RU2619200C1 - System of remote control for transportating high-tech construction modules - Google Patents

Abstract

FIELD: transportation.

SUBSTANCE: system comprises the sensors 1, 2, the AND element 3, the encoding unit 4, the transmitter 5, the generator 13, the phase manipulator 14, the power amplifier 15, the transmitting/receiving antenna 16, the receiving antenna 33, the GPS-signals receiver 34, the microprocessor 35, the duplexer 36, the multipliers 37, 38, 53, 54, the filters 40, 56, the phase-inverters 57, 58, the subtraction unit 59, the FMN-signals demodulators 51, 52; the receiver 6, the decoder 7, the detection units 8 and 32, the inhibit element 9, the pulse width generator 10, the receiving antenna 17, the high frequency amplifier 18, the search unit 19, the local oscillator 20, mixer 21, intermediate frequency amplifier 22, amplitude detector 23, multipliers 24, 25, 62 and 63, filters 26, 27, 64, 65, key 28, the frequency counter 29, the counters 30, 31, the antenna 41, the GPS-signals receiver 42, the computer 43, the encoding unit 44, the transmitter 45, the generator 46, the phase manipulator 47, the power amplifier 48, the duplexer 49, the phase invertors 66, 67, the subtraction unit 68.

EFFECT: increased noise stability and reliability of the discrete information exchange between the controlled trailers and the checkpoints.

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Description

The invention relates to the field of technical means of control and registration of motor vehicle flights and can be used for transportation of high-tech building modules (blocks) by trailers and special vehicles.

Known systems and devices for accounting for transported cargo dump trucks, truck tractors, garbage trucks, etc. (ed. St. USSR No. 215536, 477330, 498636, 696508, 769581, 830447, 1123041; RF patents No. 2184992, 2243592; Khramtsov Yu.V., Figurnov N.V., Shur O.Z. Modern production methods and processing of experimental data during automobile tests. Research Institute of Automotive Industry. M., 1975 and others).

Of the known systems and devices closest to the proposed one is the "Remote control system for the transportation of construction cargo" (RF patent No. 2243592, G07C 5/08, publ. 27.12.2004). The prototype system provides accounting for flights, fuel consumption and the distance traveled by trailers, as well as determining their location. At the same time, radio channels using two frequencies ω ₁ , ω ₂ and complex signals with phase shift keying are used to exchange information between controlled trailers and a control point. However, the prototype system does not allow suppressing narrowband interference received in the passband of the receivers.

The technical task of the invention is to increase the noise immunity and reliability of the exchange of discrete information between controlled trailers and a control point using duplex radio communications by suppressing narrow-band interference received in the passband of receivers.

The problem is solved in that a remote control system for the transportation of high-tech building modules, containing on each controlled trailer a series-connected pressure sensor, an element And, the second input of which is connected to the output of the body position sensor, a coding unit, the second and third inputs of which are connected to the outputs of the sensors fuel consumption and the distance traveled, respectively, a phase manipulator, the second input of which is connected to the output of the high-frequency generator, a power amplifier, a duplexer, the input-output of which is connected to the transceiver antenna, the first multiplier, the second input of which is connected to the output of the first low-pass filter, the first narrow-band filter, the second multiplier, the second input of which is connected to the output of the duplexer, and the first low-pass filter, connected in series to the receiving antenna , a GPS signal receiver and a microprocessor for performing navigation calculations, the output of which is connected to the fourth input of the coding unit, and at the control point, a receiving ante is connected in series nnu, a GPS signal receiver, a computer for performing navigation calculations, a coding unit, a phase manipulator, the second input of which is connected to the output of a high-frequency generator, a power amplifier, a duplexer, the input-output of which is connected to a transceiver antenna, a high-frequency amplifier, a mixer, the second input of which is connected through the local oscillator to the output of the search unit, an intermediate frequency amplifier, a first multiplier, the second input of which is connected to the output of the first low-pass filter, the first narrow-band filter tr, the second multiplier, the second input of which is connected to the output of the intermediate frequency amplifier, and the first low-pass filter, connected in series to the output of the intermediate frequency amplifier, an amplitude detector, a key, the second input of which is connected to the second output of the local oscillator, a frequency meter and an additional recording unit, the second, the third and fourth inputs of which are connected directly and through the fuel consumption meter and the distance traveled counter with the corresponding outputs of the decoder, the fifth input of the additional unit itration is connected to the output of the coding unit, while the output blocks, according to the number of monitored objects, are connected to the outputs of the decoder, each of which consists of a ban element, a registration unit, and a pulse duration shaper whose output is connected to the inhibit input of the ban element from the closest analogue in that each controlled trailer is equipped with a third and fourth multiplier, a second narrow-band filter, a second low-pass filter from, by two phase inverters and a subtraction unit, moreover, a third multiplier is connected in series to the output of the duplexer, the second input of which is connected to the output of the second phase inverter, the second narrow-band filter, the first phase inverter, the fourth multiplier, the second input of which is connected to the output of the duplexer, the second low-pass filter and the second phase inverter, a subtraction unit is connected to the output of the first low-pass filter, the second input of which is connected to the output of the second low-pass filter, and the output is connected to the second micro output a processor for performing navigation calculations, and the control point is equipped with a third and fourth multipliers, a second narrow-band filter, a second low-pass filter, two phase inverters and a subtraction unit, with a third multiplier connected in series to the output of the intermediate frequency amplifier, the second input of which is connected to the output of the second phase inverter, the second narrow-band filter, the first phase inverter, the fourth multiplier, the second input of which is connected to the output of the intermediate frequency amplifier, the second filter a low-pass and a second bass reflex, a subtraction unit is connected to the output of the first low-pass filter, the second input of which is connected to the output of the second low-pass filter, and the output is connected to the input of the decoder.

The structural diagram of the on-board equipment of the system installed on each trailer is shown in FIG. 1. The block diagram of the stationary equipment of the system installed at the control point is shown in FIG. 2.

The system contains at each controlled object a pressure sensor 1 connected in series, element And 3, the second input of which is connected to the output of the body position sensor 2, an encoding unit 4, the second and third inputs of which are connected to the outputs of the fuel consumption sensor 11 and the sensor 12 of the distance traveled, respectively, phase manipulator 14, the second input of which is connected to the output of the high-frequency generator 13, a power amplifier 15, a duplexer 36, the input-output of which is connected to the transceiver antenna 16, the first multiplier 37, and the second input cerned connected to the output of the first filter 40 the lower frequencies, the first narrow-band filter 39, a second multiplier 38, a second input coupled to an output diplexer 36, a first lowpass filter 40 and the subtraction unit 59. A third multiplier 53 is connected to the output of the duplexer 36, the second input of which is connected to the output of the second phase inverter 58, the second narrow-band filter 55, the first phase inverter 57, the fourth multiplier 54, the second input of which is connected to the output of the duplexer 36, the second low-pass filter 56 and the second phase inverter 58. The second input of the subtraction unit 59 is connected to the output of the second low-pass filter 56. A GPS receiver 34 and a microprocessor 35 are connected in series to the output of the receiving antenna 33 for performing navigation calculations, the second input of which is connected to the output of the subtraction unit 59, and the output is connected to the fourth input of the encoding unit 4. The high-frequency generator 13, the phase manipulator 14 and the power amplifier 15 form a transmitter 5. The first 37 and second 38 multipliers, the first narrow-band filter 39 and the first low-pass filter 40 form the first demodulator 51 of complex PSK signals. The third 53 and fourth 54 multipliers, the second narrow-band filter 55, the second low-pass filter 56, the first 57 and second 58 phase inverters form a second demodulator 52 of complex PSK signals.

The system contains at control points a receiving antenna 17 connected in series, a GPS signal receiver 42, a computer 43, an encoding unit 44, a phase manipulator 47, the second input of which is connected to the output of a high-frequency generator 46, a power amplifier 48, a duplexer 49, and input-output which is connected to the transceiver antenna 41, a high-frequency amplifier 18, a mixer 21, the second input of which is connected through the local oscillator 20 to the output of the search unit 19, an intermediate-frequency amplifier 22, a first multiplier 24, the second input of which is connected to the output of the first low-pass filter 27, the first narrow-band filter 26, the second multiplier 25, the second input of which is connected to the output of the intermediate-frequency amplifier 22, the first low-pass filter 27 and the subtraction unit 68. A third multiplier 62 is connected to the output of the intermediate frequency amplifier 22, the second input of which is connected to the output of the second phase inverter 67, the second narrow-band filter 64, the first phase inverter 66, the fourth multiplier 63, the second input of which is connected to the output of the intermediate frequency amplifier 22, the second lower filter 65 frequencies and the second phase inverter 67. The second input of the subtraction unit 68 is connected to the output of the second low-pass filter 65, and the output is connected to the input of the decoder 7, the outputs of which are connected by the number of s object execution units, each of which consists of series-connected to the output of the decoder 7 of the element 9 prohibition registration unit 8 and the pulse duration 10, the output of which is connected to the input member 9 prohibiting prohibition. At the same time, an amplitude detector 23, a key 28, the second input of which is connected to the second output of the local oscillator 20, a frequency meter 29 and an additional recording unit 32, the second, third and fourth inputs of which are connected directly and through the fuel consumption meter 30 are connected in series to the output of the intermediate frequency amplifier 22 and a counter 31 of the distance traveled with the corresponding outputs of the decoder 7.

The fifth input of the additional registration unit 32 is connected to the output of the encoding unit 44. The first 24 and second 25 multipliers, the first narrow-band filter 26 and the first low-pass filter 27 form the first demodulator 60 of complex PSK signals. The third 62 and fourth 63 multipliers, the second narrow-band filter 64, the second low-pass filter 65, the first 66 and second 67 phase inverters form a second demodulator 61 of complex PSK signals. The high-frequency amplifier 18, the search unit 19, the local oscillator 20, the mixer 21, the intermediate-frequency amplifier 22, the first 60 and the second 61 demodulators of complex PSK signals form a panoramic receiver 6. A high-frequency generator 46, a phase manipulator 47, and a power amplifier 48 form a transmitter 45 The receiving antennas 33 and 17 of the controlled trailers and the control point via radio channels are connected to the transmitting antennas of the satellites 50.i (i = 1, 2, ..., 24) of the Navstar or Glonass navigation system. Transceiver antennas 16 of the monitored objects are connected via duplex radio communication channels to the transceiver antenna 41 of the monitoring point.

The remote control system for the transportation of high-tech building modules works as follows.

When lifting a body with high-tech building modules, the pressure in the oil line of the body lifting increases, the pressure sensor 1 gives a signal to the element And 3. The latter gives a signal only when it also receives a signal from the sensor 2 of the body position, which gives a signal only when raised in upper body position. If there are two signals from the pressure sensor 1 and the sensor 2 position of the body element And 3 gives a signal to the first input of block 4 coding.

When the trailer is moving, the signals from the fuel consumption sensor 11 and the sensor 12 of the distance traveled in the form of a series of pulses also arrive at the second and third inputs of the coding unit 4, respectively.

The proposed system uses the signals of the Navstar navigation system (Glonass) to determine the location of controlled trailers.

The global navigation system Navstar (Glonass) is designed to transmit navigation signals that can be received simultaneously in all regions of the world. The structure of this system includes the space segment, consisting of 24 SC 50.i (i = 1, 2, ..., 24), a network of ground-based stations for monitoring their operation, and the user segment (navigation receivers of GPS signals).

The transmitters installed on the satellites of the Navstar navigation system emit a phase-shift keyed signal (PSK).

u _c (t) = U _c ⋅cos [ω _c t + ϕ _k (t) + ϕ _c ], 0≤t≤T _s ,

where U _c , ω _s , ϕ _s , T _s - amplitude, carrier frequency, initial phase and signal duration;

ϕ _k (t) = {0, π} is the manipulated phase component that displays the phase manipulation law in accordance with the modulating code M (t), and ϕ _k (t) = const for kτ _e <t <(k + 1) τ _e and can change abruptly at t = kτ _e , i.e. at the borders between elementary premises (k = 1, 2, ..., n-1):

τ _e , n is the duration and number of chips that make up a signal of duration T _s (T _s = nτ _e ).

As the modulating code M (t), a pseudo-random sequence of 1023 characters in length (C / A code) is used.

The specified signal is received by the navigation receivers 34 and 42 of the controlled trailers and the control point. The GPS signal receiver 34 sequentially captures using the receiving antenna 33 and processes the PSK signals of each satellite 50.i (i = 1, 2, ..., 24) from the selected constellation. At the same time, the receiver 34 alternately uses two main operating modes: information receiving mode and navigation mode.

In the information reception mode, data of the ephemeris and time corrections necessary for the navigation mode are received, and more rare (after one minute) navigation measurements are made. In navigation mode, the location of the trailer is updated every second and the basic navigation data is displayed.

The microprocessor 35, which is part of the on-board complex of the trailer, performs two functions: it serves the receiver and performs navigation calculations. The first is to select a working constellation of satellites, calculate target designation data, store code phase and carrier estimates, synchronize by types, frames, and control the operation of the receiver, for example, switching from the information receiving mode to the navigation mode and vice versa.

The second function of the microprocessor 35 is to calculate the ephemeris, determining the coordinates of the location of the trailer. In addition, the microprocessor 35 selects a working constellation of four satellites and calculates the Doppler frequency shift of the FMN signal of each satellite. Next, the receiver 34 sequentially searches and captures satellite signals, working with them for one minute (only 4 minutes per constellation).

The receiver 34 operates in navigation mode as long as the geometry of the satellites remains satisfactory or until the ephemeris is outdated. To update the ephemeris, the navigation mode is interrupted and the receiver 34 is entered into the repeated mode of receiving information. In this case, the same sequence of operations is observed as in the initial mode. This order of alternating modes occurs automatically throughout the entire duration of the trailer.

To determine the two coordinates of the location (latitude and longitude) of the trailer, measurements from three satellites are required. In this receiver, information from the fourth "extra" satellite may be necessary during various maneuvers of the trailer, when it is possible to obscure the signals of one or more satellites.

Information about the location of the trailer from the microprocessor 35 is supplied to the fourth input of the coding unit 4. The coding unit 4 generates a modulating code M ₁ (t), in which information about the license plate number of the trailer, the amount of lifting of the body with high-tech building modules, fuel consumption, the distance traveled and the location of the trailer are “protected”. The modulating code M ₁ (t) contains N ₁ chips of duration τ _e . At the same time, the first n elementary parcels carry digital information about the number plate of the trailer, m elementary parcels are given to the amount of lifting a body with building load, l elementary parcels indicate fuel consumption, z elementary parcels reflect the distance traveled and q elementary parcels carry information about the location of the trailer (N ₁ = n + m + l + z + q).

The modulating code M ₁ (t) from the output of the coding unit 4 is fed to the first input of the phase manipulator 14, to the second input of which harmonic oscillation is output from the output of the generator 13

u ₁ (t) = U ₁ ⋅cos [ω ₁ t + ϕ ₁ ], 0≤t≤T ₁ ,

where U ₁ , ω _l , ϕ _c1 , T ₁ - amplitude, carrier frequency, initial phase and duration of harmonic oscillation.

At the output of the phase manipulator 14 is formed FMN signal

, 0≤t≤Т₁,

, 0≤t≤T ₁ ,

which after amplification in the power amplifier 15 through the duplexer 36 enters the transceiver antenna 16 and is radiated by it into the air.

It should be noted that each trailer has its own modulating code M _i (t) and carrier frequency ω _i (i = 1, 2, ..., S), where S is the number of controlled trailers.

At the control point, the search for FMN signals belonging to different trailers is carried out using a panoramic receiver 6. For this, the search unit 19 periodically with a period T _p changes the frequency ω _{g of the} local oscillator 20 according to a sawtooth law.

The received FMN signal U ₂ (t) from the output of the transceiver antenna 41 through the duplexer 49 and the high-frequency amplifier 18 is supplied to the first input of the mixer 21, the second input of which supplies the local oscillator voltage 20

u _g (t) = U _g ⋅cos [ω _g t + πγt ² + ϕ _g ], 0≤t≤T _p ,

where U _g , ω _g , ϕ _g , T _p - amplitude, initial frequency, initial phase and the repetition period of the local oscillator voltage;

- скорость изменения частоты гетеродина (скорость просмотра заданного диапазона частот

).

- rate of change of the local oscillator frequency (speed of viewing a given frequency range

)

At the output of the mixer 21, voltages of combination frequencies are generated. The amplifier 22 is allocated the voltage of the intermediate (differential) frequency

, 0≤t≤Т₁,

, 0≤t≤T ₁ ,

Where:

;

;

ω _CR = ω ₁ -ω _g is the intermediate frequency;

ϕ _ol = ϕ ₁ -ϕ _g ,

which is supplied to the first inputs of the multipliers 24, 25, 62 and 63. The second voltage inputs of the multipliers 25 and 63 from the outputs of the narrow-band filter 26 and the first phase inverter 66 are supplied with reference voltages, respectively:

u _o1 (t) = U _o ⋅cos [w _pr t-πγt ² + ϕ _pr ],

u _o2 (t) = - U _o ⋅cos [ω _pr t-πγt ² + ϕ _pr ], 0≤t≤T ₁ .

As a result of the multiplication of these signals, the resulting oscillations are formed:

,

,

,

,

.Where

.

Analogs of the modulating code:

,

,

,

,

are allocated by the low-pass filters 27 and 65, respectively, and fed to two inputs of the subtraction block 68. Subtracting one of the other indicated voltages, taking into account their opposite polarity, doubled (total) low-frequency voltage is formed at the output of subtraction block 68

,

,

where U _ns = 2U _s ,

those. it turns out the addition in absolute value of the stresses u _н1 (t) and u _н2 (t). In this case, the amplitude additive noise passes through the two demodulators 60 and 61 in the same way, changing the amplitudes of the output of the detected voltages in the same direction. But in block 68 of subtraction, they are subtracted, remaining unipolar, i.e. suppressed, mutually compensated.

The low-frequency voltage u _Н2 (t) from the output of the low-pass filter 65 is fed to the input of the phase inverter 67, the output of which is formed of a low-frequency voltage

.

.

Low-frequency voltages u _н1 (t) and u _н4 (t) from the output of the low-pass filter 27 and the phase inverter 67 are supplied to the second input of the multipliers 24 and 62, respectively, at the output of which the voltages are formed:

; U_o=2U₄.Where

; U _o = 2U ₄ .

These voltages are allocated by narrow-band filters 26 and 64, respectively. The voltage u _o1 (t) from the output of the narrow-band filter 26 is supplied to the second input of the multiplier 25. The voltage u _o3 (t) is extracted by the narrow-band filter 64 and is fed to the input of the phase inverter 66, at the output of which a voltage is generated

u _o2 (t) = - U _o ⋅cos [ω _pr t-πγt ² + ϕ _pr ],

which is fed to the second input of the multiplier 63.

The voltage u _n3 (t) from the output of the subtracting unit 68 is fed to the input of the decoder 7, which, depending on the vehicle code, gives a signal through the entry prohibition element 9 of the registration unit 8. The check-in block 8, having received and remembering the signal that the flight has been made, gives a signal to the former 10, which closes with the help of the ban element 9 the check-in block 8 from the decoder 7 for the minimum flight time, excluding the false offset of the flight in the check-in block 8 when the body is lifted again in the case of adhesion of building material to the walls of the body. In addition, when lifting an empty body, the pressure sensor 1 does not give a signal.

The voltage u _pr (t) from the output of the intermediate frequency amplifier 22 is simultaneously supplied to the input of the amplitude detector 23, which distinguishes its envelope U _hell . The latter enters the control input of the key 28, opening it. In the initial state, the key 28 is always closed. The voltage u _g (t) of the local oscillator 20 through the public key 28 is supplied to the input of the frequency meter 29, where the carrier frequency ω _{1 of the} received FMN signal is measured

ω ₁ = ω _g1 + ω _CR

where ω _g1 is the local oscillator frequency at a given time.

The measured value of the carrier frequency ω ₁ is recorded by the registration unit 32, where the side number of the trailer, the distance traveled, the fuel consumption and the location of the trailer are simultaneously recorded.

The standard GPS signal receiver is removable and manufactured by industry in standard packaging (SDS-221). The specified device provides satellite detection for a time of not more than 3-4 minutes and the error in determining the coordinates of the trailer is not more than 100 m.

To improve the accuracy of determining the location of the trailer in the proposed system, the method of differential corrections is used, which is based on the application of the principle of differential navigation measurements, known in radio navigation.

The differential mode allows you to determine the coordinates of the observed vehicle with an accuracy of 5 m in a dynamic navigation environment and up to 2 m in stationary conditions. Differential mode is implemented using the control receiver 42 GPS signals installed at the control point. The latter is located in a place with known geographical coordinates in the same area as the main GPS receiver 34 installed on the vehicle and makes it possible to simultaneously track satellites 50.i (i = 1, 2, ..., 24) of the navigation system “ Navstar ”(“ Glonass ”). Comparing the known coordinates obtained as a result of precision geodetic survey with the coordinates measured using the GPS receiver 42, the computer 43 determines the corrections that are converted using the coding unit 44 into the modulating code M ₂ (t) received at the first input of the phase manipulator 47 and to the registration unit 32. At the second input of the phase manipulator 47, the voltage of the high-frequency generator 46 is supplied

u ₃ (t) = U ₂ ⋅cos [w ₂ t + ϕ ₂ ], 0≤t≤T ₂ .

At the output of the phase manipulator 47 forms an FMN signal

, 0≤t≤Т₂,

, 0≤t≤T ₂ ,

- манипулируемая составляющая фазы, отображающая закон фазовой манипуляции в соответствии с модулирующим кодом M₂(t), который после усиления в усилителе 48 мощности через дуплексер 49 поступает в приемопередающую антенну 41 и излучается ею в эфир.Where

- the manipulated component of the phase, which displays the law of phase manipulation in accordance with the modulating code M ₂ (t), which, after amplification in the power amplifier 48, through the duplexer 49 enters the transceiver antenna 41 and is radiated by it.

The specified FMN signal is received by the antenna 16 and through the duplexer 36 is supplied to the first inputs of the multipliers 37, 38, 53 and 54.

The second inputs of the multipliers 38 and 54 from the outputs of the narrow-band filter 39 and the phase inverter 57 are supplied with reference voltage, respectively:

u _o4 (t) = U _o ⋅cos [ω ₂ t + ϕ ₂ ],

u _o5 (t) = - U _o ⋅cos [ω ₂ t + ϕ ₂ ], 0≤t≤T ₂ .

As a result of the multiplication of these signals, the resulting oscillations are formed:

,

,

,

,

.Where

.

Analogs of the modulating code:

,

,

,

,

are allocated by low-pass filters 40 and 56, respectively, and fed to two inputs of the subtraction unit 59. Subtracting one of the other indicated voltages, taking into account their opposite polarity, doubled (total) low-frequency voltage is formed at the output of the subtraction unit 59

,

,

where U _n7 = 2U ₅ , i.e. it turns out the addition of the absolute value of low-frequency voltages u _n5 (t) and u _n6 (t).

In this case, the amplitude additive noise passes through two demodulators 51 and 52 equally, changing the amplitudes of the detected detected voltages in the same direction. But in block 59 of the subtraction, they are subtracted, remaining unipolar, i.e. suppressed, mutually compensated.

The low-frequency voltage u _n6 (t) from the output of the low-pass filter 56 is fed to the input of the bass reflex 58, at the output of which a low-frequency voltage is generated

.

.

Low-frequency voltages u _н5 (t) and u _н8 (t) from the output of the low-pass filter 40 and the phase inverter 58 are supplied to the second input of the multipliers 37 and 53, respectively, at the output of which harmonic voltages are formed:

; U_o=2U₆.Where

; U _o = 2U ₆ .

These voltages are allocated by narrow-band filters 39 and 55, respectively.

The voltage u _o4 (t) from the output of the narrow-band filter 39 is supplied to the second input of the multiplier 38. The voltage u _o5 (t) is extracted by the narrow-band filter 55 and is fed to the input of the phase inverter 57, at the output of which a voltage is generated

u _o5 (t) = - U ₆ ⋅cos [ω ₂ t + ϕ ₂ ],

which is fed to the second input of the multiplier 54.

The low-frequency voltage u _n7 (t) from the output of the subtraction unit 59 is supplied to the second input of the microprocessor 35, where the location of this vehicle is specified.

Therefore, the calculated corrections at the control point are transmitted to the vehicle over the air in a predetermined format. Corrections accepted from the control point are automatically entered into the results of the vehicle’s own measurements. The updated value of the location of the trailer over the air is again transmitted to the control point.

For the exchange of discrete information between the controlled trailers and the control point, duplex radio communication is used, using two frequencies ω ₁ , ω ₂ and complex PSK signals with high energy and structural secrecy.

The energy secrecy of these signals is due to their high compressibility in time or in the spectrum with optimal processing, which reduces the instantaneous radiated power. As a result, a complex PSK signal at the receiving point may be masked by noise and interference. Moreover, the energy of a complex FMN signal is by no means small; it is simply distributed over the time-frequency domain so that at each point of this region the signal power is less than the power of noise and interference.

The structural secrecy of complex FMN signals is due to the wide variety of their forms and significant ranges of parameter values, which makes it difficult to optimize or at least quasi-optimal processing complex FMN signals of an a priori unknown structure.

The proposed system maintains a record of flights, fuel consumption and the distance traveled by trailers, and also allows you to accurately determine their location at any time. In addition, this system allows you to free personnel engaged in accounting and registration of operational indicators of vehicles and provides for the possibility of a single dispatch at the construction complex.

Thus, the proposed system, in comparison with the prototype and other technical solutions of a similar purpose, provides increased noise immunity and reliability of the exchange of discrete information between controlled trailers and a control point using duplex radio communication. This is achieved by suppressing the narrow-band interference received in the receiver bandwidth due to the use of two universal FMN signals demodulators on each monitored trailer and control point. These demodulators are free from the phenomenon of “reverse work” inherent in the well-known demodulators of FMN signals (Pistolkors A. A., Siforov V. I., Kostas D. F. and Travin G. A.).

Claims (1)

A remote control system for the transportation of high-tech building modules, containing on each controlled trailer a pressure sensor connected in series, an And element, the second input of which is connected to the output of the body position sensor, a coding unit, the second and third inputs of which are connected to the outputs of the fuel consumption sensors and the distance traveled, respectively a phase manipulator, the second input of which is connected to the output of the high-frequency generator, a power amplifier, a duplexer, the input-output of which is connected with a transceiver antenna, the first multiplier, the second input of which is connected to the output of the first low-pass filter, the first narrow-band filter, the second multiplier, the second input of which is connected to the output of the duplexer, and the first low-pass filter, the receiving antenna, the GPS receiver and the microprocessor connected in series for performing navigation calculations, the output of which is connected to the fourth input of the coding unit, and at the control point, a receiving antenna, a GPS receiver, and a computer are connected in series a navigation machine, a coding unit, a phase manipulator, the second input of which is connected to the output of a high-frequency generator, a power amplifier, a duplexer, the input-output of which is connected to a transceiver antenna, a high-frequency amplifier, a mixer, the second input of which is connected to the local oscillator and the output of the search unit, the intermediate frequency amplifier, the first multiplier, the second input of which is connected to the output of the first low-pass filter, the first narrow-band filter, the second multiplier, the second input is connected to the output of the intermediate frequency amplifier, and the first low-pass filter, connected in series to the output of the intermediate frequency amplifier, is an amplitude detector, a key, the second input of which is connected to the second output of the local oscillator, a frequency meter and an additional recording unit, the second, third and fourth inputs of which are connected directly and through the fuel consumption meter and the distance traveled counter with the corresponding outputs of the decoder, the fifth input of the additional registration unit is connected to the output of the code block besides, execution units are connected to the outputs of the decoder according to the number of monitored objects, each of which consists of a ban element, a registration unit and a pulse shaper, the output of which is connected to the ban input of the ban element, receiving antennas of controlled trailers and control channels through radio channels are connected to transmitting antennas of satellites by Navstar navigation system, transmitting and receiving antennas of controlled trailers in through radio channels connected to the transmitting and receiving antenna of the control point, characterized in that each controlled trailer is equipped with a third and fourth multiplier, a second narrow-band filter, a second low-pass filter, two phase inverters and a subtraction unit, and a third multiplier, a second input, are connected in series to the output of the duplexer which is connected to the output of the second phase inverter, the second narrow-band filter, the first phase inverter, the fourth multiplier, the second input of which is connected to the output of the hollow xer, a second low-pass filter and a second phase inverter, a subtraction unit is connected to the output of the first low-pass filter, the second input of which is connected to the output of the second low-pass filter, and the output is connected to the second output of the microprocessor for performing navigation calculations, and the control point is equipped with a third and fourth multipliers, a second narrow-band filter, a second low-pass filter, two phase inverters and a subtraction unit, and a third alternator is connected in series to the output of the intermediate-frequency amplifier a resident, the second input of which is connected to the output of the second phase inverter, the second narrow-band filter, the first phase inverter, the fourth multiplier, the second input of which is connected to the output of the intermediate frequency amplifier, the second low-pass filter and the second phase inverter, a subtraction unit is connected to the output of the first low-pass filter, the second the input of which is connected to the output of the second low-pass filter, and the output is connected to the input of the decoder.

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