RU2549919C1 - Method for determining bearing of sound source at arrangement of acoustic antenna of acoustic radar in inclined sections of ground surface - Google Patents

Abstract

FIELD: radio engineering, communication.

SUBSTANCE: according to this method, the bearing of a sound source is determined in the following way: air temperature, wind velocity and position angle of its direction in an atmospheric boundary layer is measured and entered to a computer, a special attention area (SAA) is marked on a topographic map, where artillery and mortar-gun sites can be arranged, a flat section is chosen afield, which has approximately a rectangular shape and length of at least three metres and width of at least ten metres, the larger sides of which would be approximately perpendicular to the direction to the approximate SAA centre, an inclination angle of the above section to the horizon plane is measured, and considering the above angle and using an optic and mechanical instrument and a ranging pole there determined afield is an acoustic bearing in a certain manner, acoustic signals and interference is received, converted to electric signals and interference, processed in the first and the second signal processing channels of acoustic bearing finders or acoustic radars, constant voltages U₁ and U₂ received only from SAA are determined at the outlet of the same channels, the voltage U₂ is subtracted from the voltage U₁, these voltages are added, the ratio of difference to their sum η_CP is obtained and the apparent bearing of the sound source α_S is calculated automatically as per the programme.

EFFECT: improving the accuracy of bearing finding of a sound source at ground surfaces inclined to horizon plane, where an acoustic antenna is arranged, and reducing the time required for the determination of the bearing of this source.

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Description

The invention relates to acoustic direction finders (AP), base points of automated sound metering complexes (AZK), acoustic locators (AL) and can be used to determine the bearing of a sound source (FR), (the angle between the known direction and the direction to FR) and the topographic coordinates of this OF. The known direction may be the director of the acoustic base (the perpendicular restored from the middle of the acoustic base, and the FR bearing is determined by the “time difference method” [1 ... 7]. The acoustic base is the distance between two sound receivers (RF). But this method does not provide the bearing detection FM with a large number of acoustic signals coming from different FM to AP or AL simultaneously.

A more perfect way to measure the FR bearing compared to the above is the methods described in [8 ... 12], but they all have drawbacks, the main of which is the lack of accuracy in determining the FR bearing and noise immunity.

In the RF patents [13-15], an equal-signal method of measuring the FR bearing is used, when the bearing is calculated by the ratio of the constant voltage at the output of 1 signal processing channel (CBS) to the voltage at the output of 2 CBS. Let's call it classic. It provides a sufficiently high accuracy of bearing detection, due to the optimal choice of the parameters of the main AP devices, and noise immunity, when both linear groups (LG) of RFP, an acoustic antenna are deployed on the horizontal surface of the Earth. In the RF patent [16] and monograph [17], an equal-signal method of measuring the FR bearing with total-difference signal processing is given when the bearing is calculated by the ratio of the difference between the constant voltages at the outputs 1 and 2 of the WWR, to their sum and then, using the special formula, it is calculated most accurately bearing FROM, but also when both LG LGP deployed on the horizontal surface of the Earth. With an inclined surface of the Earth, systematic errors arise in the bearing of the FM and random errors in its determination increase.

The closest technical solution and more accurate is the method for determining the bearing FROM given in [16], which we take as a prototype.

An object of the invention is to reduce the systematic and random errors of direction finding FROM when placing acoustic antennas on inclined areas of the Earth's surface to the horizon plane.

This problem in the invention is solved as follows.

Measure the air temperature t _B , wind speed W, the directional angle of its direction α _W in the surface layer of the atmosphere and enter them into an electronic computer (computer).

They mark on the topographic map a special attention area (DOM), where artillery and mortar firing positions can be located, which are usually located 2-10 km from the military contact line of the troops, they select a flat area of approximately rectangular shape with a length of at least four hundred meters and a width of - ten meters, the large sides of which would be approximately perpendicular to the direction to the approximate center of the DOM, approximately in the middle of the width at the beginning of this site mark a point (assign this point No. 1), see figure 1, where they remove the optical-mechanical device (OMP), for example, the PAB-2AM periscope artillery compass [18], and prepare it for operation in accordance with the requirements of the instruction for its operation, turn the optical axis of this device in the direction of clockwise rotation in the direction of any reference point (in the absence of a reference point, a milestone is set at a distance of 100-150 m from the WMD), the direction in which coincides with the direction to the approximate center of the DOM, this device determines the directional angle of direction from this point to the approximate center of the DOM (α _{s from} and enter it into the computer, with its help calculate the speed of sound taking into account the influence of wind according to the formula [16, p.10]

.

.

According to this calculated speed of sound and the known resonant frequency of the selective amplifiers (DUTs) 1 and 2 of the CBS of the acoustic locator f ₀ and the number of RFs in each LG n, which are also introduced into the computer, varying the distances between the working axes of the microphones of the adjacent RFs d and achieving levels the side lobes of the directivity characteristics practically did not exceed 0.3 with its narrowest width at the level of 0.5; using a computer, graphs of the normalized directivity characteristics of the LH RFP are constructed using the following formula [16, p.4]:

,

,

where λ ₀ = C _W / f ₀ ,

find, according to the graphs constructed in a rectangular coordinate system, the optimal directivity characteristic of the LG ZP (when the width of the NHN is at the level of 0.5 Θ _0.5 and the level of its side lobes does not exceed 0.3), they determine the approximate positive value of half of its width by level 0.5 Θ ₁ .

Calculation of NNF in the Mathcad environment, version 15.0, with an example of plotting it in a rectangular coordinate system, is given in Appendix A. In this example, the distance d is 17.2 m, and the width of the working lobe of the directivity characteristics of the LG ZP at the level of 0.5 is approximately 0 06 glad. The computer calculates the required length of the LG ZP (diagonal of the rectangle) when they are deployed on the ground according to the formula

L = d (n-1),

which is obvious.

Turn the optical axis of the OMP in the clockwise direction by an angle of 90 degrees, assign the rangefinder rail included in the compass kit to the distance along the optical axis of this device, to the calculated distance L, set milestone No. 2 to this point, assigning point 2 to this point, see Fig. 1, remove the WMD from point No. 1, install vertically (using the spherical level installed at the top of this milestone), the pole No. 1 at this point of known height, transfer the WMD to point No. 2, remove the pole No. 2 from point No. 2 and install WMD over it, prepare it for work, having set the height of its optical axis equal to the height of the milestone installed at point No. 1, rotate the optical axis of the OMP in the clockwise direction until it aligns with the milestone No. 1, moving the optical axis of the OMP in a vertical plane to the upper end of the milestone number one, measure the angle of inclination of the Earth's surface to the horizon plane α _n and enter it into the computer.

Next, calculate the width of the NHN at the level of 0.5 and the required offset angle Θ _{c of the} working axes of the NHN 1 and 2 LG relative to the equal-signal direction according to the following formula [16, p.5]:

Θ _c = 0.3Θ _0.5 ,

where the width of the NHN of the working lobe at the level of 0.5 is determined by the following formula [16, p.5]:

Θ _0.5 = 2Θ ₂ ;

Θ ₂ is a more accurate value of the angle Θ ₁ , which is determined automatically by the modified Newton method according to the following formula [16, p. 7]:

Θ ₂ = Θ _{j + 1} = Θ _j - (ΔΘF ₁ ) / (F ₂ -F ₁ ),

for j = 0, 1, 2, 3 ... N _p and | Θ _{j + 1} -Θ _j | ≤ΔΘ;

where Θ _j is the value of the angle Θ at the jth approximation (for j = 0 Θ _j = Θ ₁ );

ΔΘ is the angle discretization step (for example, ΔΘ = 0.0000001 rad);

F ₁ = 0.5-R ₁ ;

;

;

.

.

k = πd / λ ₀ .

Calculation of the exact values of the width of the NXN at the level of 0.5 Θ _0.5 and the required displacement angle Θ _c in the Mathcad environment, version 15.0, is given in Appendix B (in this example it is 0.0198718084 rad).

Using the rangefinder rail included in the set of OMP and the OMP itself, determine the middle distance between these L / 2 milestones (see point O in Fig. 1), remove the OMP from point No. 2, install the No. 2 pole vertically into it, install the OMP above point O, prepare it for operation in accordance with the instruction manual, rotate its optical axis in the clockwise direction of rotation to align it with the pole installed at point No. 1, rotate the optical axis of the OMP in the clockwise direction by an angle equal to Θ _c , and set on this axis on y Allenia L / 2 from the device, milestone No. 3, the optical axis of the optical magnetic field is rotated in the clockwise direction by an angle equal to 180 degrees, the milestone No. 4 is installed on this axis at a distance L / 2 from the device, see Fig. 1, the optical the OMP axis against the direction of rotation of the clockwise direction at an angle equal to 2Θ _c , set on this axis at a distance L / 2 from the device milestone No. 5, see figure 1, turn the optical axis of the OMP against the direction of rotation of the clockwise rotation at an angle equal to 180 degrees , set on this axis at a distance L / 2 from the device milestone No. 6, see figure 1, combining The optical axis of the OMP with the pole installed at point No. 1 is rotated, this axis is rotated 90 degrees in the clockwise direction, and using the rangefinder rail, a frontal drive is installed on this axis at a distance of about 150 m so that an imaginary working the axis of its microphone was approximately directed toward the approximate center of the DOM and parallel to the horizon plane. The NHN of this RFP in the horizontal plane described by the cardioid [17, see p.21 and 22, which ensures the reception of acoustic signals mainly from the front], connect the milestones installed at points No. 3 and No. 4 with one cord, and the milestones installed at points No. 5 and No. 6 with another cord, they are installed on the links of the tape on which the RFPs with circular NXN are mounted in a horizontal plane and there is a scale that allows you to move the RFPs installed on the links of the tape to the calculated distances between the working axes of the microphones of the adjacent RFP d, lay the tape links with RFP along the indicated cords so that the working axes of their microphones are approximately vertical, starting from the point of intersection of the midpoints of the LG ZP, point O. The weapons of mass destruction are removed from point O and the cords.

RFPs receive acoustic signals and interference, convert them to ES and interference, then they are processed in 1 and 2 KOS, see figure 2, at the output of the amplitude detectors of these KOS, the values of constant voltage U ₁ and U _{2 are} determined from signals and interference, come only from the working sector of the acoustic locator, which are then converted into a binary digital code, which is registered by the corresponding registers and automatically entered into the computer. The latter subtracts the constant voltage U ₂ from the constant voltage U ₁ , adds these constant voltages, and obtains the ratio of their difference to their sum, i.e. calculates it according to the formula [16, p.7]

Where

The IZ bearing in this case is determined by the method of successive approximations (Newton's method, [16, p. 7]) according to the following formula:

α = α _J , for | α _J = α _J-1 | ≤ε and −Θ _c <α <Θ _c ,

where ε is the given value of the absolute value of the approximation of bearings;

α _J and α _{J-1 are} determined from the following formula:

j is the current approximation number;

the first derivative of the above function with respect to the bearing α _j [19, p. 308], i.e.

The correctness of formula (2) is confirmed by the calculations given in Appendix B.

Bearing FROM α, calculated by formula (2), will be valid for the horizontal surface of the Earth. To determine the IZ bearing when placing an acoustic antenna on inclined areas of the Earth's surface, the true IZ bearing α _I is determined by the formula (3)

which is also one of the main significant differences from the prototype;

where α _Н is the angle of inclination of the Earth’s surface area where the acoustic antenna of the locator or direction finder is located to the horizon, measured by the WMD when this antenna is deployed on the ground, see Fig. 8.

This will ultimately increase the accuracy of determining the location of FM (its topographic coordinates).

The correctness of this formula (3) is proved in Appendix D.

Calculation of the true bearing FROM α _FROM in Mathcad, version 15.0, with 3 calculation examples when the Earth’s surface tilts at 30 °, where 1 and 2 LG LZs are located, to the horizon plane, see Appendix D.

The inventive method is illustrated by the following graphic materials:

Figure 1 Deployment scheme of linear groups of sound receivers.

Figure 2 Acoustic locator. Structural electrical circuit.

Figure 3 Example NHN LG containing 20 RFP, in a rectangular coordinate system.

Figure 4 Example NHL LG containing 20 RFP in the polar coordinate system

Figure 5 Amplitude detector 1 channel. Structural electrical circuit.

6 Highlight signal 1 channel. Structural electrical circuit.

Fig. 7 Directivity control system. Structural electrical circuit.

Fig. 8 To the derivation of the formula for calculating the true bearing of the sound source when placing the acoustic antenna of the locator on an inclined surface of the Earth.

One of the options for the electrical structural diagram of an acoustic locator that implements the proposed method for measuring bearings using 20 RFPs in LG (in this case, it can be shown that high accuracy of direction finding FROM is provided) is shown in Fig. 2 [17, p.14], which shows simpler electrical block diagram in comparison with the circuit shown in [15, p.2, figure 1].

It consists of 1 and 2 LG, each of which consists of 20 small-sized RFPs, see the sound receivers 1 ... 40 in figure 2, mounted on the links of the tape; selector pulse formation circuit (SPSI), 42, 46 and 50; 1 CBS 44, 48, 52, 55 and 58; 2 CBS 45, 49, 53, 56 and 59; CBS frequency f ₁ 43, 47, 51, 54 and 57; directivity control system (CMS) 41; and computer 60.

Small-sized RFPs 1 ... 40 LG include omnidirectional low-frequency microphones with preliminary amplifiers of the microphone signal (UMS).

SPSI, see figure 2, consists of a frontal RFP 42, Schmitt trigger 46 and a standby multivibrator (single-vibrator) 50. Frontal RFP 42 includes a microphone with NCH described by a cardioid [15, p.29 and 30], preliminary UMC and selective amplifier (DUT) with a central frequency bandwidth of 18 Hz.

Each CBS [15, p.2, see figure 1; 17, p.16] consists of a signal isolator (BC), see 43 ... 45 in figure 2, a voltage combiner (CH), see 47 ... 49 in figure 2, an amplitude detector (HELL), see 51 ... 53 in figure 2, analog-to-digital Converter (ADC), see 54 ... 56 in figure 2, and the register, see 57 ... 59 in figure 2.

The center frequency of the passband of the DUT BC 1 and 2 CBS is 18 Hz. This is due to the fact that the frequency of the harmonic with the largest amplitude in the spectrum of the acoustic signal formed, for example, by a single shot (S) from guns, mortars and shell ruptures, is 18 Hz. The central frequency of the passband of the selective amplifiers of the aircraft of the WWTP of the frequency f ₁ is 19 Hz, which is due to the mathematical model (MM) of determining the range to the IZ [15, p. 28, formula (48)]. Each AD consists, see FIG. 5 and [17, p.16], of a bridge rectifier (MB) 124, a capacitive filter 125, and an electronic key (EC) 126 connected in series between each other. The BC of each WWTP consists of (see FIG. 6 and [15, Fig.13]) of 20 DUTs, see 61 ... 81 in Fig.6; 20 EC, see 103 ... 123 in Fig.6; and 20 coincidence circuits (CC) for 2 inputs, see 82 ... 102 in Fig.6.

ATS 41 [17, p.17] includes, see FIG. 7, a differentiating circuit (DC) RC, see 127 in FIG. 7; diode with a single vibrator, see 128 in Fig.7; 2 microcontrollers (MK) 129 and 130, to the outputs 1 ... 20 of which 20 shift registers are connected, see 131 ... 151 and 152 ... 172 in Fig. 7. The output of 21 MK channels of frequency f ₁ and 1 of the channel (see 129 in Fig. 7) is connected to the information inputs “Bx1” of the shift registers of the channels of frequency f ₁ and 1 of the channel, 131 ... 151. The output 21 MK 2 channel 130 is connected to the information inputs "B1" shift registers 2 channels 152 ... 172. The output 22 MK 2 channel 130 is connected to the input of the computer (see figure 2 and 7). The outputs 1 ... 20 MK 129 are connected to the inputs "T" of the shift registers of the channels of frequency f ₁ and 1 of the channel 131 ... 151, clock pulses (in the general case with different repetition frequencies) from MK 129. The outputs 1 ... 20 MK 130 are fed to these inputs 2 channels 152 ... 172 are connected to the “T” inputs of the shift registers 2, clock pulses (in general, with different repetition frequencies) from MK 130 are also fed to these inputs. An example of calculating the repetition frequencies of clock pulses is given in Appendix E.

The purpose of the devices of the electrical block diagram of the acoustic locator is as follows: ЗП 1 ЛГ 1 ... 20 are used to convert acoustic signals and noise into electrical signals (ES) and interference, transmitting them to the DUT aircraft 1 channel 44 (see figure 2) and the CBS frequency f ₁ 43 (see figure 2).

RFP 2 LG 21 ... 40 are used to convert acoustic signals and interference into ES and interference, transmitting them to the IED BC 2 KOS 45 (see figure 2).

Frontal ЗП 42 is used to convert acoustic signals and interference into ES and interference, transferring them to Schmitt trigger 46 (see figure 2). Schmitt trigger 46 is designed to convert ES and interference into rectangular pulses with a steep leading edge and transmit them to the input of a single-shot 50.

One-shot 50 (see figure 2) is used to form a rectangular pulse with a steep leading edge of duration t _SI (selector pulse) when it receives the first pulse from a Schmitt trigger 46 and transfers it to the input 1 of the SS, see 82 ... 102 in FIG. .6, the aircraft of all the WWTP, to the control input 2 EC HELL, see 126 in FIG. 6, all the WWTP and to the input of the DC SUKHN 127.

IU VS 1 channel, see 61 ... 81 in Fig.6, and 2 channels are used to isolate, amplify the voltage of the ES with a frequency f ₀ equal to 18 Hz from the spectrum of ES and interference coming from the RF 1 LG 1 ... 20, and 2 LG 21 ... 40, and their transmission to the input 1 EC, see 103 ... 123 in Fig.6, the corresponding aircraft of these channels. The DUT of the BC of the channel of frequency f _{1 is} designed to isolate, amplify the voltage of the ES with a frequency of f ₁ equal to 19 Hz from the spectrum of ES and interference coming from the RF 1 ... 20 LG 1 CBS, and transfer them to the input 1EC of the aircraft of this channel.

CC aircraft (for 1 channel, see 82 ... 102 in Fig. 6) of all CBSs are designed to form a rectangular pulse with a duration of 0.5 s at the moment of supplying 1 CC, see 82 ... 102 in Fig. 6, a selector pulse from a single-shot 50 with a duration of t _SI equal to 1.5 si at the input of 2 SS, see 82 ... 102 in Fig.6, a rectangular pulse with a duration of t _SIM equal to 0.5 s from the corresponding outputs of the shift registers 131 ... 172, see Fig.7 .

CI AC, see 103 ... 123 in Fig. 6, all CBSs are designed to supply the ES from the IS to the SN of the corresponding CBS at the time of the appearance of a rectangular pulse of duration t _SIM from the corresponding output of the corresponding MC when exposed to a selector pulse from a single-shot SFSI 50.

The SNs of all CBS 47 ... 49 are used to summarize all ES received from the corresponding AC of the aircraft, to form the total signal and supply it to the AD input of its channel 51 ... 53.

.HELL 51 ... 53 are designed to convert the ES coming from the CH of the corresponding channels 47 ... 49 into a constant voltage equal to the amplitude of these total ES and supplying this constant voltage to the ADC of their CBS 54 ... 56. Moreover, at the output 1 of the CBS the constant voltage will be equal to U ₁ , and at the output of 2 CBS - U ₂ , and at the output of the frequency channel f ₁ - $$U_{\mathrm{one}}^{|}$$

.

In all KOS the outputs CH 47 ... 49 are connected to one diagonal of the MB HELL bridge (in 1 CBS 124), and to the other diagonal of this bridge - a capacitive filter (capacitor of large electric capacity), (in 1 CBS 125), from which the total ES is supplied at the input of the EC of this blood pressure (in 1 CBS 126). The bridge diodes are turned on so that the voltage at the input of the EC relative to its housing is positive. The outputs of the EC AD (in 1 CBS 126) of the corresponding channels are connected to the ADC inputs of these channels 54 ... 56. MB are designed to convert alternating current, ES, coming from CH 47 ... 49, into a pulsating one, which charges a capacitor of large electric capacity almost to the amplitude value of the input voltage.

Capacitive filters (in 1 CBS 125) are used to convert the ripple voltage coming from MB (in 1 CBS 124) to a constant voltage and filter all harmonics that occur at the output of MB, as well as to supply this constant voltage to the input of the EC (in 1 CBS 126).

EC AD (in 1 CBS 126) are designed to transfer this constant voltage to the ADC input 54 ... 56 of the corresponding channel when 2 selector pulses from a single-shot with SPSI 50 are fed to its control input. pulse of positive polarity from the single-shot SPSI 50 and the supply of these bipolar pulses to the input of the anode of the semiconductor diode 128. The latter serves to isolate the exponential pulse of positive polarity and under Connect it to the input of a single-shot 128, which generates a pulse of positive polarity lasting 0.1 s, fed to the input of both MK 129, 130 to synchronize their work.

The purpose of the remaining CAS devices, see Fig. 7, is as follows: MK 1 channel and frequency channel f ₁ 129 generates at its outputs 1 ... 20 a sequence of rectangular pulses (clock pulses (TI)) with certain repetition frequencies, which are calculated in accordance with the program , see Appendix E, for an example of automatic calculation of the repetition frequencies of clock pulses from microcontrollers, and feeds them to the clock inputs “T” of the shift registers of channel 1 and frequency channel f ₁ 131 ... 151; and also generates a strobe pulse of duration t _ISM equal to 0.5 s [15], coming from output 21 to the information inputs “Bx1” of the above shift registers 131 ... 151.

Similar functions are performed by MK 2 of channel 130, but it feeds from its outputs 1 ... 20 a sequence of rectangular pulses of other frequencies to the clock inputs “T” 1 ... 20 of shift registers 2 of channel 152 ... 172; and also generates a strobe pulse of duration t _ISM equal to 0.5 s [15], coming from output 21 to the information inputs of the shift registers 2 of the channel “Bx1” 152 ... 172. In addition, he generates at its output 22 a signal that carries information about the position of the NHN in the AL reconnaissance sector, and feeds it to the computer. Each of the outputs 1 ... 20 MK 129 and 130 has its own TI repetition rate calculated in accordance with Appendix E. From the outputs of the shift registers 1 ... 20 of the channel of frequency f ₁ and 1 of channel 131 ... 151, selector pulses of 0.5 s duration are fed to the inputs 2 SS aircraft 1 channel 82 ... 102 and the aircraft channel frequency f ₁ 43. From the outputs of the shift registers 1 ... 20 2 channels 152 ... 172 receive pulse pulses of 0.5 s duration to the inputs 2 SS aircraft 2 channels. The ADCs of all CBS 54 ... 56 convert constant voltage into the corresponding digital binary code and transmit it to their registers 57 ... 59, respectively. The registers of all CBS 57 ... 59 are used to register the corresponding above digital code and enter it into the computer 60. The computer 60, in preparing the acoustic locator for sound reconnaissance, performs calculations to determine the following parameters and characteristics:

1. Sound speeds С _W taking into account wind parameters in PSA and air temperature in this layer;

2. NXN 1 (2) LH ZP at the main working frequency f ₀ and different distances d between the working axes of the microphones of the adjacent ZP LG, provided that the level of its side lobes is minimum and the narrowest width of the working lobe of NN is at 0.5;

3. The angle of displacement of the working axes of the NHN 1 and 2 LG ZP relative to the equal-signal direction Θ _s ;

4. The distances between the working axes of the microphones of the extreme RF in their LG L.

5. The repetition rates of clock pulses from the outputs 1 ... 20 MK 129 and 130 SUKHN41.

The computer in the process of conducting sound reconnaissance AL, calculates the following:

1. The ratio η _CP ;

2. Bearing FROM α at the horizontal surface of the Earth, where 1 and 2 LG ZP are located, to the horizon plane;

3. Bearing FROM α _AND at an inclined surface of the Earth, where 1 and 2 LG ZP are located;

4. Range D to FM;

5. The topographic coordinate of Xc IZ;

6. Topographic coordinate of UZ IZ.

Then it assigns the number of IZ (target), fixes the time of its manifestation and transmits this information to the data transmission system.

Each of the RFPs 1 ... 40 includes a microphone connected in series to each other, which receives acoustic signals of different frequencies, and a preliminary UMC placed at a certain distance from each other so that the working axes of the microphones are directed approximately vertically upwards, which ensures their circular NXN in the horizontal plane.

The above electrical circuit works, see figure 2, as follows. A pulsed acoustic signal (a radio pulse of about 1 s duration), which is initially a sinusoid that grows in amplitude and when the amplitude reaches a maximum - a sinusoid that decays in amplitude, formed, for example, by a single shot from an artillery gun located in the DOM, which is first received by frontal ZP 42, which converts this signal to ES. This ES is fed to the input of the Schmitt trigger 46, at its output for about 1 second a pulse signal (meander) is generated, which is fed to the input of the single-shot (braked multivibrator) 50. When the first pulse arrives from the output of the Schmitt trigger 50, a rectangular is formed at the output of the single-shot 50 a positive polarity pulse with a duration of 1.5 s (selector pulse), which is supplied (see Fig. 5) to the inputs 2 of the EC of the AD 1 channel 126, the frequency channel f ₁ , the AM 2 channel, and also to the input 1 of the SS of all three the above channels (in the aircraft of the 1st channel it is SS 82 ... 102). In addition, this selector pulse is fed to the input of the DC SUKHN 127, see Fig.7. At the moment of receipt of the selector pulse at the input of the DC SUKHN 127, an exponential pulse of positive polarity with a steep leading edge is formed at its output, which is fed to the input of the diode with a single vibrator. At the output of the latter, a synchronizing pulse of positive polarity is formed for a duration of 0.1 s, which is fed to the input of the MK channels of frequency f ₁ and 1 of channel 129, as well as to the input of MK 2 of channel 130 and starts them in synchronous operation. At the outputs 1 ... 20 of these MK 129 and 130, pulse signals (clock pulses) are generated with corresponding different repetition frequencies, set in accordance with the programs laid down in these MK and calculated for different ranges based on Appendix E, which are fed to the “T” inputs shift registers 1 ... 20 channels of frequency f ₁ and 1 channel 131 ... 151, as well as 2 channels 152 ... 172. In addition, from the outputs 21 of both MK 129 and 130, a rectangular pulse of positive polarity with a duration of t _ISM equal to 0.5 s (strobe pulse) is generated, which is fed to the information inputs “Bx1” of the shift registers 1 ... 20 channels of frequency f ₁ and 1 of channel 131 ... 151, and also - 2 channels 152 ... 172. At the output of these registers 1 ... 20 after the delay times due to different frequencies of the clock pulses (in general, at different times), these strobe pulses appear, which (see Fig. 6) are fed to input 2 of SS No. 1 ... SS No. 20 aircraft of all 3 of the above channels (in channel 1 it is SS 82 ... 102).

In addition, at the output 22 of MK 2 of channel 130, an ES is formed in a binary digital code that carries information about the position of the ACH of the acoustic antenna of the acoustic locator in its intelligence sector.

At the outputs of SS No. 1 ... SS No. 20 of the aircraft of all 3 of these channels, rectangular strobe pulses of 0.5 s duration are generated at the corresponding time instants, arriving at the inputs 2 of EC No. 1 ... EC No. 20 of all 3 of the above channels; EC 103 ... 123, see Fig.6.

(в общем случае разной величины) поступают на АЦП соответствующего канала 54…56, где преобразуется в двоичный цифровой код, автоматически поступающий на регистр соответствующего канала 57…59, а далее в ЭВМ 60. Последняя решает задачи, указанные выше, в том числе рассчитывает сначала пеленг ИЗ α, то есть, когда площадка поверхности Земли, где размещена акустическая антенна локатора или пеленгатора, горизонтальна, а потом рассчитывается истинный пеленг ИЗ α_и (когда эта площадка не горизонтальна, что и будет наблюдаться на реальной местности) по формуле (3).After the frontal ZP 42, the acoustic signal reaches ZP 1 LG (ZP 1 ... ZP 20 and 2 LG (ZP 21 ... ZP 40), where they are converted to ES, amplified by UMC and delivered to PS No. 1 ... PS No. 20 of all 3 of the above channels (in Channel 1 is IU 61 ... 81. At the outputs of the latter, radio pulses of about 1 s duration are generated, which through EC No. 1 ... EC No. 20 of all 3 of the above channels (in channel 1 it is 103 ... 123, see Fig. 6), go to the inputs 1 ... 20 CH of these 3 channels, see 47 ... 49 in figure 2. At the CH output of each of the channels 47 ... 49, radio pulses are generated in the general case with different voltage amplitudes of about for 1 s (total signals) supplied to MB, see 124 in Fig. 5, which charge the capacitors of the capacitive filters 125 of the corresponding 3 channels to a certain voltage, determined by the maximum amplitude of the voltage of the radio pulses supplied to the input of the corresponding MB. From the outputs of the BP corresponding to 3 channels 51 ... 53 constant voltage U ₁ , U ₂ and $$U_{\mathrm{one}}^I$$

(in the general case of different sizes) are fed to the ADC of the corresponding channel 54 ... 56, where it is converted to a binary digital code that automatically goes to the register of the corresponding channel 57 ... 59, and then to the computer 60. The latter solves the problems indicated above, including calculating first bearing oF alpha, that is, when the Earth's surface area where the antenna is placed acoustic radar or direction finder, horizontal, and then calculated the true bearing FROM alpha _and (when the ground is not horizontal, which will be observed on real terrain) on formula is (3).

Upon receipt of acoustic noise (sounds from single shots and volleys of our artillery batteries and mortars, sounds from single shots and volleys of artillery batteries and mortars of the enemy located outside the working sector of the acoustic locator, which is 2Θc, i.e. it is very small, the sounds from flying planes, helicopters, which will also be outside the working sector) will not pass to the output of signal extractors of all CBS. Therefore, the acoustic locator has the highest noise immunity and is therefore able to conduct sound reconnaissance effectively in modern combined arms combat, which all modern sound reconnaissance systems of the world cannot do, including sound thermal complexes.

Technical implementation of the above method is possible, which we will show below.

As microphones ZP 1 ... 40 it is advisable to use small-sized electret microphones MKE-389, manufactured by Tula OJSC "OKB" Oktava ".

The frontal RFP is similar in its composition to the RFP 1 ... 40, but it can have a microphone type MKE 802 [20, p.126], KMKE-1 [20, p.130] or KMC-19-03 (windproof) [20, p.130].

As IU 61 ... 81, available in the aircraft 43 ... 45, you can use, for example, IU on an operational amplifier (op amp) with a double T-shaped bridge. [21, p.167, 168]

As the CH 47 ... 49, you can use devices based on an operational amplifier [22, p.213, 214].

As HELL 51 ... 53 in all three channels, you can apply, for example, HELL harmonic and non-harmonic signals [23]

As the ADC 54 ... 56 in all three channels, you can use K572PV3 or K572PV4 [24, p. 110].

As registers 57 ... 59 in all three channels and in the control system, directivity characteristics can be used, for example, the 8-bit shift register K555IR8 [24, p. 117].

As a computer 60, it is advisable to use, for example, Pentium IV 1700 MHz / 512 Mb DDR / 60 Gb HDD 7200 rpm.

As a Schmitt trigger 46, for example, K118TL1A integrated circuits and its modifications [25, p. 39] or devices based on op-amps described in [21, p. 186] can be used.

As a single vibrator 50, it is advisable to use, for example, K224AG2 integrated circuits [21, p.192-194] or K155AG3 [21, p.116].

It is advisable to use, for example, the keys on field-effect transistors described in [26, p. 68 and 69] as electronic keys (in the aircraft of 1 channel it is 103 ... 123), (in HELL 1 of channel 126).

As microcontrollers 129 and 130, it is advisable to use, for example, the devices described in [27].

It is advisable to use, for example, the logical elements “I” described in [24] as the SS (in the aircraft of the 1st channel 82 ... 102).

Thus, the above devices that are necessary to implement this method are technically feasible.

List of sources used.

1. Talanov A.V. Sound reconnaissance artillery. - M .: Military Publishing House of the Ministry of Armed Forces of the USSR, 1948. - 400 p.

2. Talanov A.V. Artillery sound reconnaissance. - M .: Military Publishing, 1957. - 350 p.

3. Sergeev V.V. The bases of the device and design elements of sound measuring equipment. - Penza: PVAIU, 1964 .-- 143 p.

4. Automated sound metering complex AZK-5. (Product 1B17) Technical description. BM, 1977.

5. Automated sound metering complex AZK-7. Technical description. BM, 1987.

6. US patent No. 3042897, CL. 340-6. Hydroacoustic direction finder. Published in 1962. Bulletin No. 20, 1962.

7. Copyright certificate for the invention No. 245909. A method of measuring wind speed and direction. / Teplukhin V.A., Shmelev V.V. /. Priority invention 18.12.85,

8. The patent of Germany No. 1807535, class. G01S. Acoustic direction finder. Published in 1970. Bulletin No. 24.

9. The patent of Germany No. 2027940 C. G01S 3/80. Acoustic direction finder. Published in 1977 Bulletin No. 7.

10. RF patent No. 2138059 class. G01S 3/00, 3/80, 15/08. Acoustic direction finder / Voloshchenko V.Yu. / Published on September 20. 1999. Bulletin No. 26.

11. RF patent No. 2048678 class. G01S 3/80. Direction finder of sources of acoustic radiation. / Khokhlov V.K. and etc./. Published November 20, 1995

12. Mitko VB, Evtyutov AP, Gushchin S.E. Hydroacoustic communications and surveillance. - L .: Shipbuilding, 1982. - 200 p.

13. Pat. 2274873 Russian Federation, IPC G01S 3/00. Acoustic direction finder / Shmelev V.V. and etc.; Applicant and patent holder of the Tula State University. No. 2004103751/09; declared 02/09/2004; publ. 04/20/2006, Bull. No. 11. - 24 p.

14. Pat. 2276383 Russian Federation, IPC G01S 3/80, 3/803, 5/20. The method of determining the distance to the sound source. / Shmelev V.V. and etc.; Applicant and patent holder of the Tula State University. No. 2004103752/09; declared 02/09/2004; publ. 05/10/2006, Bull. No. 13. - 24 p.

15. Pat. 2374665 Russian Federation, IPC G01S 15/02. Acoustic locator Shmelev V.V .; applicant and patent holder of the Tula AII. - No. 2008122513/28; declared 06/06/2008; publ. 11/27/2009, Bull. No. 33.

16. Pat. 2323449 Russian Federation, IPC G01S 3/80, 3/803, 5/20. A method for determining the bearing of a sound source. / Shmelev V.V. and etc.; Applicant and patent holder of the Tula State University. No. 2006138753/09; declared 11/02/2006; publ. 04/27/2008, Bull. No. 12. - 24 p. Prototype.

17. Shmelev V.V. Applied Theory of Equal Signal Acoustic Locators: Monograph. - Tula: Grif and K. - 2012 .-- 154 p.

18. Periscope artillery compass PAB-2AM. Technical description and instruction manual. - BM, 39 p.

19. Bronstein I.N., Semendyaev K.A. A reference book in mathematics for engineers and students of technical colleges. - M .: Nauka, 1964 .-- 608 p.

20. Iofe V.K., Korolkov V.G., Sapozhkov M.A. Reference Acoustics. - M.: Communication, 1979. - 312 p.

21. Zabrodin Yu.S. Industrial Electronics: Textbook for universities. - M.: Higher School, 1992 .-- 496 p.

22. Pavlov V.N. Nogin V.N. Circuitry of analog electronic devices. - M .: Hotline Telecom, 2001 .-- 320 p.

23. Pat. 2399150 Russian Federation, IPC H03D 3/00. Amplitude detector of harmonic and non-harmonic electrical signals / Shmelev V.V. and etc.; Applicant and patent holder of the Tula State University. No. 2009124021/09; declared 06/23/2009; publ. 09/10/2010, Bull. Number 25.

24. Reference developer and designer of CEA. Elemental base. Book I. - M.: Itar-TASS, 1993 .-- 157 p.

25. Bulychev A.L., Galkin V.I., Prokhorenko V.A. Analog Integrated Circuits: A Guide. - Minsk: Belarus, 1993 .-- 382 p.

26. Smirnov V.A., Lebedenko I.S. Electronic devices devices. - Tula: TulSU, 2007 .-- 240 p.

27. Microconverter “AD u C 812” from Analog Devices, see the Internet site “www.analog.Com”, 2005.

Claims (1)

A method for determining the bearing of a sound source when placing an acoustic antenna of an acoustic locator on inclined areas of the Earth’s surface, at which air temperature t _B , wind speed W, directional angle of its direction α _W in the atmospheric surface layer are measured, they are introduced, as well as the resonant frequency of the selective amplifiers of the first , of the second signal processing channels of the acoustic locator signal f ₀ and the number of sound receivers in each linear group n to the electronic computer, the region is specially marked on the topographic map of attention, where the firing positions of artillery and mortars can be placed, a relatively flat area of approximately rectangular shape with a length of at least three hundred meters and a width of at least ten meters is chosen on the ground, the large sides of which would be approximately perpendicular to the direction to the approximate center of the special attention area, mark the point number one approximately in the middle of the width at the beginning of this site, install an optical-mechanical device above it, prepare it for work, rotate the optical axis of this device in the direction eniyu rotation clockwise at any reference point in the direction of the approximate center area of emphasis is measured by this device directional direction angle from that point on the reference point α _Ziz and inject it into an electronic computer, is calculated with the help of sound velocity considering the effects of wind and temperature C _W, by means of a computer plotting normalized directional characteristics linear groups sound receivers at different distances between the working axes of neighboring microphones sound riemnikov d in a rectangular coordinate system, the graphs are normalized to these characteristic directional linear groups horn when the width of its working lobe at zero point five Θ _0,5 and the level of the side lobes were minimal, it is determined from the approximate value of the positive half of its width at the level of zero point five tenths Θ ₁ , calculate the width of the working lobe on an electronic computer at the level of point zero point five Θ _0.5 , the angle of displacement of the working axes of normalized character a directional pattern of the first and second linear groups of sound receivers relative to the equal-signal direction Θ _C and the required length of the linear groups of sound receivers when deployed on the terrain L, characterized in that the optical axis of the optical-mechanical device is rotated relative to the above reference clockwise by an angle of ninety degrees, carry the rangefinder rail included in the kit of this device to a distance along the optical axis of this device to a calculated distance L, setting they make milestone number two at this point, remove the optical-mechanical device from point number one, vertically install the number one milestone vertically at this point, transfer the optical-mechanical device to point two, remove the number two milestone from this point and install it above it the optical-mechanical device, prepare it for work, set the height of its optical axis equal to the height of the milestone installed at point number one, rotate the optical axis of this device in the clockwise direction to align it with the pole the number one moves the optical axis of the device in a vertical plane to the upper end milestone number one measured tilt of the Earth surface angle to the horizontal plane α _n and inject it into the electronic computer, is removed from the point number two device mounted therein vertically second milestone , install the device in the middle of the distance between these milestones, prepare it for operation, rotate its optical axis in a clockwise direction to align with the milestone installed at point number one, rotate the optical axis of the device along a rotational direction clockwise through an angle Θ _C, are at the axis point number three remote from this unit by a distance half L, is set at this point milestone number three, turn the optical axis of the instrument in the direction of rotation clockwise an angle of one hundred eighty degrees, find the point number four on the optical axis of this device, half a distance L from the device, set the number four pole at this point, turn the optical axis of this device against the direction of rotation WaWA arrows at an angle of 2Θ _C, are on the optical axis of the device at a distance of half L away point number five and mounted therein milestone number five, turn the optical axis of the device against the direction of rotation clockwise through an angle, one hundred eighty degrees are in remove half of L from the device on this axis, point number six and establish the pole number six in it, combine the optical axis of this device with the pole installed at point number one, rotate this axis of this device in the clockwise direction of rotation arrows at an angle of ninety degrees, find its point on the optical axis, approximately one hundred and fifty meters away from the device, install a frontal receiver above it with a normalized directivity in the horizontal plane described by the cardioid, so that its microphone’s working axis is approximately parallel to the horizon and is aimed at the approximate center of the special attention area, connect the milestones three and four with one cord, and the milestones five and six with another cord, install the sound receivers on the links of the tapes so so that the distance between the working axes of the microphones of the adjacent sound receivers is equal to d, and these axes are directed approximately vertically upwards, remove this device from the middle of the distance between the milestones number one and two, lay the tape links with sound receivers along the above cords, starting from the point where you stood optical-mechanical device, connect the sound receivers with communication lines with the rest of the equipment of the acoustic locator, receive acoustic signals and noise, convert them into electrical signals and noise, process tion and second channel signal processing is determined at the outlet of the channels for processing a constant voltage U ₁ and U _2, is subtracted from the voltage U ₁ voltage U _2, put the voltage obtained ratio of the difference to their sum η _CP and automatically by the program calculating the bearing sound source in the absence of an inclination of the Earth's surface to the horizon plane α, and then calculate the true value of the bearing of the sound source η _I. using the formula

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