blocks for calculating the expected values of delay and Doppler frequency shift. In the phase of information accumulation by the signal processor 4, operations are performed for simultaneously monitoring the behavior of two inertial trajectories, which differ in the content of the operation of receiving a signal of one side band. The tracking operations of inertial trajectories in Fig.6 are shown in dashed lines. In addition to them, the solid line conditionally shows the actual trajectory, which is considered, of course, known. Around it in the form of chaotic oscillations of the process are grouped the "raw" measurements of the autonomous navigation system (ASN). In one of the integrable trajectories (auxiliary), refinements on ASN measurements are carried out relatively often. In the other - the standard one - 3 ... 5 times less often, and refinements are performed by the parameters of the state vector of the auxiliary trajectory. Prior to the first refinement of the auxiliary trajectory, the standard and auxiliary trajectories coincide, and then, until the phase of accurate navigation, they diverge. In the auxiliary trajectory, isochronous differences between the parameters of the state vector of the integrable inertial trajectory of the object and the ASN (residual) data converted to the same format at the flight rate are monitored. The discrepancies create random errors of the autonomous inertial system and the errors of single measurements added to them. In measurement errors, the laws of distribution density are used, and the size of the permissible residual of measurements is established. With the onset of the accurate navigation phase, the standard approach to the auxiliary trajectory gradually begins. At the end of the plot they merge [3, p. 160].

The principle of operation of the device for correcting the flight path of a spacecraft is disclosed in the description of the drawings. The reception of one side provides a decrease in the number of anomalous measurements of deep fading from the Doppler effect.

An exemplary signal is formed from the signals of the navigation equipment of the consumer, designed to eliminate ionospheric errors, signals of coherent frequencies. A device is used to compensate for the stray shift of the spectral components of the received signals (CC SSS).

- момент обобщенного уточнения вспомогательной траектории; $$\left[t_{у}^{к}\right]$$

- начало коррекции штатной траектории.Steps of the accumulation phase. The phases of information accumulation and accurate navigation are indicated: [τ _nq , τ _kq ] - active portion of the flight, [τ _nq ] - beginning of refinements, [τ _kq ] - end of refinements; [t _n , t _to ] is the averaging interval; $$\left[t_y^{\mathrm{about}b}\right]$$

- the moment of generalized refinement of the auxiliary trajectory; $$\left[t_{\mathrm{at}}^{\mathrm{to}}\right]$$

- the beginning of the correction of the standard trajectory.

The single trajectory measurements of the spacecraft motion parameters are determined as a function of time [3, p. 161], n averaging intervals of duration Δt, messages received by the recipient from the mixture that is observed, and estimates of generalized (smoothed) measurements x (t _i ), t _i = iΔt, i = 0, 1, ..., n.

Interferences are considered as random processes characterized by the distribution density of random variables. The processing x (t _i ) uses approximation, linear filtering taking into account non-linearities of a multi-alternative nature, sets the value of anomalous measurements, “anomalous measurements of the first type” and “anomalous measurements of the second type”.

The first type of abnormal measurements goes beyond the limits of permissible errors, the second type lies within these boundaries, but goes beyond the boundaries of the phase noise distribution density, Fig. 6.

Abnormal measurements of the first type are rejected. The differences (residuals) of the a priori calculated values of the state vector parameters and the estimates of the values obtained by processing the ASN estimates are determined. At the end of the accumulation phase, the property of convergence of estimates from processing time is checked.

On Fig shows a variant of a block diagram of a device for compensating for stray phase shift of spectral components (CC CCC) 19.

Consistent radio reception filters separate the radio signal of the reference frequencies and the binary periodic signal of the PN sequence. The reference frequency signal is supplied to the demodulator of the reference signal (DM _OS ) 27 compensation device (CC SSS) 8.

At the output of the DM _OS 27, phase readings of the control frequency are formed, which are block-wise stored in the memory of the reference signal (PAM _OS ) 25. Digital samples of the phase signal of the PN sequence from the radio-frequency unit 2 enter the memory of the ranging signal (PAM _P ) 24.

The phase signal samples are digitally synchronized by the clock frequency of the samples, the period of samples depends on the bit value τ. Let the interval contain k bits, samples of the phase signal i = 1, 2, 3, ..., mk, where m is the number of samples per symbol of information according to the Kotelnikov theorem.

CCC CC 19, at the command of the discrepancy compensation processor 26, calculates the stray shift of the spectral components in the fast Fourier transform (FFT) of the received signal, compensates them in the spectrum and, by converting it to the time domain, obtains phase signal samples of the PN sequence sample block. To determine the distortion, a reference signal is used.

Parasitic distortion calculations use the PAM _OS 25 and PAM _P 24 data. The parasitic phase distortions of the spectral components are determined by the difference in the spectral components obtained by the FFT, the received s _sample [λ, t] and the emitted (undistorted by the Doppler effect) signal. In the signal spectrum, s [λ, φ (t), t] compensate for spurious phase distortion of the spectral components and the inverse FFT transform produces a vector of PN-sequence samples of the time domain. The readout of the corrected signal arrives at the second decisive symbol block (RBS) (23), which forms a sequence of bits of the data block (characters "0" and "1").

In the VIS (20), BKI (21) and BFS (22) devices, the fast Fourier transform (FFT) is applied to compensate for distortions. The FFT in the frequency domain has a frequency grid. A grid of N frequencies is formed by frequencies ω ₀ + ω (i), where ω ₀ = 2π · f ₀ , ω (i) = i · Ω, i is the frequency number in the grid, i = 0, 1, 2, ... N-1 . The grid frequency step Ω is unchanged. The difference in neighboring frequencies is the same, the Doppler shift of the difference in neighboring frequencies is the same, we denote it by Ω _D. With the Doppler effect, a grid of difference frequencies i · Ω _D and a grid of discrepancies i · - (Ω _D -Ω) are formed on the frequency axis for i = 0, 1, 2 ... N-1.

The Doppler effect ascertains the linearity of the Doppler frequency shift from the velocity component of a satellite or spacecraft, directed at the point of its location along the tangent to the wave path, curved in the case of inhomogeneous propagation medium.

The linearity property is manifested in a change in the distance between the grid frequencies and a change in each grid frequency with a coefficient a _D from the Doppler effect. We take two grid frequencies f ₁ = k ₁ · Ω, f ₂ = k ₂ · Ω, k ₁ , k ₂ are integers, the difference frequency F ₁ = f ₂ -f ₁ , when there is no Doppler effect. The frequencies with the Doppler effect f _1D , f _2D , the difference frequency F _1D = f _2D -f _1D lies on the frequency axis, where the coefficient of linear frequency change from the Doppler effect a _D , the Doppler effect for the points of the frequency axis allows you to write 2πf _1D = a _D 2πf ₁ , 2πf _2D = a _D 2πf ₂ , the discrepancy in the rotational frequencies Ω _rO = 2π (F _2D -F _1D ) = 2π (f _2D -f _1D -f ₂ + f ₁ ) forms a discrepancy in the vibration vectors.

The device uses an exemplary signal with frequencies from a frequency grid.

The harmonic frequencies of the reference signal (OS) are called “adjustable” f ₁ and “control” f ₂ . The OS is transmitted via a radio link, is extracted from the input signal from the output of the first balanced modulator and is fed to the input of the demodulator and to the input of the memory block of samples of the standard signal PAM _OS 24. The frequencies of the OS do not go beyond the spectrum of the information signal. The difference frequency F ₁ = f ₂ -f ₁ when there is no Doppler effect.

The difference frequency F _1D = f _2D -f _1D with the Doppler effect.

The discrepancy Ω _KP = 2π (f _2D -f _1D -f ₂ + f ₁ ).

The discrepancy gives a parasitic phase shift of frequencies, causing signal distortion, depending on the time t _S.

An exemplary signal from the output of the balanced DMos 27 demodulator is transferred by the amplitude phase demodulator to the low-frequency region. In the device, the local oscillator frequency is taken to the sum of the frequencies ω ₀ + 2πf ₁ . In the region of zero frequencies, a combination of the frequency and phase of the “tuned” frequency with the local oscillator is achieved by the self-tuning system, an OS frequency difference signal is generated - the frequency fluctuation F ₁ is the “control frequency”.

The first FFT is the conversion of the control frequency for free space in the absence of Doppler shift, when there is no reception delay, t _S ≈ 0, (spectrum of the initial setting of the control frequency F ₁ ). The second conversion is performed in a communication session, where the frequency fluctuation F _1D forms from the Doppler effect. Digital samples of the phases of the oscillations of the frequencies F ₁ and F _1D are stored in the memory block of samples of the standard signal PAM _OS 25.

In the distortion calculator of the reference signal, the VIS 20 determines the stray phase shifts of the spectral components of the OS for the time from radiation to reception t _S.

VIS 20 translates the fast Fourier transform (FFT) into the frequency domain of the frequency fluctuation f ₁ and f _1D , which determines the discrepancy of the control frequency.

.FFT transform operators are known, direct and inverse transforms: cfft (Y), icfft (F), transformation vectors Y, F. F: = cfft (Y) with respect to the arguments xi: = i · Δ, i: = 0 ... N -1 , $$\Delta :=\frac{T}{N}$$

.

, где i:=0…N-1. Числа комплексной формы:The vector Y is formed by: modules M _i : = | Y _i | and phase Φ _i : = arg (Y _i ). Modules are the values of the samples of the amplitudes in the data block of the phase detector, the phases are the samples of the phases of the phase detector in the data block. Sample vectors with the number of elements N = 2 ′ ′ are accepted for processing, missing elements are supplemented with zeros, samples at equal intervals. As a result of the direct transformation, the Fourier vector of the spectrum F is obtained from the vector Y. The components of the vector F: phases ΦF _i : = arg (F _i ) and the modules MF _i : = | F _i |. The inverse FFT transform is performed by the operator Y: = icfft (F), F is the Fourier vector of the spectrum. In the frequency domain, frequency decomposition $$F_i=(i+\mathrm{one})\cdot \frac{\mathrm{one}}{T}$$

where i: = 0 ... N-1. Complex numbers:

Y: = 19.785j + 0.15;

Im (Y) = 19.785;

Re (7) = 0.1

| Z | = 23;

arg (Z) = 0.1;

J is a complex unit.

The phase difference of the control frequency φ _П = (Ω _iD · t _S ) for the time t _S in the spectral decomposition of the radian measure is found by the expression:

φ _П = n _C · 2π + φ _K , where n _C is the number of integer vibrations (2π), φ _K is the phase of frequency discrepancy during the session.

The discrepancy n _C = N _MPA -N _MP , N _MP is the maximum number of the module in the spectrum of the emitted signal, N _MPA is the maximum number of the module in the session.

The modules and phases of the spectral decomposition of N _MP and N _MPA in the three variants “a”, “b”, “c” in FIG. 9 determine the total phase difference for the time t _{S of the} control frequency. In the variant “A” in Fig. 9, the module of the resulting vector and its phase of components are shown.

In the embodiment “B” in FIG. 10, the FFT decomposition spectrum is shown, and the vectors of spectral components are shown. The number of components of the spectral decomposition by the fast Fourier transform i: = 0 ... N-1.

The resulting vector is represented by the sum of N-1 frequency decomposition vectors, Fig. 10 shows the decomposition vector modules. To determine the phase of the resulting vector, we will summarize a part of the component vectors that sufficiently fully reflect the length of the resulting vector, for example, take the sum of the numbers of the “complex form” that form the extremum.

Option "a" - the oscillation period contains an integer number of oscillation periods of the spectral decomposition, ie the oscillation frequency coincides with the frequency of the grid i of the frequency decomposition of the FFT, the module MF _i : = | F _i | maximum, N _MPA = i is taken, phase φ _K = ФF _i : = arg (F _i ), the modules of the remaining components are equal to zero.

Option “b” - the oscillation frequency differs from the grid frequencies in less than 0.5 steps, for example, by 0.25 steps, the module MF _i : = | F _i | maximum, N _MPA = i is taken. Modules of neighboring components are formed, decreasing in their range, phases of the components ФF _i : = arg (F _i ). The determination of the phase φ _K is made by the sum of the group of components of the "control" frequency, forming the extremum, by the numbers of the "complex form".

Option “c” - the oscillation frequency differs from the grid frequencies by 0.5 steps. Module MF _i : = 0. Equal modules of neighboring components are formed, the remaining modules decrease in terms of location, the phases of the components ФF ₁ : = arg (F _i ).

The resulting vector is on the verge of jumping, either left or right by 0.5 steps, we believe that it did not jump, remained in the middle of N _MPA = i, where the maximum modulus is zero. Determination of the phase φ of the _PC is made by the sum of the group of components of the "control" frequency, forming the extremum, by the numbers of the "complex form".

The total phase difference of the control frequency during time t _S is equal to φ _PC = n _C · 2π + φ _K.

. При Δφ=φ_ПК, Δt=t_S получим $$\Omega =\frac{{\varphi }_{ПК}}{T_S}$$

.We write the frequency discrepancy causing the phase discrepancy Δφ over time Δt as a frequency $$\Omega =\frac{\Delta \varphi }{\Delta t}$$

. When Δφ = φ _PC , Δt = t _S we get $$\Omega =\frac{{\varphi }_{P\mathrm{TO}}}{T_S}$$

.

.Substituting φ _PC , we determine the discrepancy by the grid step $${\Omega }_r=\frac{n_C\cdot 2\pi +{\varphi }_K}{t_S\cdot (N_K-N_0)}$$

.

The grid of frequency discrepancies Ω _1D = i · Ω _r , i: = 0 ... N-1.

The total phase difference φ _Пi (spurious displacements) during the time t _{S of the} spectral components Ω _{iD is} determined using the formula for the grid of frequency differences

, i:=0…N-1 $${\varphi }_{Pi}=({\Omega }_{iD}\cdot t_S)=i\cdot \frac{n_C\cdot 2\pi +{\varphi }_K}{(N_K-N_0)}$$

, i: = 0 ... N-1

The distortion compensation unit BKI 21 uses the vector φ _{Pi of the} stray phase shift of the distortion calculator of the VIS 20 model signal, translates the vector Y with the components F: = cfft (Y) with the components: phase Ф _i : = arg (Y _i ) , the modules M _i : = | Y _i |, i: = 0 ... N-1.

Phases - samples of the phase signal of the memory block of the phase samples of the recipient signal (PAM _P ) 24 samples of the PN sequence. We get the vector F with the components: phases Ф _Fi : = arg (F _i ) and modules M _Fi : = | F _i |, i: = 0 ... N-1.

From the Doppler effect at the time of reception, only the frequency changes, the signal modules from the relative speed of the receiver and transmitter do not change, therefore, the modules of the vectors M _{Fi of the} frequency decomposition under the Doppler effect are assumed to be unchanged. Frequency changes over time t _{S are} taken into account by the complete phase difference φ _{Пi of the} components of the decomposition frequencies.

Distortion compensation is performed by changing the phases of the components of the frequency decomposition. Distortion Compensation Operator:

Ф _i : = mod _2π (arg (Y _i ) -φ _Пi ), for i: = 0 ... N-1.

Phase _Fi contains distortion.

At the output of the distortion compensation unit (CCI) 21, a phase vector Φ _Fi and a module vector M _Fi i: = 0 ... N-1 appear.

The sampled block of the corrected phase signal (BFS) 22 uses the vectors Ф _i , M _Fi , i: = 0 ... N-1 obtained in (BKI) 21 at the second input, converts the frequency domain signal into the time domain by the inverse transformation operator Y: = icfft (F) where:

vector F - vector of Fourier spectrum data with components;

F _i - phase vector;

M _Fi is the vector of modules.

The output of the block of samples of the corrected phase signal (BFS) 22 is the vector of phase samples Φ _i : = arg (Y _i ), i: = 0 ... N-1.

In the signal conversion operators of the receiving device, the number of samples N does not change, the normalization of the base system is not violated, which corresponds to the requirements of transforms in the FFT.

In the discrepancy compensation processor 26, signal processor 4, navigation processor 5, electrical circuits for FPGA, RAM, ROM, microprocessors are stored in the form of boot modules for spacecraft signals with an a priori known structure. Processors select boot modules from software and include receive configurations in a communication session.

The device for compensating the stray shift of the spectral components (CC SSS, 19), on the command of the processor for compensating discrepancies (26), calculates and eliminates the stray shift of the spectral components. To determine the distortion, a reference signal is used. In the calculation of spurious distortions, the data of the PAM _OS (25) and PAM _P (24) are used. The spurious distortion of the phases of the spectral components is determined by the difference in the spectral components obtained by the FFT, the received s _sample [λ, t] and the emitted (undistorted by the Doppler effect) reference signal.

In the signal spectrum, s [λ, φ (t), t] compensate for spurious phase distortion of the spectral components and the inverse FFT transform produces a vector of time-domain signal samples. Counts of the corrected signal are received in the second decisive block character (RBS) 23, which forms a sequence of bits of the data block (characters "0" and "1").

Depending on the Doppler frequency, the period of formation of deep interference fading and signal distortion from a parasitic deterministic shift of the spectral components is different. With the Doppler effect at different ranges, zones are formed: signal fading, signal distortion zones from the Doppler effect and zones where the influence of the Doppler effect is not manifested. In the case of receiving a signal from one side, the signal fading from the Doppler effect is excluded.

Figure 12 shows the patterns of fading of the signal, which are periodic in different reception ranges from the Doppler effect, components "A" and "b" show the radio signal, Figure 12 "c" shows the total side signal, Figure 12 " g "- fading, spurious decrease in amplitude to zero at the time of reception.

On Fig-16 in the patterns of distortion and fading used signal conversion schemes in the receiving devices on the vector diagrams of complex signals [9, p. 27, 31].

In Fig.13 shows the signal of the component vectors, where: φ _r = 0. Signal modulation meander.

On Fig shows the fading of the signal, the phase shift of the components is equal to π, φ _r = π.

On Fig shows the modulation signal meander. If there is no phase shift, then φ _r = 0 (Fig.15 "b").

In Fig.16 shows the distortion of the meander by Doppler, the phase shift of the component vectors. There is no phase shift (Fig. 9 “a”): φ _r = 0.

On Fig shows the distortion of the meander by the phase difference of the component frequencies.

On Fig shows an example of the occurrence of the region of erroneous decisions of the decisive block symbolic from signal distortion by a parasitic phase shift of the component frequencies.

The claimed device contains operations of a technical level generally accepted:

- the reception of one sideband is not displayed on the diagram, but it is assumed to be available, the formation of the reception of the signal of one sideband is known, for example [7, p.233],

- amplification, filtering and conversion to an intermediate frequency, which are not shown in the figures, but are assumed to be available,

- the actions of the method of transmitting and receiving signals are implemented, if necessary, not only in hardware but also in software,

- the selection of clock frequencies from the received signals using phase-locked loop,

- use of direct Fourier transform,

- use of the inverse Fourier transform,

- analog-to-digital conversions that convert the components of the received signal (phase signal phase modulation) into digital samples,

- localization of certain types of interference and their spectral-temporal filtering,

- transition to the frequency domain of the signal for digital filtering of radio interference,

- tracking the Doppler frequency shift of the received radio navigation signals,

- the use of the Kalman filter to obtain a navigation solution in which the current solution is formed on the basis of the previous solution and its covariance matrix containing information about the accuracy, in the case when the radio navigation field is discrete in space, prevention of accuracy deterioration is achieved by using NAP information and CIS

- tracking the delay of received radio navigation signals,

- search for NKA signals,

- selection of information symbols,

,- calculation of the delay value $$\tilde{\tau }$$

,

,- calculation of the Doppler frequency shift $${\tilde{f}}_{\partial on}$$

,

- the introduction of secondary information processing,

- form and transmit to the NKU (for control) navigation definitions of dynamic maneuver;

- determine the control effects of executive technical devices;

- accept a command confirming the implementation of navigation definitions;

- data storage,

- the use of high-speed processors for FFTs, for example, the Mini Tera supercomputer, with a processor - P11 / 300 MHz, 1 trillion opera / s, RAM 128 MB, disk memory - up to 40 GB (data from the Association of Mobile Society Informatics, for digital processing )

с заданной периодичностью формируют вектор разовых измерений [3, стр.164-175] h(х, t_i) размерности 2m, i=0, 1, 2, …, k, t_i+1=t_i+ΔТ_изм; t_k=t_f,During each standard averaging interval $${\lfloor {\mathrm{<figure-callout\; id="0"\; label="t"\; filenames="00000038.png,00000039.png"\; state="\{\{state\}\}">t</figure-callout>}}_0,t_f\rfloor }_{\mu }$$

with a given periodicity form a vector of one-time measurements [3, pp. 164-175] h (x, t _i ) of dimension 2m, i = 0, 1, 2, ..., k, t _{i + 1} = t _i + ΔT _meas ; t _k = t _f ,

и оценки скорости $$h_{{\dot{D}}_j}(j=1,2,\dots ,m)$$

.where in m the number of different navigation spacecraft (NSC), get range estimates $$h_{D_j}(j=\mathrm{one},2,...,m)$$

and speed estimates $$h_{{\dot{D}}_j}(j=\mathrm{one},2,...,m)$$

.

, момент этот обозначают $$t_{{}_{\mu }}^{нор}$$

. Сглаживание невязок измерений со сжатием их совокупности выполняют до одного так называемого обобщенного измерения. Случайные разбросы обобщенных измерений (они изображены отдельными черными точками) оказываются существенно ниже исходных ежесекундных «сырых» измерений. Сформированные осреднения вновь подвергаются сравнительному анализу.From the set (2m × k) of one-time measurements, a vector of generalized measurements is formed, which includes the operations of smoothing and compression of the set of measurements. The resulting estimate is tied to the middle of the interval $${\lfloor {\mathrm{<figure-callout\; id="0"\; label="t"\; filenames="00000038.png,00000039.png"\; state="\{\{state\}\}">t</figure-callout>}}_0,t_f\rfloor }_{\mu }$$

, this moment is designated $$t_{{}_{\mu }}^{n\mathrm{about}R}$$

. Smoothing the residuals of measurements with compression of their totality is performed up to one so-called generalized measurement. Random scatter of generalized measurements (they are shown by separate black dots) are significantly lower than the initial every second "raw" measurements. The generated averagings are again subjected to comparative analysis.

Secondary processing is used - establishing a relationship between the measured parameters and the trajectory estimation - the state vector x (t) = (ν (t), r (t)) ^T , using nonlinear transformations, and applying the Kalman filter. Get the navigation analogue of the state vector x _H (t), which consists of the components of the measurement error vector ν (t) and the coordinates of the radius vector r (t), [3, p.164].

Fluctuations in the process (from ASN measurements) are referred to as noise components. The processing uses a diagonal matrix of size (2m × 2m) of the measurement noise intensity, which, by assumption, is white and has a density with parameter values H (0, σ ² ) [3, p. 166].

Steps in the phase of accurate navigation in the guidance and control circuit at the launch and launch site. According to the accepted unit measurements, averaged interval estimates of the motion parameters are obtained, groups of interval estimates are obtained periodically with a period Δt; optimize message transmission. According to group estimates, with increasing i, we obtain estimates of generalized (smoothed) measurements x (t _i ), t _i = i Δt, i = 0, 1, ..., n. At the same time, taking into account the incoming inertial measurements, two inertial trajectories are integrated:

- integrable trajectory;

- auxiliary integrable trajectory.

On the active part of the flight, state vector estimates are obtained, each subsequent estimate is refined, it is assumed that as the processing of the next measured parameter, the estimate will increasingly come closer to the true value [3, p. 174]. The last range estimate takes into account all previous estimates, the estimate depends on all components of the navigation state vector.

Steps in the phase of changing the flight path. Using NKA data and CIS data, the on-board time scale, and the coordinate system of multidimensional space, the control unit minimizes navigation accuracy estimates using the multidimensional space vector, linear filtering, and the optimal filter is the Kalman filter. According to the navigation information, the onboard control complex performs the control actions of eliminating deviations and correcting the trajectory to achieve the final result of the standard navigation stage. Generates and passes for control navigation definitions of dynamic maneuver to Earth in the MCC.

In Fig.19, Fig.3 shows a graphical representation of the sequence of operations of the claimed technical solution.

Using the method, it is possible to realize a reconfiguration of signal reception with two lateral and two variants of one lateral simultaneous start of work. If the first result of the navigation definitions of the dynamic maneuver does not satisfy the specified requirements, then the second and third methods are not interrupted. Each subsequent option is characterized by an increase in the volume of calculations and the development of an algorithm for analyzing and comparing the results of navigation definitions.

Efficiency mark

The method of high-precision navigation in terminal systems during launch and launch, prototype. Information and safety guidance and control technologies provide launching and descent from orbit with a given accuracy. The accumulation phase is minimized by using the frequency of second-second readings, which is ensured by the radio navigation field.

Changes in the spacecraft flight path can occur under conditions that coincide and differ from the conditions of launch and descent from orbit. In practice, there may be a radio navigation field of a spacecraft in a discrete space; reduction of the NKA range to the NAP consumer, which sharply increases the power of the received signal; formation of shading on the reception path; exit from the antenna visibility range, unexpected change in access by the service provider.

The length of the accumulation phase can increase from a reduction in the calculated number of spacecraft (NSC) of orbital constellations. As a result, the length of the accumulation phase and the set of necessary statistics of non-defective measurements increases. Reducing defective measurements becomes relevant. The proposed method becomes useful in solving practical problems.

Consider the phase difference of the oscillations of the received coherent reference frequencies.

[8, стр.187]. Получим расхождение колебаний когерентных частот (кГц), f₁=124400С, f₂=1600000 от прохождения ионосферы, разностная частота f₂-f₁=356·10³, N_э.ср=10⁵ эл/см³ [2 стр.130], Δh=600·10³ м, с=3*10⁸ м/с.Distortion from the ionosphere. The ionosphere affects the discrepancy of the phases of the oscillations, the discrepancies determine the errors of coordinate measurement. The components of errors depend on the time of the year, time of day, and solar activity; the best results are obtained by choosing the correction time. The formula for changing the phase difference of the received oscillations f ₁ , f ₂ from the passage of the ionosphere Δh with an average electron density of N _e.s. $$\Delta \varphi =N_{\mathrm{uh}.\mathrm{from}R}\cdot \Delta h\cdot \frac{81\pi f_2}{c}\cdot \frac{{\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="00000037.png,00000040.png"\; state="\{\{state\}\}">f</figure-callout>}}_2^2-f_{\mathrm{one}}^2}{f_{\mathrm{one}}^2{\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="00000037.png,00000040.png"\; state="\{\{state\}\}">f</figure-callout>}}_2^2}$$

[8, p. 187]. We obtain the discrepancy in the oscillations of the coherent frequencies (kHz), f ₁ = 124400С, f ₂ = 1600000 from the passage of the ionosphere, the difference frequency f ₂ -f ₁ = 356 · 10 ³ , N _e.s. = 10 ⁵ el / cm ³ [2 pp. 130], Δh = 600 · 10 ³ m, s = 3 * 10 ⁸ m / s.

; $$f_2^2=2,56\cdot {10}^{12}$$

; $$f_2^2-f_1^2\approx 1,01\cdot {10}^{12}$$

; $$f_1^2{f}_2^2\approx 3,96\cdot {10}^{24}$$

. Результат Δφ=0,00662·π. $$f_{\mathrm{one}}^2\approx \mathrm{one},54\cdot {10}^{12}$$

; $${\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="00000037.png,00000040.png"\; state="\{\{state\}\}">f</figure-callout>}}_2^2=2,56\cdot {10}^{12}$$

; $${\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="00000037.png,00000040.png"\; state="\{\{state\}\}">f</figure-callout>}}_2^2-f_{\mathrm{one}}^2\approx \mathrm{one},01\cdot {10}^{12}$$

; $$f_{\mathrm{one}}^2{\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="00000037.png,00000040.png"\; state="\{\{state\}\}">f</figure-callout>}}_2^2\approx 3,96\cdot {10}^{24}$$

. The result is Δφ = 0.00662 · π.

Changes in the state of the ionosphere, parameters N _e.s. , Δh, gives a spread of ionospheric errors, at worst 21-42 m in coordinates and 64-102 m in height, in the best case (minimum solar activity, night) 5-7 m in coordinates and 6-10 m in height [1 p. 232].

Doppler distortion

We obtain the discrepancy between the wave oscillations from the Doppler effect of the frequencies discussed above. The dimension of frequency values is further “Hz”. An example of the divergence and distortion of the waveform on the modulation of the carrier frequency by the meander, Fig.17. The case of receiving one side frequency band, frequency ω ₀ + Ω = 2π · f _H , ω ₀ + kΩ = 2π · f _B , k = 3. When receiving a signal in the absence of Doppler shifts, the shape of the received signal is shown in Fig. 17 "a". Carrier frequency f ₀ = 1066 × 10 ⁶ , components, f _H = 1066 × 1 ⁶ + 178 × 10 ⁶ , f _B = 1066 × 10 ⁶ + 534 × 10 ⁶ , difference frequency Δf = f _B -f _H = 356 10 ⁶ . For the Doppler shift of the carrier frequency 50 × 10 ³ , f _0Д = 1066 × 10 ⁶ + 50 × 10 ³

f _ND = 1066 × 10 ⁶ + 50 × 10 ³ + 178 × 10 ⁶ + 8.35

f _ID = 1066 × 10 ⁶ + 50 × 10 ³ + 534 × 10 ⁶ +25.05

The difference frequency Δf _D = f _VD -f _ND = 356 × 10 ⁶ +16.7

The discrepancy f _r = Δf _D -Δf = 16.7.

The difference in coherently radiated frequencies leads to the formation of a phase shift φ _r , φ _r = mod _2π [2πf _r t _S 5]. The phase shift φ _r = π is achieved in time t _S = 30 ms, the wave travels a path of 9 thousand km The shape of the meander has changed, Fig. 17 "c", a change with respect to "a". At a shorter distance of the NAP of the constellation from the satellite, the discrepancy decreases, the decrease is shown in Fig 17 "c".

From a comparison of the discrepancies from the ionosphere and the Doppler effect shown in Fig. 17 “c”, it follows that the discrepancies from the Doppler effect (18-20 · 10 ³ km of NAP from the constellation from the satellite) can be significantly larger, therefore, the errors in the coordinates of Doppler biases in measurements are more significant.

In the claimed technical solution:

the predominant effect of the Doppler shift on the divergence of coherent frequencies compared with the ionosphere at a distance of 18-20 · 10 ³ km was taken into account;

a method is obtained for increasing the number of maximum permissible values of raw samples by refining the navigation state vector x _H (t) by eliminating anomalous errors determined from the Doppler effect from the diagonal measurement noise intensity matrix σ ² used in secondary processing of OFC in optimizing the Kalman dynamic filter in the loop management;

a method is obtained for reducing the phase of information accumulation by increasing the number of maximum permissible values of raw samples and a device is proposed that implements this method.

Bibliography

1. E.P. Molotov. Terrestrial radio control systems for spacecraft. Moscow, FIZMATLIT, 2004. Proceedings of FSUE RNII KP.

2. A.V. Vasiliev “Using the method of deep integration of the GLONASS radio navigation software receiver and micromechanical ANNs to improve the accuracy and reliability of navigation definitions of promising small spacecraft samples”, IV NPK “Microtechnologies in Aviation and Cosmonautics”, Russian Academy of Sciences, Moscow, 2006.

3. V.D. Dischel “Methods of high-precision navigation and orientation, their flight testing and application in terminal inertial-satellite control systems for launch and launching and descent means", IKI RAS Proceedings, Russia, Tarusa, NTK, September 22-25, 2008 P.157-190 .

4. Description of the utility model “Radio reception device for high-speed information of a space radio line”. RF patent 116293, priority 20.12. 2011.

5. Radio receiver of digital information. Description of the invention to patent No. 2371845, 06/30/2008, IPC H04B 1/06.

6. The device shift the frequency band. Description of the invention, and.with. USSR No. 824401, 1979.

7. I.I. Kalashnikov. Communication systems via artificial Earth satellites. Svyaz Publishing House, 1969.

8. Grudinskaya G.P. Propagation of radio waves. Moscow "Higher School", 1975.

9. Trakhtman A.M. Introduction to the generalized spectral theory of signals. Moscow "Soviet Radio", 1972.

10. Liu; Gang Kevin; (Simi Valley, CA); Buchler; Robert John; (Calabasas, CA); Bruner; Charles P .; (Calabasas, CA) “Estimating the Relative Position Between Navigational Units,” United States Patent Application 20080114544 May 15, 2008, Class at Publication 701/480.

11. Mizuochi; Shunichi; (Matsumoto-shi, JP); Matsumoto; Kazumi; (Shiojiri-shi, JP); Kumar; Anand; (Shiojiri-shi, JP) “Satellite Signal Tracking Method and Signal Receiver”, United States Patent Application 20120038508 August 15, 2011, Class at Publication 342 / 357.23.

Claims (3)

1. A method for correcting a flight path of a spacecraft, comprising a phase of accumulation of measurement information and a phase of accurate navigation of the flight path, in which at the accumulation phase:
a) receive (from one side) the signals of the autonomous navigation system (ASN) from m different navigation spacecraft (NSC) in the current time t;
b) repeat step a) periodically, at averaging intervals

, where µ are the steps of determinations, at increasing intervals of averaging, of the current time t of the refinement section;
c) determine the generalized (smoothed) measurements in the averaging steps

, digitally implemented on-board processor;
g) determine, in steps of averaging

, evaluation parameters:
- range

;
- speeds

;
- state vectors x _H (t);
i = 0, 1, 2, ..., k, t _{i + 1} = t _i + ΔT _meas ; t _k = t _f ;
d) form a vector of one-time measurements of dimension 2m h (x, t _i );
f) obtain estimates of the vector of generalized measurements δJ of dimension 2m;
refine the “integrable trajectory” by estimating the state vector of the generalized measurements δJ;
minimize the error in assessing navigation accuracy using a vector of multidimensional space, linear filtering, the optimal filter is a Kalman filter, characterized in that when receiving signals:
- determine the spectrum of the fast Fourier transform (FFT) of the initial installation of the control frequency F ₁ reference frequencies;
- emit a reference signal (coherent frequencies f ₁ and f ₂ ), form a block of phase samples of the control frequency, remember their values;
- allocate phase readings of the radio navigation signal (rangefinder) signal ("raw" measurements of the rangefinder signal), enter into memory;
- phase readings of the control frequency are transferred to the FFT frequency domain, and spectral component differences in the frequency domain are obtained;
- phase readings of the radio navigation signal (“raw” measurements of the rangefinder signal) are transferred to the frequency domain of the FFT, stored in the memory;
- eliminate the discrepancy of the spectral components from the Doppler effect in the spectral components of the "raw" measurements of the radio navigation signal, get the phase spectrum of the received radio navigation signal;
- receive phase readings of the radio navigation signal by the inverse Fourier transform (OPF). 2. A device for correcting the flight path of a spacecraft containing an antenna unit, the output of which is connected to the input of a radio-frequency unit for receiving radio signals, a signal processor, a navigation processor, an inertial navigation system unit, a unit for calculating delay values of a radio navigation signal and Doppler frequency shift, characterized in that it equipped with a device to compensate for the stray shift of the spectral components (UKSSS) of the received signals of the navigation equipment of consumers (NAP), having t and inputs and one output, the first and second inputs connected respectively to outputs of the first and second radio frequency unit receiving radio signals, the third input - to the fourth output of the signal processor, and an output coupled to the first input of the signal processor. 3. The device for correcting the flight path of a spacecraft according to claim 2, characterized in that the UKSSS comprises a model signal demodulator (DM _OS ), a model signal distortion calculator (VIS), a distortion compensation unit (BKI), a corrected phase signal (BFS) sample block , a decisive character block (RBS), a receiver signal sample memory block (PAM _P ), a reference signal sample memory block (PAM _OS ), a discrepancy compensation processor, the first input of the CC CC being connected to the input of the DM _OS , the output of which is connected to the first PAM input _ABOUT A second input coupled to the first output terminal of the discrepancies compensate first discrepancy compensation processor input coupled to the third input UKSSS, the second output of which is connected to a first input of AMP _P unit, a second input PAM _P unit connected to the second output terminal of the discrepancy compensation input-output which is connected to the inputs and outputs of the BKI and BFS blocks, the BFS output is connected to the input of the RBC block, the output of which is connected to the output of the CCC CC, while the BFS input is connected to the BKI output, the second input of which is connected to the PA output M _P , and the first input is connected to the output of the VIS, the input-output of which is connected to the input-output of the PAM _OS block.

Images