RU2584368C1 - Method of determining control values of parameters of spatial-angular orientation of aircraft on routes and pre-aerodrome zones in flight tests of pilot-navigation equipment and system therefor - Google Patents

Abstract

FIELD: aviation.

SUBSTANCE: invention relates to navigation of aircrafts (AC) and can be used to determine control values of parameters of spatial angular orientation of AC during flight tests of pilot-navigation equipment (PNE). For this purpose during test operations they realize PNE receiving and processing of measurements of inertial navigation system (INS), correcting INS data using self-contained device and radio navigational correction of INS data using satellite navigation system (SNS) based on base correction station (BCS) or control correction station (CCS), measuring flight altitude using air sensor or system (ADS) and realize aerial photography of ground surface using digital aerophotographic camera and also for formation of orthoplans if topographical maps are absent laser survey of ground surface is made using board laser locator. At that, for complex information processing (CIP) during and after flight, namely for preliminary measurement data processing in unit (POII), measurement vectors (MV) generation is enabled with control for protection of Kalman filter, evaluation of INS errors (INS EE) using modified Kalman filter, calculation of navigation parameters (NPC) with simultaneous connection of second output POII unit to it.

EFFECT: technical result is expansion of functional capabilities.

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Description

The field of technology.

The invention relates to the field of navigation of aircraft and can be used to determine control values of the parameters of the spatial and angular orientation of the aircraft during flight tests of flight and navigation equipment (PNO) based on the integrated processing of information on flight data from radio navigation, autonomous navigation aids using digital photogrammetry methods.

The level of technology.

There is a method of determining the actual values of the coordinates of the trajectory and angular parameters of the aircraft during flight tests of systems, sensors of flight navigation equipment (PNO), based on analog aerial photography of the earth’s surface with a planned aerial camera and ground-based photogrammetric processing of aerial frames and including identification of photo frames and corresponding topographic maps, selection on photo frames landmarks or contours geodesically linked on topographic maps, measuring the coordinates of these check on the photo frames on the comparator and on the topographic map on a map scale and the calculation of the coordinates of the trajectory and the angular parameters of the flight of the aircraft using the dependences of analytical photogrammetry (P.I. Vlasov, N.V. Kostikov, M.I. Tikhomirova, A.A. Ukolov Research of PNO systems and sensors. Flight research and testing. Fragments of history and current status. Scientific and technical collection, Moscow, Mechanical Engineering, 1993, pp. 370-371).

The relationship between the coordinates of the corresponding terrain points and aerial photographs in analytical photogrammetry when calculating the spatial and angular position of the aerial photo frame is known and presented in the analysis of a single image (AN Lobanov. Photogrammetry. Moscow, Nedra, pp. 134-151, analogue).

One selected landmark on the photo frame and topographic map generates two equations, therefore, to determine the three spatial and three angular parameters of the external orientation of the photo frame, at least three well-identifiable landmarks are necessary.

A known method of photogrammetric calibration of cameras (patent RU 2308001 C1 from 01/18/2006, authors: Malyavsky B.K., Bykov L.V., Bykov V.L., Makarov A.P., analogue).

In this method, the elements of the exterior orientation of the photo frame are calculated, which include the coordinates of the center of photography and the angles of inclination and rotation of the image. For each point, they make up a system of linear equations. When using redundant information, for example, if the number of points is more than three, a system of normal equations can be formed. Systems of equations are solved by the method of iterations to approximately given parameters of exterior orientation. The corrections obtained as a result of the solution correct the approximate values of the unknowns. The iterations are repeated until the values of the corrections to the elements of the external orientation lose their meaning.

The above three sources show the main stages of the photogrammetric method for determining the spatial-angular orientation of the photo frame of an aerial camera rigidly connected with an airplane in flight and during ground-based photogrammetric processing.

Although this method provides reliable and acceptable accuracy on routes, depending on the scale of the topographic map used (tens of meters in coordinates and units of angular minutes in angular parameters), however, the complexity of photogrammetric measurements on analog photo frames, the discreteness, the dependence on weather conditions and the presence of topographic maps on test routes impose quite definite restrictions on its use. In connection with the development of satellite technologies, this method for some time has lost its significance.

Closest to the proposed invention is a method and system for the integrated processing of information from radio navigation and autonomous navigation aids to determine the actual values of the parameters of aircraft navigation (patent RU 2487419 C1 of February 6, 2012, author Skryabin EF). The method consists in the fact that the coordinate estimates obtained from the flight data and as a result of the accompanying mathematical modeling are combined according to the criteria of homogeneity and belonging to the same general population and are statistically processed.

This method is carried out in a system block diagram known from the same patent, based on the use of measurement information of an inertial navigation system (ANN) containing a radio navigation corrector — a satellite navigation system (SNA) and an autonomous data corrector ANN — a computing unit for correlation-extreme information processing. The ground part of the system is made on a personal electronic computer (PC).

The system increases the autonomy, reliability and accuracy of determining the actual values of the coordinates of navigation.

The system provides sufficient accuracy for determining location coordinates on routes, near aerodrome zones.

However, the use of this system as a control tool is not always advisable for testing newly created PNOs without the use of digital photogrammetry methods in the integrated processing of information (CFI) from flight data.

The modern development of geographic information technologies for the creation of digital topographic maps, plans and various terrain models includes the development and use of technological digital topographic aerial cameras for aerial photography and the use of digital photogrammetry as a new technology for processing photo frames (Medvedev E.M., Danilin E.M., Melnikov S. R. Laser location of the Earth and the forest. Krasnoyarsk: Forest Institute named after VN Sukachev SB RAS, 2005).

The publication "Aerial photography with UAV-orthophotomap" (httm: //umnand/ru/service/aerophoto.htm) provides a modern technology of aerial photography of the earth’s surface for operational mapping, including the use of a SLR camera with a resolution of tens of megapixels, a thermal imager and a video camera on board with HD resolution, while GPS-receivers are used to link aerial photographs to location coordinates, which, when combined with ground-based GPS base stations in post-processing, provide high accuracy. And to determine the trajectory of the aircraft, the method of joint processing of GPS data and inertial system data is used.

Digital aerial photography results in digital aerial photographs, as well as elements of their external orientation recorded in flight (linear — coordinates of the center of photography and angular, relative to the horizontal coordinate system).

However, this technology does not provide photogrammetric processing of photo frames by the method of analytical photogrammetry, because the accuracy of navigation for creating an orthomosaic is determined by the accuracy of GPS navigation and the features of UAV automatic control systems while maintaining the route axis and the angular position between the photo frames. This technology is not intended to determine the control values of the navigation and flight parameters of the aircraft.

Modern geographic information technologies are characterized mainly by the following:

- the use of integrated navigation systems to assess the elements of the external orientation of aerial photographs;

- digital aerial photography information and generated cartographic information is easily presented on electronic media in the form of files in a specific format;

- accuracy of the created cartographic products: digital topographic maps, plans, terrain and terrain models, etc. - quite high and is about 5-20 cm;

- the duration of post-flight photogrammetric processing approaches flight time and tends to full automation;

- On-board laser-location shooting is carried out, and in combination with digital photography.

All digital geographic information systems are designed to create cartographic products: digital topographic maps and plans, digital terrain models, orthophotos, etc.

But in the process of photogrammetric processing of digital terrain images obtained by aerial photography, the spatial and angular orientation of the photo frames always occurs, namely the determination of 6 parameters: latitude φ, longitude λ, absolute height H abs. the center of the photo frame and the angular position of the photo frame, functionally related to the angles of the course ψ, roll γ and pitch ϑ of the aircraft. Essentially, these values of the parameters of the photo frame are identified with the parameters of the carrier of the aerial camera - the aircraft and can be used by consumers as control during tests of developed PNOs.

It is enough to use digital geographic information systems in flight research practice only for this intermediate stage of processing photo frames.

Thus, progress in creating digital geographic information technologies and methods for creating cartographic products, namely: the formation and presentation of aerial photogrammetric and cartographic information in digital form on electronic media flash drives, high accuracy of cartographic materials using digital photogrammetry, automation and reduction of the duration of photogrammetric processing predetermine the task of forming a qualitatively new information-measuring methods and Istemi determining control values navigational and flight parameters of the aircraft.

The technical result to which the invention is directed is to improve manufacturability and achieve high accuracy, objectivity, practical continuity in determining control values for the spatial and angular orientation of the aircraft, as well as low cost during operation and post-flight processing on routes, special and near-airfield test areas equipment by using a digital geographic information system and digital photogrammetry methods.

Essential features.

To achieve this technical result, in a method for determining control values of the spatial-angular orientation parameters of the aircraft on the routes and in the aerodrome zones during flight tests of flight-navigation equipment (PNO), including measurements of the inertial navigation system (ANN), correction of the ANN data by an autonomous means and radio navigation correction ANN data by satellite navigation system (SNA) in standard or differential mode of operation using the base adjust station (BKS) or control corrective station (KKS), flight altitude measurements with an air (aerometric) sensor or system (GVA), the signals of which are recorded on a modified complex of on-board path measurements (KBTI-M) for complex information processing (FER) flight, namely for pre-processing of measurement information in the unit (PSII), the formation of measurement vectors (FI) with control to protect the Kalman filter, error estimation of ANN (OP ANN) when using a modified filter K almana, calculation of navigation parameters (GNP) with the simultaneous connection of the second output of the PSII unit to it, as well as ground processing of the initial measured information from the ANN, SNA, BCS and GVA data, calculation of navigation parameters (GNP) taking into account the measurement information received from the PSII, estimation of coordinates obtained from flight data, combined according to the criteria of homogeneity and belonging to the same general population and their statistical processing on a personal electronic computer (PC), on boron In flight, aerial photographs of the earth’s surface are additionally performed with a set interval of photographing by a topographic medium format digital frame aerial camera (CAFA). In this case, the CAFA shutter response signals are recorded on KBTI-M to synchronize photo frames with information from the ANN, SNA and GVA. Photo frames are formed in the form of digital matrixes of terrain images that are recorded on CAAF electronic media. After the flight, photogrammetric processing of digital images of photo frames placed in the digital aerial information frame unit (CIAF) of the PC is performed using large-scale digital topographic maps of the terrain for the flight zone (CTC), which are also presented in digital format and placed in the CTC PC block using a measuring monitor , the screen of which is divided into left and right measuring parts for outputting the corresponding digital images of photo frames and terrain maps, their mutual scrolling, is identifiable Display, selecting the same recognized landmarks or reference points on the photo frames and the terrain map, measure the coordinates of these points on the photo frames and maps in the scale of their image using measuring marks or markers taking into account the size and number of pixels of the measuring monitor. The parameters of the spatial and angular orientation of the aircraft at the moments of the CAFA shutter release are determined on a PC using the computing unit of the analytical method of photogrammetry (AMFGM), adapted to digital data, used as a stand-alone corrector of ANN data. At the same time, the coordinates of the reference points measured on digital topographic maps of the area (CTK) on the right side of the screen (PCE) of the measuring monitor (MI) are sent to the measured coordinate conversion unit (PIK) AMFGM, where they are subsequently converted from the Gauss-Krueger system through geodetic and geocentric coordinates to the horizontal coordinate system, which, together with the coordinate values of the images of reference points on a digital photo frame (CIAF), measured on the left side of the screen (LEC) of the MI, arrive at the system of formation of the system of normal equations (FSNU), where the system of equations of corrections for the control points for the calculated and measured coordinates in the photographic system of the aerial photograph is formed, to determine the coordinates of the center of projection of the photo frame, functionally related to the coordinates of the center of mass of the plane and the exterior orientation angles of the photo frame, functionally related with angles of pitch, pitch and course of the aircraft, three reference points on the photo frame are sufficient, with a larger number of points a system of normal avneny. As a first approximation of the desired coordinates of the spatial-angular orientation of the photo frames in the FSNU block, the values of the geodetic coordinates and the angular position of the aircraft, interpolated at the KOI KBTI-M from inertial and satellite information, and the interpolated values of the absolute flight height from the GVA or baroinertial measurements. At the same time, in the PIK block, the pre-geodetic coordinates of the aircraft are converted into a horizontal coordinate system. The system of normal equations is solved in the least-squares (SNK) method block, the calculated corrections from which are sent to the plane’s spatial coordinates (VPK) calculation unit during the iterative process, which is implemented by feedback from the VPK block to the PIK block, where the coordinate transformation is carried out the center of the photo frame from the horizontal coordinate system to the Gauss-Krueger coordinate system. The iteration process continues until the corrections to the desired parameters become less than the established tolerances. The values of the parameters are calculated in the military-industrial complex in the AMFGM block, namely latitude, longitude, absolute altitude and heading angles, roll and pitch of the aircraft for the entire flight, which are then used as corrective means of inertial information in the CFM PC. For this, the photogrammetric information for all the photo frames received during the flight is sent to the preliminary information processing unit of the PSII KOI simultaneously with information from the inertial system, satellite navigation system and GVA data coming from the KBTI-M database. In the FVI block, measurement vectors are generated from satellite and photogrammetric information, consisting of corrections to the coordinates and speeds of the aircraft along the axes of the ANN platform and corrections to the vertical and the ANN rate from photogrammetric information, in the OP INS block, the errors of the parameters measured by the inertial system are determined, and almost continuous the values of the spatial and angular control parameters of the aircraft in the PNO test area are determined in the unit for calculating the navigation parameters (GNP) of the CFM PC taking into account the incoming measurement th information from the POII block. The error of the parameters determined in the GNP block is comparable with the error of accurate photogrammetric measurements, the calculated control values of the spatial-angular orientation of the aircraft are recorded in the PC database (DB), then they are compared with the measured values of the same parameters of the other tested PNOs and their errors are analyzed, combined by the criteria homogeneity and belonging of the same population for subsequent statistical processing.

In the absence of a digital topographic map of the area, the proposed method uses a laser orthophotomap of the area, for which an additional pulsed digital laser locator (CDL) is installed on board, with which a laser survey of the earth's surface is carried out during the flight, information from which: a laser image of the area (CLI) , the values of the measured oblique range and the angle that determines the propagation direction of the probe beam in the coordinate system of the locator are recorded on electronic carriers atom, and then can be represented on flash drives. Moments of arrival of reflected signals from the earth's surface, existing buildings are recorded at KBTI-M for subsequent synchronization with inertial, satellite information and GVA data. In this case, in post-flight processing on a personal computer based on on-board measurements of the inclined range, the values of the angles of deviation of the laser beam from the vertical and the coordinates of the aircraft calculated on board during the complex processing of inertial and satellite information in KBTI-M, an orthoimage of the terrain to the flight zone in the geodetic coordinate system is created ( VGK). To obtain a terrain and existing buildings visually adapted for the perception of the image, the laser image is processed using a special program (OLI), and the subsequent photogrammetric processing is carried out with photo frames and a laser orthophotomap using an IM and a personal computer.

To achieve the named technical result in the proposed system, which includes the airborne and ground parts of the measuring system: including the inertial navigation system (ANN), the receiver of the satellite navigation system (SNA) in standard or differential operation, radio-connected to the ground base correction station, to the airborne part (BCS) or control corrective station (KKS), air sensor or system (GVA), a modified set of on-board path measurements (KBTI-M), separately connected e outputs to the inputs of the integrated information processing system of radio navigation and autonomous means of navigation of the aircraft (KOI), namely, to the inputs of the unit for preliminary processing of measurement information (POII), the output of which is connected to a series-connected unit for the formation of measurement vectors (FI), a unit for estimating errors of ANN ( OP INS) when using a modified Kalman filter, the unit for calculating navigation parameters (GNP) with the simultaneous connection to it of the second output of the PSII unit, to the ground part - the base correction station (BCS) or control correction station (KKS), personal electronic computer (PC), with the integrated information processing system (KOI) formed in it, an independent ANN data corrector, a flash drive to form a database, on board the aircraft A topographic digital frame aerial camera (CAFA) with measured installation angles along the main construction axes of the aircraft was installed. The switching of the CAFA shutter response signals is connected to the input of the modified KBTI-M complex, respectively, in the ground part, the digital aerial photo frame information (CIAF) block and the digital topographic map data block (CTC) are included in the PC database. Additionally, a measuring monitor (MI) is installed, the screen of which is divided into two measuring parts, the inputs of the left and right parts are connected respectively to the outputs of the CIAF and CTK. A PC is formed with an autonomous ANS data corrector in the form of a computational unit of the analytical method of photogrammetry (AMFGM), which contains sequentially connected: a unit for converting the measured coordinates of points (PIK) from the Gauss-Kruger system to the horizontal coordinate system and vice versa; a unit for forming a system of normal equations (FSNU), the number of control points must be more than three; a block of solutions for the formed system of normal equations by the least squares (SNS) method for determining corrections to the approximate coordinates of the center of the projection of the photo frame and corrections to the angles of the external orientation of the photo frame, functionally connected through the installation angles of the aerial camera with the angles of heading, roll and pitch of the aircraft; unit for iterative calculation of spatial coordinates (MIC) of the spatial and angular orientation of the aircraft at the CAFA shutter release moments, the first output of which is connected via feedback to the second input of the PIC, and the second output is connected to the first input of the POII KOI PC unit, the third input of the PIC is connected to the flash output -key drive KOI KBTI-M, placed in a PC, for use in calculations as a first approximation of the coordinates of the center of the projection of the photo frame and its angular position, interpolated at the moments of the shutter release CAF BUT. The outputs of the two measuring parts of the monitor of the left LFCE and the right CCE are respectively connected to the second input of the FSNU unit and the first input to the PIK unit. The second input of the POII block is connected to the flash drive of the KBTI-M database for inertial, satellite information and GVA data, and the output of the POII via the block for generating measurement vectors from satellite and photogrammetric information (PVI), consisting of corrections to the coordinates and speeds of the aircraft along the axes ANN platform and amendments to the vertical: roll angles, pitch, and ANN rate only according to AMFGM, is connected to the ANN error estimation unit (OP ANS), the output of which with the simultaneous connection of the second output of the POII unit is connected to block B NP-calculator for control values of spatial-angular orientation: values of geodetic coordinates, absolute heights and angles of roll, pitch and course of the aircraft when using information from AMFGM and SNA correctors associated with the input of a PC control value database block.

In addition, in the absence of a digital topographic map of the area, a digital laser orthophotomap of the area is used, for which an additional digital pulse laser locator (CDL) is installed on board, the measurement timeline of which is connected to the KBTI-M input, respectively, a data block has been entered into the ground part of the PC system digital laser images (DLC), the coordinates and angular positions of the aircraft calculated in KOI KBTI-M, the unit for calculating the geodetic coordinates of the local laser image points associated with their outputs according to the measured inclined ranges, angles of deviation from the vertical of the laser beam and the coordinates of the aircraft (VGK), the output of which through the laser image processing unit (OLI) is connected to the input of the right side of the screen (PCE) of the measuring monitor to obtain a visually adapted image of the area, and the input the left side (LEC) is connected to the output of the CIAF.

Thus, the use of high-tech digital: a topographic aerial camera and a laser pulse locator, the rapid receipt of photo frames and a laser image of the area and the presentation of digital images of large-scale maps (plans) and photo frames on flash drives, the use of a measuring monitor for the photogrammetric processing of photo frames and digital maps (or laser orthomosaic), the use of the analytical method of photogrammetry, adapted for digital data, as well as integrated processing A web of practically continuous inertial and satellite information and high-precision discrete photogrammetric information fully implements the technical solution of the claimed inventions, namely, improving manufacturability and achieving high accuracy, objectivity, efficiency and practical continuity in determining control values of the spatial-angular orientation parameters of the aircraft, as well as low cost during operation and post-flight processing on routes, special and aerodrome test zones on-board equipment.

The invention is illustrated by drawings, which depict:

in FIG. 1 shows a block diagram of recording information on board an aircraft during a flight with a digital aerial camera;

in FIG. 2 shows a block diagram for post-flight processing of information obtained during the flight of an aircraft with a digital aerial camera;

in FIG. 3 is a flowchart for recording information on board an aircraft during a flight with a digital aerial camera and a digital laser locator;

in FIG. 4 shows a block diagram of the post-flight processing of information obtained during the flight of an aircraft with a digital aerial camera and a digital laser locator.

The inventive system for determining control values of the parameters of the spatial and angular orientation of the aircraft on the routes and in the aerodrome zones during flight tests of navigation and aerobatic equipment contains (Fig. 1 and 2) the airborne and ground parts of the measuring system, which includes a modified complex of airborne trajectory measurements in the airborne part KBTI-M 6 with integrated information processing system (KOI 18), KOI scheme not shown, inertial navigation system ANN 1 connected to its inputs, satellite navigation receiver SNA 2 radar system in standard and differential mode of operation, connected to the BKS 3 ground base correction station or KKS 3 control correction station, air sensor or GVA system 4. A topographic digital frame aerial camera (CAFA) 5 with measured installation angles is installed on board the main building axes of the aircraft, switching the CAFA 5 shutter actuation signals is connected to the input of the modified KBTI-M 6 complex. To the ground part is a personal electronic computer PC bus 10, base correction station BKS 3 or control correction station KKS 3, KBTI-M database on a flash drive connected to the input of the second complex information processing system KOI 18 PEVM 10, namely to the input of the unit for preliminary processing of measurement information (POII ) 19, the output of which is connected to a series-connected unit for the formation of measurement vectors (FVI) 20, consisting of corrections to the coordinates and speeds of the aircraft along the axes of the ANN platform and amendments to the vertical and course of the ANN, with control to protect the filter Kalman, a unit for estimating errors of the ANN (OP INS) 21 when using a modified Kalman filter, a unit for calculating navigation parameters (GNP) 22 with the simultaneous connection to it of the second output of the unit (POII) 19.

In addition, in the ground part of the PC system 10 contains an autonomous ANN corrector, made in the form of a computational unit for the analytical method of photogrammetry (AMFGM) 13, containing sequentially connected unit for converting the measured coordinates of points (PIK) 14 from the Gauss-Kruger system through a geodetic and geocentric coordinate system to the horizontal coordinate system and vice versa; the unit of formation of the system of normal equations (FSNU) 15, the number of reference points should be more than three; a block of solutions of the formed system of normal equations by the least squares (SNS) method 16 for determining corrections to the approximate coordinates of the center of the projection of the photo frame and corrections to the angles of the external orientation of the photo frame, functionally connected through the installation angles of the aerial camera with the heading, roll and pitch angles of the aircraft; block of iterative calculation of spatial coordinates (MIC) 17 of the spatial-angular orientation of the aircraft at the shutter release moments CAAF 5, the first output of which is connected through feedback to the second input of PIC 14, and the second output is connected to the first input of POII 19 KOI 18 PC 10, third PIK input 14 is connected to KOI 18 KBTI-M 6 output located in PC 10 for use in calculations as a first approximation of the coordinates of the projection center of the photo frame and its angular position, interpolated at the CAFA shutter release times 5; the outputs of the two measuring parts of the monitor, the left LCHE 8 and the right PChE 9, respectively, are connected to the second input of the FSNU 15 and the first input to the PIK 14; the second input of the POII 19 block is connected to the flash drive of the KBTI-M 6 database for inertial, satellite information and GVA 4 data, and the POII 19 output through the block for generating measurement vectors from satellite and photogrammetric information (FVI) 20, consisting of corrections to the coordinates and aircraft speeds along the axes of the ANN 1 platform and amendments to the vertical: roll angles, pitch and ANN 1 course only according to AMFGM 13, is connected to the ANN error estimation unit (OP ANN) 21, the output of which is with the simultaneous connection of the second output of the POII unit 19, connect inen with VNP 22 block - calculator of control values of spatial-angular orientation: values of geodetic coordinates, absolute height and roll angles, pitch and course of the aircraft when using information from AMFGM and SNA correctors associated with the input of a block of the control computer database for PC 10.

According to the second option, in the inventive system, to determine the control values of the spatial-angular orientation parameters of the aircraft on the routes and in the aerodrome areas during flight tests of flight-navigation equipment, instead of a terrain map, a digital laser orthophotomap of the terrain is used, for this an additional digital pulsed laser locator (CDL) is installed on the airplane 24) (Figs. 3 and 4), the timeline of measurements of which is connected with the input of KBTI-M 6, and, accordingly, in the ground part in the PC 10, a data block c laser images (CRI) 25, the coordinates and angular positions of the aircraft calculated in KOI 18 KBTI-M 6, the unit for calculating the geodetic coordinates of the points of the laser image of the area associated with their outputs from the measured inclined ranges, angles of deviation from the vertical of the laser beam and the coordinates of the aircraft ( VGK) 26, the output of which through the laser image processing unit (OLI) 27 is connected to the input of the right side of the screen (PCE) 9 of the measuring monitor (IM) 7 to obtain a visually adapted image of the area, and the input of the left side (L SE) 8 is connected to the output of CIAF 11.

The system operates as follows.

Example 1

The onboard part with a digital aerial camera installed operates as follows (Fig. 1):

- measured information about the spatial and angular parameters of the aircraft from ANN (1), SNA (2), GVA (4), BCS (KKS) (3) (if the differential mode of the SNA is used), namely, a set of values:

Where

φinci, λinci, - latitude, longitude coordinates measured by ANN 1;

VNinci, VEinci - speed values in the northern and eastern directions, measured by ANN 1;

ψinci, γinci, ϑinci - values of the angle of the course, roll and pitch of the aircraft, measured by ANN 1;

φcсci, λinci, VNccci, VEccci are the latitude, longitude and speed of the aircraft, respectively, in the north and east directions, measured by SNA 2;

H abs.i - values (absolute) of the aircraft altitude from the GVA 4 or baroinertial measurements;

ΔD1i, ..., ΔDni - corrections in pseudorange from n satellites of SNA 2 from BCS (CCS) 3;

recorded with a frequency of 1 Hz on KBTI-M 6;

- CAFA 4 shutter actuation signals with a specified interval (≥2 s) are also recorded at KBTI-M 6;

- digital terrain images during the flight on CAFA 4 are recorded on electronic media of the aerial camera and can be placed on flash drives.

The ground part of the system on board operates as follows (Fig. 2):

- digital images of aerial photographs and topographic maps (or plans) of large scale to the flight area with the corresponding matrix of values (in the first case) of the coordinates of the pixels in the photographic system of the photo frame, (and in the second case) the values of the coordinates of the pixels in the Gauss-Kruger system and the height of the relief, recorded on flash drives are entered into a personal computer 10 and placed in the appropriate blocks, namely: in CIAF 11 IVTK 12;

- in the process of photogrammetric processing, digital images of photo frames from the CIAF 11 and cards from the CCC 12 are displayed on the LEC 8 and PEC 9 IM 7, respectively;

- digital images of photo frames and maps can scroll up and down with respect to each other and move left and right to compare images, identify them at different image scales on photo frames and a map, to select the same contours or ground control points on photo frames and maps;

- using luminous markers (or marks) by combining the selected points with the crosshair of the marker and pressing the right mouse button, the coordinates of the selected points are measured both on the LEC 8 in the coordinate system of the photo frame and on the PEC 9 in the coordinate system of the map taking into account the pixel size and their quantities on the screen IM 7. Values of the measured coordinates, namely:

xi, yi (i = 1, ..., n, where n = 3, ..., 6) are the rectangular coordinates of the control points in the photographic system of the aerial photograph;

Xi, Yi, Hi (i = 1, ..., n, where n = 3, ..., 6) are the rectangular coordinates of the control points with the Gauss-Krueger system, measured on the map and the corresponding elevation values above the sea level, go to the computational block AMFGM 13 (Knizhnikov Yu.F., Gelman RN Computer system for measuring digital stereo pairs for solving nontopographic problems and scientific research. Geodesy and cartography. 1999, No. 2 (p. 136-149));

- in the PIK 14 AMFGM 13 PC 10 block, the coordinates are sequentially converted from the Gauss-Kruger system to the horizontal coordinate system and vice versa according to the following scheme:

Xi, Yi, Hi↔φi, λi, H abc.i↔Xгi, YГi, Zгi↔Xг.p.i, Yг.p.i, Zг.p.i;

Where

Xi, Yi - rectangular coordinates of the Gauss-Kruger;

φi, λi - geodetic coordinates;

Hi - values of the height of the relief above sea level;

H abs.i - absolute height values;

Xi, Yi, Zi - rectangular coordinates in a geocentric coordinate system;

Chhor.i, Ygor.i, Zgor.i - rectangular coordinates in the horizontal coordinate system.

a) A sequential transformation of the coordinates of the reference points measured on the BSE 9 on the digital map from the Gauss-Kruger system to the horizontal coordinate system takes place according to the following scheme:

Xi, Yi, Hi↔φi, λi, H abs. I → Xi, Yi, Zi → X.i, Y.i, Z.i;

b) A sequential conversion of the values of the geodetic coordinates of the center of the projection of the photo frames interpolated at the CAFA 5 shutter moments is calculated, calculated in the KOI 18 KBTI-M 6 block using inertial, satellite information and absolute altitude values from GVA 4 or baroinertial measurements, according to the following scheme:

φc, λc, H abs.c → Hgc, Ygc, Zgc → Hgor.c, Ygop.c, Zgop.c;

Where

φц, λц - geodetic coordinates of the center of the projection of the photo frame;

H abs.c - the absolute height of the center of the projection of the photo frame;

Hgts, Ygts, Zgts - geocentric coordinates of the center of the projection of the photo frame;

Hgor.ts, Ygor.ts, Zgor.ts - horizontal coordinates of the center of the projection of the photo frame.

Interpolation of these parameters is performed by local cubic splines.

c) In order to obtain, at iterations of the coordinates of the center of the projection of the photo frames, a reverse transition is performed according to the following scheme in the Gauss-Krueger coordinate system (X, Y)

Xhor.ts, Yhor.ts, Zhor.ts → Хгц, Yгц, Zгц → φц, λц → Хц, Yц;

- in the FSNU block 15 according to the calculated coordinates of the images of the control points and the measured coordinates (xi, yi i = 1, ..., n, where n = 3, ..., 6) in the photographic coordinate system of the aerial photograph, a system of corrections equations is formed in the form:

ui = f (xi, Xgop.i, Ygop.i, Zgop.i, Xhor.c, Ygop.c, Zgop.c, f,

a1, a3, b1, b3, c1, c3);

vi = f (yi, Xgop.i, Ygop.i, Zgop.i, Xhor.c, Ygop.c, Zgop.c, f,

A2, a3, b2, b3, c2, c3);

(i = 1, ..., n, where n = 3, ..., 6);

where ui, vi are corrections to the coordinates of reference points along the axes of the photographic coordinate system of the aerial photograph;

Hgor.ts, Ygor.ts, Zgor.ts - coordinates of the center of the photo frame in the horizontal coordinate system;

f is the focal length of the digital aerial camera;

ai, bi, ci (i = 1, 2, 3) are the direction cosines of the orientation angles of the photo frame relative to the horizontal coordinate system.

Two correction equations are formed for each reference point. To determine the 6 parameters of the external orientation of the photo frame: the coordinates of the center of the photo frame Xhor.c, Ygop.c, Zgop.c and three angles that are functionally related to the angles of roll, pitch and roll of the aircraft, three reference points on the photo are enough. With redundant information (4-6 points), a system of normal equations is formed.

- The formed system of normal equations is solved in the SNK block 16 and calculated:

ΔXhor.c, ΔYgop.c, ΔZgop.c - corrections to the approximate coordinates of the center of the projection of the photo frame;

Δα, Δω, Δκ are corrections to the angles of the outer orientation of the photo frame (α, ω, κ), functionally connected through the installation angles of the aerial camera with the angles of the heading ψ, roll γ and pitch ϑ of the aircraft.

- In the VPK 17 block, the values of the spatial-angular orientation parameters of the aircraft at the CAFA 5 shutter release moments are calculated using an iterative process, the implementation of which is performed by feedback from the VPK 17 block to the PIK 14 block. The following parameter values are determined as the sum of:

{X′gor.ts, Y′gor.ts, Z′hor.ts} = {Xhor.ts, Yhor.ts, Zhor.ts} +

{ΔXhor.ts, ΔYgor.ts, ΔZhor.ts};

{α ′, ω ′, κ ′} = {α, ω, κ} + {Δα, Δω, Δκ}.

The iteration process continues until the amendments to the unknown become less than the previously established tolerances:

{| ΔXhor.ts |, | ΔYhor.ts |, | ΔZhor.ts |} ≤ε1 (cm);

{| Δα |, | Δω |, | Δк |} ≤ε2 (arc sec).

The spatial coordinates of the aircraft at the moments of photographing the earth's surface can be represented in the Krasovsky geodetic coordinate system: φfgmi, λfgmi and Nabs. fgmi - latitude, longitude and absolute height of the aircraft obtained by the photogrammetric method.

The angles of roll, pitch and course (ψfgmi, γfgmi, ϑfgmi) are calculated using the directing cosines ai, bi, ci (i = 1, 2, 3) and the installation angles of the digital aerial camera relative to the associated coordinate system of the aircraft.

The potential accuracy of determining the spatial coordinates of the aircraft by the photogrammetric method when using large-scale digital maps (or plans) at the time of exposure will be about 5-20 cm, and the angular parameters: φfgmi, γfgmi, ϑfgmi - about 0.1 angle. min (Medvedev EM, Danilin EM, Melnikov SR Laser location of the Earth and forest. Krasnoyarsk: Forest Institute named after VN Sukachev SB RAS, 2005);

- in POII 19 KOI 18 PC 10 measuring information from ANN 1, SNA 2, VDS 4 and AMFGM 13 is subjected to preliminary processing, which includes: synchronization and control of parameters, as well as, if necessary, smoothing and thinning (data ANN 1 and SNA 2);

- in FVI 20 KOI 18 PCs 10 from the total coming from POII 19 practically continuous information (1 Hz) from ANN 1, SNS 2 and discrete photogrammetric information (for all photo frames of the flight) coming from AMPHM 13, measurement vectors are formed consisting of corrections to the coordinates and speeds of the aircraft along the axes of the ANN 1 platform when using information from two heterogeneous correctors: SNA 2 and AMFGM 13 and corrections in determining the vertical and heading from photogrammetric measurements.

- in this case, the vector of measurements takes the form:

Zk = [ΔSxcнci, ΔSycнci, ΔSxfgmj, ΔSyfgmj, ΔVxcнci, ΔVycнci, ΔVxfgmj,

ΔVyfgmj, θxfgmj, θyfgmj, θzfgmj],

where ΔSxcнci, ΔSycнci, ΔVxcнci, ΔVycнci - corrections, respectively, in coordinates and speeds in the axes of the platform ANN 1 according to the SNA 2;

ΔSkhfgmj, ΔSufggmj, ΔVhfgmj, ΔVuffgmj - corrections, respectively, in coordinates and speeds in the axes of the platform ANN 1 according to AMFGM 13;

θхфгмj, θфггмj, θz фгмj - corrections in determining the vertical and rate of ANN 1 submitted by AMPHM 13;

(i → N, j → m, N> m).

- In the OP INS 21 block, when using the generated measurement vectors and integrated information processing using the Kalman filter, ANS 1 errors are estimated, namely, the set of parameters:

{ΔSx, ΔSy, ΔVx, ΔVy, θx, θy, θz, ωxx, ωxy, ωyz, ωyy, ωxn, ωyn, ωzn,

Δm1, Δm2};

Where

ΔSx, ΔSy are the components of the ANN 1 error in determining the coordinates (in the horizontal axes of the platform);

ΔVx, ΔVy - components of the error of ANN 1 in the determination of speeds;

θx, θy, θz - angular errors in determining the vertical and heading;

ωxx, ωxy, ωyz, ωyy are the proportionality coefficients in the components of the velocity of the drift of the gyroscopes, depending on the acceleration;

ωxn, ωyn, ωzn are the constant components of the drift of the gyroscopes in the axes of the instrument trihedron;

Δm1, Δm2 are scale factors in the errors depending on acceleration.

- in the GNP block 22, according to the estimates of the errors of ANN 1 obtained in the OP ANS 21 and the initial inertial information of SRI 19, the set of control values of the spatial and angular parameters of the aircraft is calculated using redundant information from the AMFGM 13 and SNA 2 correctors and the angular when using the AMFGM 13 corrector .

In this case, the set of control values of the absolute height of the aircraft are calculated as follows:

where {ΔHj} are the values of the corrections to the data of the GVA 4 or baroinertial measurements of the height of the aircraft at the moments of photographing the earth's surface with a digital aerial camera;

Sp i {ΔHj} - correction values interpolated by local cubic splines at the moments of registration of the GVA 4 or baroinertial height (with a frequency of 1 Hz).

The parameter values calculated in the GNP block 22 enter the DB unit 23 of the CFI 18. The values of the spatial and angular orientation parameters of the aircraft, namely, the set of control values:

Where

φкi, λкi, Hкi - control values of geodesics: latitude, longitude and absolute altitude of the aircraft;

ψкi, γкi, ϑкi - control values of heading, roll and pitch angles, according to the theory of optimal complex processing of heterogeneous information, should have an error less than or at least comparable to the error of photogrammetric measurements, while maintaining practical continuity (1 Hz) of the control the values of the spatial-angular orientation of the aircraft on the testing routes of the PNA.

In the future, the values in DB 23 are used for comparison during flight tests with measurements of investigated PNO:

Where

{φпноi, λпнoi, Nabs. pnoi, γpnoi, ϑpnoi, ψpnoi} - a set of values of the parameters of the spatial-angular orientation of the studied PNO;

{Δφi, Δλi, ΔNabs.i, Δγi, Δϑi, Δψi} - error estimates of the measured parameters of the PNO.

Estimates of the obtained errors {Δφi, Δλi, ΔNabs.i, Δγi, Δϑi, Δψi} are combined according to the criteria of homogeneity and membership of the same population and subsequent statistical processing is carried out.

Example 2

The airborne unit with a digital aerial camera and a digital pulsed laser locator installed operates as follows (Fig. 3):

- the measured information about the spatial and angular parameters of the aircraft from the ANN (1), SNA (2), GVA (4), BCS (KKS) (3) (if the differential mode of the SNA is used), namely, a set of values:

Where

φinsi, λinsi, - latitude, longitude coordinates measured by ANN 1;

VNinci, VEinci - speed values in the northern and eastern directions, measured by ANN 1;

ψinci, γinci, ϑinsi - values of the angle of the course, roll and pitch of the aircraft, measured by ANN 1;

φcнci, λснci, VNcнci, VEcнci - the values of the latitude, longitude and speed of the aircraft, respectively, in the northern and eastern directions, measured by SNA 2;

H abs.i - values (absolute) of the aircraft altitude from the GVA 4 or baroinertial measurements;

ΔD1i, ..., ΔDni - corrections in pseudorange from n satellites of SNA 2 from BCS (CCS) 3;

recorded (with a frequency of 1 Hz) on KBTI-M 6;

- CAFA shutter actuation signals 4 with a specified interval (≥2 s) are also recorded at KBTI-M 6;

- digital terrain images during the flight on CAFA 5 are recorded on electronic media of the aerial camera and can be placed on flash drives;

- reflected signals of laser radiations of TsDL 24 are registered on a time scale in KBTI-M 6 (with a frequency from 100 to 300 kHz);

- the measured values of the inclined range of the laser beam to the earth's surface, vegetation and buildings, and the values of the angle determining the direction of propagation of the probe beam in the coordinate system of the locator, are recorded on an electronic storage device TsDL 24 and can be placed on flash drives.

The ground part of the system, with installed: digital aerial camera and digital pulsed laser locator on board, operates as follows (Fig. 4):

- digital information of aerial photographs and a laser image of large-scale terrain on the flight area, previously recorded on flash drives, is entered into a personal computer 10 and placed in the appropriate files, namely: CIAF 11 and 25 25;

- for each point of the laser image in VGK 26, its geodetic coordinates and elevation above sea level are calculated:

where Di are the values of the measured slant range of the laser beam to the reflection point;

αi, βi are the angles of deviation of the laser beam from the vertical, functionally related to the angles of roll, pitch and course of the aircraft, measured by ANN 1 and the values of the angle of the scanning beam of the TsLL 24 locator in its coordinate system;

φcojj, λcojj, Habc.j - spatial coordinates of the aircraft: latitude and longitude calculated in KOI 18 KBTI-M 6 using inertial and satellite information, as well as the absolute flight altitude from GVA 4 or baroinertial measurements;

- to obtain visually adapted for the perception of the image of the terrain and buildings, the laser image is processed in block OLI 27 according to a special program;

- for photogrammetric processing, digital images of photo frames from CIAF 11 and an adapted image of a laser orthomosaic from OLI 27 are displayed on LEC 8 and PCE 9 IM 7, respectively;

- digital images of photo frames and a laser orthomosaic can scroll up and down with respect to each other and move left and right to compare the images, identify them at different image scales on the photo frames and orthomosaic to select the same contours or reference points of the terrain on the photo frames and orthomosaic;

- the subsequent operation of the method is associated with measurements on LFE 8 and LFE 9 IM 7 and the computing process in AMFGM 13 and KOI 18, the same as when using digital cards.

Claims (4)

1. A method for determining control values of the spatial-angular orientation parameters of the aircraft on the routes and in the aerodrome zones during flight tests of flight and navigation equipment (PNO), including measurements of the inertial navigation system (ANN), correction of the ANN data by an autonomous means, and radio navigation correction of the ANN data of the satellite navigation system (SNA) in standard or differential mode of operation using the base corrective station (BCS) or control corrective stations (KKS), measuring the flight altitude by an air sensor or system (GVA), the signals of which are recorded on a modified set of on-board trajectory measurements (KBTI-M) for the integrated processing of information in the system (KOI) during the flight, namely for preliminary processing of the measurement information (POII), the formation of measurement vectors in the block (FVI), the estimation of inertial system errors (OP INS) using a modified Kalman filter, the calculation of navigation parameters (GNP) with simultaneous sub By adding to it the second output of the PSII unit, as well as ground processing of the initial measured information from the ANN, SNA, BCS and GVA data, the calculation of navigation parameters (GNP) taking into account the measurement information received from the POII, the estimation of coordinates obtained from flight data, combined by the criteria of homogeneity and belonging to the same general population and their statistical processing on a personal electronic computer (PC), characterized in that on board in flight, an additional aerial photograph of the earth’s surface is performed with a set interval of photographing by a topographic medium format digital aerial camera (CAFA), while CAFA shutter triggering signals are recorded on KBTI-M to synchronize photo frames with information from ANN, SNA and GVA, form the frames as digital matrices of terrain images that are recorded on CAFA electronic media, after the flight they perform photogrammetric processing of digital images of photo frames, placed personal computers in the digital aerial photo frames (CIAF) block when using digital topographic maps (CTC) of large-scale terrain to the flight zone, which are also presented in digital format and placed in the CTC PC block using a measuring monitor (IM), the screen of which is divided into the left and the right measuring parts for outputting the corresponding digital images of photo frames and topographic maps, their mutual scrolling, identification, selection of the same recognized landmarks or reference points on photo frames and to in the terrain’s mouth, the coordinates of these points on photo frames and topographic maps are measured in the scale of their image using measuring marks or markers taking into account the size and number of pixels of the measuring monitor, and the spatial and angular orientation parameters of the aircraft at the moments of CAFA shutter release are determined on a PC using a computing unit analytical method of photogrammetry (AMPHM), adapted to digital data, used as a stand-alone corrector of ANN data, while the coordinate values At the control points measured on the CTK on the right side of the screen (PEC) of the measuring monitor (MI), they are transferred to the measured coordinate transformation (PIC) unit of the AMPHM, where they are subsequently converted from the Gauss-Kruger system through geodetic and geocentric coordinates to a horizontal coordinate system which, together with the coordinate values of the images of reference points on a digital photo frame (CIAF), measured on the left side of the screen (LEC), the MI enter the block of formation of the system of normal equations (FSNU), where The formation of the system of corrections equations for the control points based on the calculated and measured coordinates in the photographic aerial photograph system, for determining the coordinates of the center of the projection of the photo frame, functionally related to the coordinates of the center of mass of the plane and the exterior orientation angles of the photo frame, functionally related to the angles of pitch, pitch and course of the aircraft, three are enough reference points on the photo frame, with a larger number of points form a system of normal equations, as a first approximation of the desired coordinates of space The angular orientation of the photo frames in the FSNU block uses the coordinates and the angular position of the aircraft, interpolated at the CAFA shutter release moments, calculated in KOI KBTI-M from inertial and satellite information and interpolated values of the absolute flight altitude from the GVA or from baroinertial measurements, while in the block PIK preliminary geodetic coordinates of the aircraft are converted into a horizontal coordinate system, the system of normal equations is solved in the least squares (SNS) method block, calculated e corrections from which go to the aircraft spatial coordinate calculation unit (MIC) during the iterative process, for the implementation of which feedback from the military industrial complex to the PIK unit is performed, where the coordinates of the center of the photo frame are converted from the horizontal system to the Gauss-Krueger coordinate system, process iterations continue until the corrections to the desired parameters become less than the established tolerances, the parameter values calculated in the military-industrial complex in the AMFGM block for the entire flight, namely: latitude, longitude, absolute height and angle, heading, pitch and pitch of the aircraft, which are then used as corrective means of inertial information in the CFM of the PC, for which the photogrammetric information for all photo frames received during the flight is transmitted to the preliminary processing unit of the measurement information (CFM) of the CFM simultaneously information from the inertial system, satellite navigation system and GVS coming from the KBTI-M database, in the FVI block, measurement vectors are formed from satellite and photogrammetric information, consisting Based on corrections to the coordinates and speeds of the aircraft along the axes of the ANN platform and corrections to the vertical and the ANN course only from the photogrammetric information, the errors of the inertial system are determined using the Kalman filter in the OP INS unit, and the practically continuous values of the control spatial-angular parameters of the aircraft in the test zone PNO is determined in the unit for calculating the navigation parameters (GNP) of the CPI PC taking into account the incoming measurement information from the PSII block, the error of the parameters determined in the GNP block, compare and with the accuracy of the exact photogrammetric measurements, the calculated control values of the spatial-angular orientation of the aircraft are recorded in the PC reference data database, then they are compared with the measured values of the same parameters of other tested PNOs and their errors are analyzed, combined according to the criteria of homogeneity and belonging to the same general aggregates for subsequent statistical processing. 2. A method for determining control values of the parameters of the spatial-angular orientation of the aircraft on the routes and in the aerodrome zones during flight tests of flight and navigation equipment according to claim 1, characterized in that in the absence of a digital topographic map of the area, a laser orthophotomap of the area is used, for which an additional pulsed digital laser locator (CLL) is installed on board, with which a laser survey of the earth's surface is carried out during the flight, the information from which is: a laser image of the area (CLI), the values of the measured inclined range and the angle that determines the direction of propagation of the probe beam in the coordinate system of the locator, are recorded on the electronic media of the locator, and then can be l are presented on flash drives, and the moments of arrival of reflected signals from the earth's surface, existing buildings are recorded at KBTI-M for subsequent synchronization with inertial, satellite information and GVA data, while in post-flight processing on a personal computer based on on-board measurements of slant range, deviation angles the laser beam from the vertical and the coordinates of the aircraft, calculated on board during the complex processing of inertial and satellite information in KBTI-M, an orthomosaic of the area is created for the flight zone in the geodetic Coy coordinate system (VGK) to obtain a visually adapted to the image pickup areas and buildings existing laser image is processed using a special program (OLI), and the subsequent processing is carried out with a photogrammetric photograph, using laser orthophoto MI and PC. 3. A system for determining control values of the parameters of the spatial-angular orientation of the aircraft on the routes and in the aerodrome zones during flight tests of flight and navigation equipment, containing the airborne and ground parts of the measuring system: including inertial navigation system (ANN), satellite navigation receiver system (SNA), in standard or differential mode of operation, radio-connected with the ground base correction station (BCS) or control correction station (K C), an air sensor or system (GVA), a modified complex of airborne trajectory measurements (KBTI-M), separately connected by outputs to the inputs of the integrated information processing system of radio navigation and autonomous aircraft navigation aids (KOI), namely, the inputs of the preprocessing unit for measuring information (POII), the output of which is connected to a series-connected unit for the formation of measurement vectors (FVI), a unit for estimating errors of the ANN (OP ANN) using a modified Kalman filter, the subtracting unit navigation parameters (GNP) with the simultaneous connection to it of the second output of the POII unit, to the ground part - the base correction station (BCS) or control correction station (KKS), personal electronic computer (PC), with the integrated information processing system formed in it (KOI), an autonomous corrector of ANN data, a flash drive for forming a database, characterized in that there is a topographic digital aerial camera (CAFA) on board the aircraft with measured installation angles along the main building axes of the aircraft, the switching of the CAFA shutter trigger signals is connected to the input of the modified KBTI-M complex, respectively, in the ground part there is a digital aerial photographs (CIAF) block and block of digital data of topographic maps (CTK) into the PC database, an additional measuring monitor (MI) is installed, the screen of which is divided into two measuring parts, the inputs are left and right parts are respectively connected to the outputs TSIAF and TCA; A PC is formed with an autonomous ANS data corrector in the form of a computational unit of the analytical method of photogrammetry (AMFGM), which contains sequentially connected: a unit for converting the measured coordinates of points (PIK) from the Gauss-Kruger system to the horizontal coordinate system and vice versa; a unit for forming a system of normal equations (FSNU), the number of control points must be more than three; a block of solutions for the formed system of normal equations by the least squares (SNS) method for determining corrections to the approximate coordinates of the center of the projection of the photo frame and corrections to the angles of the external orientation of the photo frame, functionally connected through the installation angles of the aerial camera with the angles of heading, roll and pitch of the aircraft; a unit for iterative calculation of spatial coordinates (VPK) of the spatial-angular orientation of the aircraft at the CAFA shutter release moments, the first output of which is connected via feedback to the second input of the PIK, and the second output is connected to the first input of the POII KOI PC unit, the third input of the PIK is connected to the KOI KBTI-M, placed in a personal computer, for use in calculations as a first approximation of the coordinates of the center of the projection of the photo frame and its angular position, interpolated at the moments of the CAFA shutter release; the outputs of the two measuring parts of the monitor of the left LFCE and the right CCE are respectively connected to the second input of the FSNU unit and the first input to the PIK unit; the second input of the POII block is connected to the flash drive of the KBTI-M database for inertial, satellite information and GVA data, and the output of the POII via the block for generating measurement vectors from satellite and photogrammetric information (PVI), consisting of corrections to the coordinates and speeds of the aircraft along the axes ANN platform and amendments to the vertical: roll angles, pitch and ANN rate only according to AMFGM, is connected to the ANS error estimation unit (OP ANS), the output of which with the simultaneous connection of the second output of the POII unit, is connected to the block GNP-calculator of control values of spatial-angular orientation: values of geodetic coordinates, absolute height and roll angles, pitch and course of the aircraft when using information from the correctors AMFGM and SNA related to the input of the PC control value database block. 4. The system for determining control values of the parameters of the spatial-angular orientation of the aircraft on the routes and in the aerodrome zones during flight tests of flight and navigation equipment according to claim 3, characterized in what in the absence of a digital topographic map of the area, a digital laser orthophotomap of the area is used, for which an additional digital pulsed laser locator (CLL) is installed on board, the time scale of measurements of which is connected to the KBTI-M input, respectively, a digital laser image data unit is introduced into the ground part of the PC system (CLL), the coordinates and angular positions of the aircraft, calculated in KOI KBTI-M, the unit for calculating the geodetic coordinates of the points of the laser image of the area associated with their outputs inclined ranges, angles of deviation from the vertical of the laser beam and the coordinates of the aircraft (VGK), the output of which through the laser image processing unit (OLI) is connected to the input of the right side of the screen (PCE) of the measuring monitor to obtain a visually adapted image of the area, and the input of the left side (LFC) is connected to the output of the CIAF.

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