RU2562676C1 - Geolocation and navigation system in military equipment - Google Patents

Abstract

FIELD: radio engineering, communication.

SUBSTANCE: geolocation and navigation system in military equipment comprises autonomous navigation equipment, navigation equipment of satellite navigation system consumers, a mechanical velocity sensor, an altitude determining system, a Doppler velocity sensor, having traffic channels for communication with a hardware and software system. The autonomous navigation equipment is installed on a hoisting-actuating device which is mounted on a chassis. The hardware and software system is connected to the computer of the automated workstation of the military equipment, and the information channels operate in accordance with an Ethernet protocol between the geolocation and navigation system and the military equipment.

EFFECT: high accuracy of determining survey parameters in complex mobile military equipment.

2 dwg

Description

The invention relates to navigation equipment and can be used to determine navigation and topographic and geodetic data on moving objects of military equipment of various functional orientations, located on the basis of the chassis of vehicles, provided that information exchange between the topographic and navigation system and the actuators of the object is provided.

A well-known universal system of topographic location and navigation (see RF patent No. 2469271, publ. 10.12.2012, bull. No. 34), adopted as a prototype. A universal topographic and navigation system is installed on the chassis and contains topographic and navigation equipment. The topographic and navigation system consists of a basic inertial ground navigation system, which includes autonomous navigation equipment located directly on the chassis, navigation equipment of satellite navigation system consumers, matching unit, which have information exchange channels for communication with the hardware-software complex, universal mechanical sensor speed electrically connected with the matching unit, a height determination system having an information exchange channel for communication with a hardware-software complex, a Doppler speed sensor associated with the matching unit.

The disadvantages of a universal topographic location and navigation system are:

- limited application possibilities;

- the impossibility of using navigation equipment and topographic location without significant changes in weapons systems with different functional orientations;

- the complexity of the algorithms of information interaction of the components of the system;

- lack of accuracy in determining topographic and geodetic parameters.

The proposed invention solves the problem of increasing the combat effectiveness of mobile objects of military equipment, equipped with complex technical systems to perform tasks as intended.

The technical result obtained by carrying out the invention consists in creating a topographic and navigation system as part of an object of military equipment, providing high accuracy in determining topographic and geodetic parameters as part of complex moving objects of military equipment, high speed and throughput of an information-computer system, highly effective information interaction with a computer workstation and technical systems of military equipment.

The specified technical result is achieved by the fact that in the proposed system of topographic location and navigation as part of a military equipment facility that contains autonomous navigation equipment, navigation equipment of consumers of satellite navigation systems, a mechanical speed sensor, a height detection system, a Doppler speed sensor that have communication channels for communication with a hardware-software complex, the new one is that autonomous navigation equipment is located on the lifting-executive the trinity, which is mounted on the chassis of the object of military equipment, and is configured to work in the stowed position when the lifting-actuating device is lowered and rigidly fixed to the chassis of the chassis, in the process of lifting / lowering and verticalizing the lifting-executive device, in the raised position of the lifting-executive devices, the hardware-software complex of the system is connected to the computer of the automated workplace of the object of military equipment, and information channels operate in accordance with the the exchange protocol via Ethernet between the topographic and navigation system and the object of military equipment, the information for exchange via Ethernet is adapted to the tasks performed for the purpose and in the navigation mode contains the following messages: 0xA000 - request / response by date / time, 0xB000 - request / response coordinates, 0xC000 - data on areas for laying the route, 0xD000 - movement route when specified from the operator's automated workstation, 0xE000 - request / response for roll and pitch angles, 0xF000 - request / response for functional control of system components survey and navigation, 0xF100 - request / response at run time.

The implementation of autonomous navigation equipment with the ability to work in the stowed position with the lowering lifting-actuating device and rigidly securing it to the chassis, in the process of raising / lowering and verticalizing the lifting-executive device, in the raised position of the lifting-executive device, allows:

- ensure that all traditional navigation tasks for ground vehicles in various operating conditions are fulfilled;

- adapt the system of topographic location and navigation at the expense of software to perform tasks for the appointment of military equipment related to the orientation of the lifting-executive device;

- to exclude the installation of an additional orientation system specifically for the lifting-executive device;

- ultimately, simplify the control system of the lifting-actuating device.

The implementation of the connection of the hardware-software complex of the system with the computer of the automated workstation of the object of military equipment allows you to:

- organize informational interchange between the computer calculator of the workplace of the military equipment facility and the topographic and navigation system;

- include the system of topographic location and navigation in a single information field of the object of military equipment.

The functioning of the information channels between the topographic and navigation system and the object of military equipment in accordance with the Ethernet exchange protocol in navigation mode allows you to:

- to provide work with digital terrain maps of various scales: uploading files with maps in the hardware and software complex in the quantity necessary for work in a given area, displaying on the map the location of the military equipment object and its direction of movement, automatic change of map sheets of any scale upon exit of coordinates beyond their borders, laying the proposed route along specified control points, storing previously laid routes in the system’s computer memory, plotting additional volumes objects, displaying the coordinates of X, Y and H points marked with an operator marker;

- to ensure the determination and display of flat rectangular coordinates in the parking lot and in motion (coordinate system of 1942) when using speed information from mechanical and Doppler speed sensors and continuous correction from signals from satellite navigation equipment and a height determination system;

- provide for the determination and display of the initial directional angle of the longitudinal axis of the object at different positions of the lifting-mast device according to data from autonomous navigation equipment;

- to ensure the determination and display in the parking lot and in movement of the roll and pitch angles;

- provide the necessary frequency for updating the information issued;

- to provide a display of the results of the functional control of the components, operating hours, the current mode of operation of the system.

Technical solutions with features distinguishing the claimed solution from the prototype are not known and do not follow explicitly from the prior art. This suggests that the claimed solution is new and has an inventive step.

The invention is illustrated by drawings, where figure 1 shows a structural diagram of STPN; figure 2 is an algorithm for the functioning of STPN in the composition of the OVT.

The topographic and navigation system (STPN) 1 as part of the military equipment (ATS) 2 contains autonomous navigation equipment (AHA) 3, satellite navigation equipment (ASN) 4, which consists of an electronic unit (BE) 5 and an antenna module (MA) 6 A height determination system (SOV) 7, which consists of a temperature sensor (DT) 8, a digital atmospheric pressure meter (ICAD) 9 and a data processing unit (BOD) 10, a Doppler speed sensor (DSD) 11, a hardware-software complex (PAK) ) 12, which consists of a panel computer (PC) 13 and manipulates ora (M) 14. PAK 12 is connected to AHA 3, SOV 7, DSD 11, MDS 15 and the computer of the automated workstation (AWS) 16, which are part of OVT 2. OVT 2 is equipped with a lifting-executive device (ПИУ) 17, on which installed AHA 3.

The system of topographic location and navigation as part of an object of military equipment operates as follows.

The work of STPN 1 is based on the processing of input data coming from the components included in its composition. Input data for solving navigation problems are:

- the value of the speed OVT 2 (determined in PC 13 by the signals MDS 15 and DSD 11);

- values of the directional angle of the longitudinal axis α _ANA , roll angles φ _ANA and pitch ψ _ANA , determined by AHA;

- the values of the coordinates X _ASN , Y _ACH , N _ASN , projections of speed and time t defined by ASN 4.

Data processing is carried out by special software (STR) installed on PC 13. STR provides:

- Solving direct and inverse navigation problems using data from the components of the system - “Navigation” mode;

- control of the functional state of the components - the "Status" mode;

- calibration and adjustment (selection of the initial system parameters) - “Tech. service";

- downloading digital terrain maps (TsKM) via the Ethernet interface, plotting a route on the TsKM, displaying the location and route of the OVT 2 movement - the “Work with the map” mode.

STPN 1 is installed on OVT 2, which is equipped with ПИУ 17 for the intended purpose. The ПУН 17 is equipped with AHA 3. AHA 3 operates in any standard position of ПИУ 17: in the stowed position ПИУ 17 is lowered and rigidly connected to the chassis of the ОВТ 2, in the process of lifting (lowering) and verticalization of the PIU 17, in the working (raised) position.

PAK 12 of the system is connected to the computer AWP 16 OVT 2, and the information channels operate in accordance with the exchange protocol over the Ethernet network between STPN 1 OVT 2.

When exchanging over Ethernet in navigation mode, the TCP / IP protocol is used. STPN is a client. Network addresses, netmask and port are configurable.

1. Message format for Ethernet communication:

[header] [data length] [{data field} ... {data field}] [checksum]

Data length (field size 2 bytes) - the sum of the lengths of the data field fields in bytes. If there are no data field fields in the codogram, the data length is zero.

The checksum (field size 2 bytes) is considered as the sum modulo 2 of all sixteen-bit words (respectively, the int and float types with a length of 32 bits for calculating the checksum are two words). The “header” field and the “data length” field are involved in the checksum calculation.

By default, each data field with a length of 4 bytes is represented by an int type of 32 bits, a data field of 2 bytes with a short type of 16 bits.

The byte order is big - endian, from highest to lowest (for example, the number 0xA1B2C3D4 is represented as 0xA1, 0xB2, 0xC3, 0xD4).

2. Message headers:

- 0xA000 - request / response by date / time;

- 0xB000 - request / response by coordinates;

- 0xC000 - data on areas (contamination, flooding, etc. for laying a route taking into account areas);

- 0xD000 - the route of movement (when specifying from the workstation of the OVT);

- 0хЕ000 - request / response in roll / pitch angles;

- 0xF000 - request / response for functional control of the components of STPN;

- 0xF100 - request / response according to the operating time of STPN.

The functioning algorithm of STPN 1 as part of OBT 2 is as follows.

After receiving the combat mission and taking measures to prepare the STPN 1 for operation, the ATS 2 is advanced to the starting point, where the task of determining the initial data is performed: the coordinates of the starting point, the directional angle of the longitudinal axis of the ATS 2. For this, the STPN 1 is switched to the Navigation mode .

In the “Navigation” mode, the source of the directional angle and the initial values of the X, Y coordinates and the height N. is selected. In STPN 1, the directional angle of the longitudinal axis OBT 2, determined using AHA 3, is used to solve navigation problems. The coordinates of the source point are determined relative to the state geodetic network (GHS), a special geodetic network (GHS), points with imprinted coordinates on the map, contour points of the area or from ASN 4.

Next, STPN 1 is transferred to the “Work with the map” mode, the most optimal route is laid at the central control station and the movement of OBT 2 to the deployment site begins. During movement, on the screen of PC 13 are displayed:

- current coordinates, altitude, directional angle, speed, path traveled OBT 2;

- the name of the district and the original scale of the CDM sheet, the number of sheets in the district, current time.

Upon arrival at the deployment site, the STPN 1 determines the coordinates of the standing point, the directional angle of the longitudinal axis of the OBT 2, roll and pitch angles.

PIU 17 is transferred from a traveling position to a working one. STPN 1 at the command of the operator enters the mode of "Work with the ISP." OVT 2 begins to perform the tasks for its intended purpose: guidance and determination of orientational directions to goals, the location of which is determined using technical means located on OVT 2.

After completion of the tasks for the purpose of the ISF 17 is transferred to the stowed position, OBT 2 on the route previously laid on the MSC returns to the base location or moves to a new deployment location.

Thus, in the present invention, the problem is solved to achieve a technical result, which consists in creating a topographic and navigation system as part of an object of military equipment, providing high accuracy in determining topographic and geodetic parameters as part of complex mobile objects of military equipment, high speed and throughput of an information-computing system, highly effective informational interaction with a workstation calculator and technical systems of objects that military equipment.

Claims (1)

A topographic and navigation system as part of an object of military equipment, containing autonomous navigation equipment, navigation equipment of consumers of satellite navigation systems, a mechanical speed sensor, a height determination system, a Doppler speed sensor that have communication channels for communication with a hardware-software complex, characterized in that autonomous navigation equipment is located on the lifting-executive device, which is installed on the chassis of the object of military equipment, and It is equipped with the ability to work in the stowed position with the lifting-actuating device lowered and fixing it rigidly on the chassis body, during the lifting / lowering and verticalization of the lifting-executive device, in the raised position of the lifting-executive device, the system hardware and software system is connected to the computer the workplace of the object of military equipment, and the information channels operate in accordance with the protocol of exchange via Ethernet between the topographic and navigation system and an object of military equipment, information for exchange via Ethernet is adapted to the tasks to be performed for its intended purpose and in navigation mode contains the following messages: 0xA000 - request / response by date / time, 0xB000 - request / response of coordinates, 0xC000 - data on areas for route planning, 0xD000 - movement route when asked from the operator's automated workstation, 0xE000 - request / response for roll and pitch angles, 0xF000 - request / response for functional control of the components of the topographic and navigation system, 0xF100 - request / response for running hours.

Images