RU2620359C9 - Method for determining aircraft position with respect to runway at landing and system for its implementation - Google Patents

Abstract

FIELD: radio engineering, communication.

SUBSTANCE: terrestrial beacon antenna system emits coherent signals that receive the radio antenna on board the aircraft (AC), their phase differences are converted and measured by frequency, which are proportional to the difference in the signal propagation path from the beacon antennas to the on-board aircraft antenna. The antenna system of each terrestrial beacon is formed in a certain way. The coherence of the beacon signals is carried out by modulation with tonal signals with corresponding frequencies. The signals emitted by the beacon antenna system are received on the antenna of the aircraft radio receiver and processed in a certain way. Based on the determination results on board of the aircraft of the four direction cosines generated by both beacons and the knowledge of the base size of the landing system, the intersection point of the aircraft sighting lines from the centers of the antenna systems of the radio beacons is determined in the coordinates of the runway (RW), which is the location of the aircraft relative to the runway, then the rectangular coordinates of the aircraft position are calculated relative to the landing point of the aircraft on the runway, which is converted into the necessary navigation flight elements of the aircraft during landing. The system implementing the method contains two ground beacons that are installed in the area of the aircraft landing on the runway on different sides of its axis, symmetrically with respect to its axis, at the known basic distance from each other. A radar detector, a calculator and a display are installed on board the aircraft, each radio beacon containing a radio signal generator, two tone generators, two modulators, five selective filters, five power amplifiers, an antenna system containing five antennas, one antenna of which is located in the center of the antenna system, and the rest are set peripherally in a certain way relative to the central antenna.

EFFECT: ability to determine on board the aircraft its spatial position relative to the runway and to display to the crew the parameters of this position in real time, the ability to use them for automate landing of the aircraft.

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Description

The invention relates to navigation, and in particular, to methods for determining the position of the aircraft (LA) relative to the runway (runway) and systems for their implementation.

State of the art

There is a known direction-finding method for determining the position of an aircraft, which consists in emitting a signal with a frequency ƒ _о received from an aircraft on a surface of the earth onto two direction-finding antennas spaced apart from each other at a distance of the measuring base b and measuring the phase difference ΔΨ of the received signal. Due to the difference in the signal propagation paths from the antenna of the airborne beacon to the antennas of the ground direction finder, a difference in the time of its reception arises, which, when the aircraft is significantly removed from the measuring base of the direction finder, is proportional to the cosine of the guiding angle α between the measurement base line and the line of sight of the aircraft. The magnitude of the phase shift received by the direction finder signals is determined by the formula:

where c = 3⋅10 ⁸ m / s is the propagation speed of the radio signal: Bychkov S.I., Lukyanov D.P., Nazimov E.N., Olyanjuk P.V., Sergeev N.K., Shebshaevich VS, Yurkov Yu .BUT. "Space radio engineering complexes." Owls radio, 1967; p. 130-134.

It is known that, provided the aircraft is flying along a trajectory directed perpendicular to the line of the spatial separation base of two direction finders and passing through the center of the base, the highest accuracy in determining the position of the aircraft is achieved: A.M. Znamenskaya, V.V. Tsyplakov, V.P. Shvedov “Metrological support of flight research. Equipment and measurement systems for flight research and testing ”in the scientific and technical collection“ Flight research and testing. Fragments of history and current status. " Engineering, 1993, p. 225-227. Fig. 14a "Characteristics of the accuracy of the measurement by direction finding method." A system that implements a direction finding method for determining the position of an aircraft consists of a beacon installed on board the aircraft and two ground direction finders, in which the radio navigation points (RNT) of the centers of the antenna systems are distant from each other by the size of the base of the system. The on-board radio beacon contains a transmitter with an antenna emitting an unmodulated continuous signal. Each direction finder in a simplified form contains an antenna system consisting of four antennas, two two-channel radios and two phase difference meters. The antennas of each direction finder are installed in the corners of the square, the diagonals of which are the measuring bases along the X and Z axes of the direction finder. A pair of antennas corresponding to the X axis or Z axis of the direction finder is connected to the inputs of its two-channel receiver, to the outputs of which a phase difference meter is connected. Thus, on the ground in two RNTs, the locations of the antenna systems of direction finders receive a beacon signal to four pairs of antennas corresponding to the X and Z axes of the two direction finders, and four phase differences are measured. Each measured phase difference of the signal is proportional to the directing cosine of the aircraft position relative to the corresponding X axis or Z axis of the corresponding direction finder. The measured four guides of the cosine of the position of the aircraft together with the magnitude of the base of the system are used to determine the position of the aircraft in space in a rectangular coordinate system. The disadvantage of this method is the inability to obtain navigation information on board the aircraft.

A device is known for determining the location and orientation angles of an aircraft relative to the runway (runway), including two equally spaced laser beacons with known coordinates installed along the runway in the security bands, providing the formation of the radiation region of the landing path, and containing on board the aircraft two spaced optical-location blocks made in the form of a lens and a photosensitive matrix and a calculator, including a module for processing digitized laser images beacons, module for calculating coordinates of beacons, module for calculating the matrix of guiding cosines and module for calculating coordinates of aircraft, where the coordinates of two beacons, orientation angles of the aircraft relative to the runway, matrix of guiding cosines, coordinates of the aircraft relative to the runway: horizontal distance to the point of contact, altitude, lateral deviation from the axis of the runway: patent for invention RU No. 2378664 C1. The disadvantage of this device is its unsuitability for landing aircraft in conditions of poor visibility during fog, rain, snowfall, smoke.

There is a phase difference-range measuring method for determining the position of an aircraft relative to a ground beacon, which consists in emitting coherent signals by an antenna system of a beacon containing two antennas spaced apart from each other by the distance of the measuring base, receiving signals emitted by the beacon from the aircraft, converting them in frequency and measuring them phase difference, which is proportional to the difference of the signal propagation paths from the beacon antennas to the aircraft’s onboard antenna, where, to achieve coherence of the radiated by a beacon of signals, the signals are synchronized in frequency by establishing an integer relation between their radiation frequencies and matching them in phase so that the phase of the local oscillator signal of one transmitter of the radio beacon is matched with the phase of the local oscillator signal of the other transmitter, and the measured phase difference is a parameter of the rotation hyperboloid relative to of the measuring base of the beacon, limited by the foci in the PHT of the placement of the antennas of the beacon, where the aerial part of the surface of the rotation hyperboloid is the position Menia LA: S.I. Bychkov, D.P. Lukyanov, E.N. Nazimov, P.V. Olyanyuk, N.K. Sergeev, B.C. Shebshaevich, Yu.A. Yurkov "Space Radio Engineering Complexes". Owls radio, 1967, p. 125-127. The disadvantage of this method is the hyperbolic curvature of the position line.

The present invention is aimed at achieving a technical result consisting in the ability to determine its spatial position relative to the runway on board the aircraft and display the parameters of this position in real time to the crew, as well as the ability to use them to automate aircraft landing.

To obtain the technical result in the proposed method for determining the position of the aircraft relative to the runway during landing, which includes emitting coherent signals by the antenna system of a ground beacon, containing antennas spaced apart from each other by the distance of the measuring base, receiving by a radio receiver on board an aircraft of a ground beacon signals, converting signals in frequency and measuring their phase difference, which is proportional to the difference in the signal propagation paths from the beacon antennas to the aircraft’s onboard antenna, and its the value is a parameter of the hyperboloid of rotation relative to the measuring base of the beacon, the aerial part of the surface of which is the position of the aircraft, the antenna system of the beacon is formed from two mutually orthogonal to each other measuring bases, which additionally include a common central antenna O installed at point O, and four peripheral the antennas B _x , H _x and B _z , H _z are installed from the central antenna O at the base distances b in _x , b _nx and b _bz , b _nz respectively at points B _x , H _{x of} the X axis and points B _z , H _{z of the} axis Z, to which belong to the measuring bases of the beacon. The coherence of the beacon signals is carried out by modulation with tonal signals of frequency F _x and F _{z of the} radio signal of frequency ƒ. Separated by filters from each other obtained five components of the modulated signal which is sent to five identical antennas in the antenna set at points _x and N _x, directed respectively high (on the upper side frequency ƒ _Bx = ƒ + F _x) signal and _Rin and low-frequency (at the lower lateral frequency ƒ _нх = ƒ-F _x ) signal а _нх , to the antenna installed at point О, send a reference (at the carrier frequency ƒ _о = ƒ) signal а _о , to the antennas installed at points B _z and H _z direct respectively high-frequency (on the upper side frequency ƒ _bz = ƒ + F _z ) signal a _bz and low-frequency (at the lower lateral frequency ƒ _нz = ƒ-F _z ) signal a _bz . The signals emitted by the antenna system of the beacon are received by the antenna of the aircraft’s onboard radio receiver, onboard the aircraft, the signals are separated from each other by filters, one pair of signals: the high-frequency at a frequency of _{и in} and the reference at a frequency of ƒ _{о are} converted into one signal at a frequency (ƒ _I- ƒ _o ) with a phase shift containing the time-varying phase of the tone signal (2π⋅F _x ⋅t + Ф _х ) and a constant phase shift proportional to the difference in the propagation paths of the signals from the beacon antennas to the aircraft antenna, another pair of signals: reference at the frequency ƒ _o and low-frequency at a frequency of ƒ _{nx are} converted into another signal at a frequency (ƒ _o -ƒ _nx ) with a similar phase shift. The phase difference ΔΨ _{x of the} converted signals is measured, which is equal to the difference of the phase shifts of the pairs of signals a _in and a _about , and _o and a _nx received by them when propagating from the corresponding beacon antennas to the airborne antenna of the aircraft, while in the far zone of the beacon, the surface of the location hyperboloid LA asymptotically 'degenerates "in a lateral surface of the cone rotation emanating from the radionavigation point (RNT) placing the center O of the antenna, whose generatrix is a straight line of sight from the _aircraft's angle α measured from a and X, wherein the elevated portion of the side surface of a cone of revolution is a place aircraft position, wherein the guide value of the cosine taper is determined by the formula:

cos α _x = ΔΨ _x ⋅c / 2π⋅ (ƒ _bx ⋅b _bx -ƒ _nx ⋅b _nx ),

where c is the propagation speed of the radio signal,

In this way, the guiding cosine for the Z axis is formed and determined by the formula:

cos α _z = ΔΨ _z ⋅c / 2π⋅ (ƒ _вz ⋅b _вz -ƒ _нz ⋅b _нz ),

In this case, the intersection of the side surfaces of the cones of the location of the aircraft defined by the direction cosines cos α _x and cos α _z is the line of sight of the aircraft from the center of the antenna system of the beacon. To determine onboard the aircraft its position in space relative to the runway, the signals are additionally emitted by the antenna system of the second beacon, while the beacons distinguish between themselves the frequency of the radio signal ƒ _o , which for each beacon is its identifier, both beacons are installed in the vicinity of the aircraft's landing point at the runway on different sides of its axis, symmetrically about its axis at a basic distance from each other B, according to the results of determining four guides on board the aircraft x cosines formed by both beacons, and knowledge of the basic size of the landing system determines in the coordinate system of the runway the point of intersection of the line of sight of the aircraft from the centers of the antenna systems of the beacons, which is the location point of the aircraft relative to the runway, then the rectangular coordinates of the position of the aircraft relative to the point of landing of the aircraft on the runway are calculated, which convert the navigation elements of the flight of the aircraft when landing necessary for the crew: lateral deviation of the aircraft from the axis of the runway, range to the point of landing of the aircraft on the runway, altitude and speed Oleta aircraft, its current glideslope, aircraft speed reduction, which is displayed in a convenient form for the crew of aircraft display.

In addition, for the conditions of use of the beacon with angles α _x and α _z ∈ [0 °, 180 °], measured relative to the X and Z axes of the beacon and counted in the phase differences of the signals ΔΨ∈ [π / 2, -π / 2], at the given frequency of the radio signal ƒ and the frequencies of the tonal signals F _x and F _z , as well as the given geometric dimensions of the bases of the antenna system b _nx and b _nz , the geometric dimensions of the bases b _I and b _{bz are} determined by the formulas:

и

.

and

.

To achieve the named technical result in the proposed system for determining the position of the aircraft relative to the runway during landing, containing radio beacons installed at the aerodrome near the runway at points with known coordinates and radio beacons radiation registration units installed on board the aircraft, a calculator containing a module for calculating the matrix of directional cosines and a module calculating the coordinates of the aircraft, two ground beacons are installed in the area of the aircraft touchdown point on the runway on opposite sides of its axis, symmetrically with respect to its and, at a certain distance of the base from each other, the direction finder mounted on board the aircraft. Each beacon contains a radio signal generator, the frequency ƒ _{o of} which is the identifier of the beacon, two tone generators, the frequencies F _x and F _{z of} which are identifiers of the X and Z axes of the beacon, two modulators, five selective filters, five power amplifiers, which organize into channels of formation signals along the X and Z axes and the channel for generating the reference signal, and the antenna system consisting of five identical antennas B _x , B _z , O, H _x , H _z , of which the antenna O is installed in the center of the antenna system, and the antennas B _x , In _z , H _x , H _z are installed at the periphery relative to the antenna O so that the antenna line B _x , O, H _{x is} orthogonal to the antenna line B _z , O, H _z , while the antennas B _x and H _x are separated from the antenna O by the distances b _in , b _{nx of the} measuring base B _x H _x , the antennas B _z and H _z are separated from the antenna O at the distances b _bz , b _{nz of the} measuring base B _z H _z , where each measuring base contains a base vector that determines the direction of the X axis or the Z axis of the beacon relative to which the angular position of the aircraft is measured. In this case, the inputs of the modulators are connected to the output of the radio signal generator and to the outputs of the tone signal generators, where, to separate the component of the modulated signals, the outputs of the modulators are connected to the inputs of the selective filters: high-frequency (at the upper side frequencies ƒ _in , ƒ _bz ) signals and low-frequency (at lower lateral _Hx frequencies ƒ, ƒ _HZ) signals axes X and Z, and the input selective filter support (carrier frequency ƒ _o) signal is connected to the radio signal generator output, wherein the outputs of filters polling Comm nyayut inputs to amplifiers whose outputs are coupled to antennas H _x H _z, O _x, B _z. Both beacons by radiation of their antenna systems are connected with the antenna of the radio receiver of the aircraft direction finder. The aircraft’s direction finder contains a radio receiver of beacon signals, ten band-pass selective filters, eight frequency converters, eight differential frequency filters, four phase difference meters, which are organized by the accessories of the beacons in two paths, each of which is organized into signal generation channels along the X and Z axes and a channel for generating a reference signal, where when generating signals along the X and Z axes, the channel for the reference signal is common, and a computer with a display. In this case, the output of the onboard direction finder radio receiver in each path is connected to the inputs of the selective filters of the reference signal (at the carrier frequency ƒ _o ), two high-frequency (at the upper side frequencies ƒ _I and ƒ _Bz ) signals and two low-frequency (at the lower side frequencies ƒ _nx and ƒ _hz ) signals by belonging to the signal generation channels along the X axis and along the Z axis of the beacon. At the same time, in the channel for generating signals along the X axis, the output of the high-frequency and low-frequency selective filters together with the output of the selective filter of the reference signal are connected in pairs to the input of the frequency converter to convert the signals: high-frequency at a frequency of ƒ _I and reference at a frequency of ƒ _o into one signal with a phase shift of frequency (ƒ _Rin -ƒ _o) at the reference frequency and low frequency ƒ _o at frequency ƒ _Hx into another signal with the phase shift at a frequency (ƒ _o -ƒ _Hx), wherein the frequency converters outputs difference through filters often s are connected to the inputs of the phase difference meter whose output is linked to the input of the calculator. Similarly, in the signal generation channel along the Z axis, signals are generated at frequencies (ƒ _bz -ƒ _o ) and (ƒ _o -ƒ _nz ), which are fed through the difference frequency filters to the inputs of the phase difference meter, the output of which is connected to the second input of the calculator. A second path of the direction finder is arranged and connected to the calculator in a similar way.

In the computer, according to the results of determining on the aircraft on board four directing cosines formed by both beacons, and knowing the base distance between the beacons, calculate the rectangular coordinates of the position of the aircraft relative to the landing point of the aircraft on the runway and determine the spatial position of the aircraft relative to the runway, display on the display in real time crew lateral deviation of the aircraft from the axis of the runway, range to the point of touchdown of the aircraft on the runway, altitude and speed of flight of the aircraft, its current glide path, speed of descent of the aircraft.

The proposed invention is illustrated by drawings, which depict:

in FIG. 1 functional block diagram of the device landing system, where:

1, 1a - the first and second ground beacons;

2 - tone generator;

3 - radio signal generator;

4 - modulator;

5 - selective filter of a high-frequency signal (at the upper side frequency);

6 - selective filter of the reference signal (at the carrier frequency):

7 - selective filter of the low-frequency signal (at the lower side frequency);

8 - power amplifier;

9 - channel signal generation along the X axis;

10 - channel forming the reference signal;

11 - channel signal generation along the Z axis;

12 - antenna system of a beacon with antennas B _x , B _z , O, H _x , H _z ;

13 - side direction finder;

14 - a radio receiver;

15 - selective filter of a high-frequency signal (at the upper side frequency);

16 - selective filter of the reference signal (at the carrier frequency);

17 - selective filter of the low-frequency signal (at the lower side frequency);

18 - signal frequency converter;

19 - differential frequency filter;

20 - phase difference meter;

21, 21a - paths for the formation of measurements by the signals of the first and second beacons;

22 - channel signal generation along the X axis;

23 - channel forming the reference signal;

24 - channel signal generation along the Z axis;

25 - information about the size of the system base;

26 - computer with a display.

in FIG. 2 diagram of the device of the antenna system of the beacon (top view).

in FIG. 3 diagram of the formation of phase shifts of the signals by the antennas of the X axis of the beacon and measuring them on board the aircraft

in FIG. 4 geometry of the relationship of the navigation parameters of the landing system: B, α _x1 , α _x2 with rectangular coordinates X _s , Z _c , Y _{c the} position of the aircraft relative to the runway.

in FIG. 5 geometry of the relationship of the navigation parameters of the landing system: B, α _z1 , α _z2 with rectangular coordinates X _c , Z _c , Y _{c the} position of the aircraft relative to the runway.

The proposed system for determining the position of the aircraft relative to the runway during landing contains (Fig. 1) two ground beacons 1, 1a and an airborne direction finder 13 mounted on board the aircraft. Each beacon 1, 1a contains a radio signal generator 3, the frequency ƒ _{o of} which is the identifier of the beacon, two tone signal generators 2, the frequencies F _x and F _{z of} which are identifiers of the X and Z axes of the beacon, two modulators 4, five selective filters: selective filter 5 a high-frequency signal (at the upper side frequency), a selective filter of the reference signal 6 (at the carrier frequency), a selective filter 7 of the low-frequency signal (at the lower side frequency), five power amplifiers 8, which organize 9 ph ming signal on X-axis, a channel 10 for generating a reference signal, said signal generating channel 11 to the axis Z and an antenna system 12. The antenna system of each beacon 12 comprises five identical antennas in the _x, N _x, O, B _z, H _z, of which the antenna O is installed in the center of the antenna system, and the antennas B _x , H _x and B _z , H _z are installed on the periphery relative to the antenna O so that the antenna line B _x , O, H _x and the antenna line B _z , O, H _z are mutually orthogonal to each other, are x and z axes of the beacon, wherein each measuring base in _x H _x and B _z H _z Acc INH its basis vector defining the direction of X-axis or Z axis of the beacon relative to which the measured angular position of the aircraft, wherein the peripheral antenna away from the central antenna distance _Rin b, b and b _{Hx BZ, HZ} b (FIG. 2). constituent measuring bases of a beacon. The inputs of the modulator 4 are connected to the output of the radio signal generator 3 and to the output of the tone signal generator 2. To separate the components of the modulated signal from each other received at the output of the modulators, the output of the modulator 4 in each channel 9 and 11 is connected to the inputs of the selective filters: high-frequency 5 (on upper sideband frequency _Bx ƒ, ƒ _BZ) and low-frequency signals 7 (on the lower side _Hx frequency ƒ, ƒ _HZ) signals and a reference input selective filter 6 (at the carrier frequency ƒ _o) signal is connected to the output of the generator 3. Each radio th polling output filters 5, 6, 7 are connected via the amplifiers to the inputs 8 localizer transmitting antenna system. The radiation of two beacons 1, 1A receive the antenna of the radio receiver 14 mounted on board the aircraft. The direction finder 13 contains a radio receiver 14 with an antenna and two paths for forming measurements 21 and 21a from the signals of the beacons, in each path five band-pass selective filters are installed according to the signals emitted by the antennas located along the X and Z axes of the beacon: two selective filters 15 of the high-frequency signal ( on the upper side frequency), two selective filters 17 low-frequency signal (on the lower side frequency), selective filter 16 of the reference signal (on the carrier frequency), four frequency converters 18, Four filters of the difference frequency 19, two phase difference meters 20, where the contents of each path are arranged in a channel 22 for generating signals along the X axis, channel 23 for generating a reference signal, channel 24 for generating signals in the Z axis. In each path, the outputs of the radio receiver 14 of the direction finder 13 are connected to the inputs of acceptance filters: reference 16 (at the carrier frequency ƒ _o) signal, two high-frequency 15 (on the upper side frequency ƒ _Bx, ƒ _BZ) signals and two woofers 17 (on the lower side frequency ƒ _Hx, ƒ _HZ) of the signals as belonging to nalam 22 and 24 generate signals along the axes X and Z beacon. In each channel of signal generation along the X axis or Z axis, the outputs of the high-frequency 15 and low-frequency 17 selective filters together with the outputs of the selective filter 16 of the reference signal are connected in pairs to the inputs of the frequency converters 18 to convert the frequency of the signals: high-frequency and reference into a single signal with a phase shift at the frequency (ƒ _bx -ƒ _o ) or (ƒ _bz -ƒ _o ), the reference and low-frequency signals to another signal with a phase shift at the frequency (ƒ _o -ƒ _нх ) or (ƒ _о -ƒ _нz ). The outputs of the frequency converters 18 through the difference frequency filters 19 are connected to the inputs of the phase difference meter 20 in channels X and Z. The output of each of them in each path is connected to the input of the computer with display 26, where, according to the results of the measurement on board the aircraft, four directional cosines and knowledge of the magnitude the base distance between two beacons, calculate the rectangular coordinates of the position of the aircraft relative to the point of touchdown of the aircraft on the runway, which are converted into navigation elements of the flight of the aircraft: lateral deviation of the aircraft from the axis of the runway, distance spine to the aircraft on the runway touchdown, altitude and flight speed of the aircraft, its current glide path, the speed of the aircraft reduction displayed on the display screen in the convenient form of crew or aircraft used for automatic landing.

The proposed method is carried out in the following sequence.

The inputs (Fig. 1) of modulator 4 of beacon 1 are supplied: from the generator 2, the tone signal s _x = S _x ⋅cos (Ω _x ⋅t + Ф _х ), from the generator 3 the radio signal a = A⋅cos (ω⋅t + ϕ), the signals are normalized in amplitude: S _x = A = 1. When using amplitude modulation, the output signal of the modulator а _х = [1 + cos (Ω _x ⋅t + Ф _х )] ⋅cos (ω⋅t + ϕ) is the sum of three components:

;high side frequency components

;

components at the carrier frequency a _o = cos (ω⋅t + ϕ):

.low side frequency components

.

A similar spectrum has frequency and phase-modulated signals with a modulation index much less than unity. Therefore, in the technical problem being solved, the modulation method does not matter. From a comparison of the phases of the components at the upper side frequency and at the carrier frequency, it follows that their difference [(ω⋅t + ϕ) + (Ω _x ⋅t + Ф _х )] - (ω⋅t + ϕ) is equal to the phase of the tone signal (Ω _x ⋅t + Φ _x ). From a similar comparison of the phases of the components at the carrier frequency and at the lower side frequency (ω⋅t + ϕ) - [(ω⋅t + ϕ) - (Ω _x ⋅t + Ф _х )], the equality (Ω _x ⋅t + Ф) also follows _x ). The equality of the phase differences of the associated pairs of components means their coherence and, as a consequence, the possibility of using them as a carrier of the navigation parameter. To give each of these differences pairs of components of the primary navigation parameter, it is necessary to emit the components by spatially separated antennas. Then, as a result of comparing the phase difference of the pairs of components on board the aircraft, it will be possible to measure the value of the navigation parameter the position of the aircraft relative to the spatial diversity base of the antennas.

The components of the modulated signal at the output of modulator 4 are present together. For separate use, their signals from the output of the modulator 4 and the radio signal generator 3 are fed to the inputs of three selective filters 5, 6, 7. At the output of which three independent signals are received:

at the output of the filter 5 - high-frequency (at the upper side frequency) signal

and _in = cos (ω _in ⋅t + ϕ _in );

at the output of filter 6, a reference signal (at the carrier frequency) a _о = cos (ω _о ⋅t + ϕ _о );

at the output of the filter 7 is a low-frequency (at the lower side frequency) signal

and _hx = cos (ω _hx ⋅t + ϕ _hx );

Where

,

. Опорный сигнал излучают антенной О, высокочастотный и низкочастотный сигналы, соответственно - антеннами В_х и Н_х.The signals from the output of filters 5, 6, 7 are fed to the inputs of power amplifiers 8, the output of which is fed to three antennas B _x , O, H _{x of the} antenna system of the beacon 12. The antennas B _x and H _x (Fig. 3) are located on the same line with antenna O on different sides of it at a distance

,

. The reference signal is emitted by the antenna O, high-frequency and low-frequency signals, respectively, by the antennas B _x and H _x .

A radiating antenna _x, G, H and _Rin signals _x and _o, and _HX is a radio antenna 14 onboard direction finder 13 installed on the aircraft, the antenna is located at point V (FIG. 3). When propagating along the paths B _x V, OV, H _x V, the signals a _bx , a _o , a _nx acquire individual phase shifts θ _bx , θ _o , θ _nx . Point V (Fig. 3) is located in the far zone relative to the antenna system of the beacon, is arbitrarily selected in space and is separated from the antennas B _x , O, H _x at distances D in _x , D _o , D _nx . The rays emanating from the antennas H _x , O, B _x towards the point V, as well as in any other direction to the far zone, are quasi-parallel to each other.

Quasiparallelism is an abstracted approach to considering a bundle of straight lines that are parallel, as it were, on one side, and on the other hand belong to one straight line. This approach was applied in developing the idea of a phase direction finder and has already become a classic.

According to this approach, the rays B _x V, OV, H _x V form a parallel bundle of straight lines emanating from the location points of the antennas B _x , O, H _x and at the same time belong to the line to which point V. If any line of this beam intersects a line perpendicular to it, then this straight line will also be perpendicular to the rest of the straight lines of the beam. Consequently, the segments of the quasiparallel straight lines of the beam, bounded, on the one hand, by a point of belonging to the point V, and on the other hand by a straight line perpendicular to them, will be equal [in length].

The intersection of the beam of straight lines perpendicular to it can be made at any sufficiently large distance from point V. For the convenience of solving the problem, the intersection of the beam of lines B _x V, OV, H _x V of the perpendicular line B'H 'is carried out through the location of the antenna O (Fig. 3).

From the above explanation of the meaning of quasi-parallelism, it follows that the distances B'V, OV, H'V (Fig. 3) are equal to each other.

, тогда:

If designated:

then:

The base line B _x H _{x of the} antenna system of the radio beacon is a line segment intersecting the beam of lines H _x V, OV, B _x V at an angle α _x between the line of sight of point V and the line of the base B _x H _x belonging to the X axis of the beacon. Therefore, the angles B _x , H _x adjacent to an angle O equal to α _x are also equal to α _x (angles equal to each other are indicated by the arc in Fig. 3).

(фиг. 3). При этом

.Signal a _{bx travels a} distance

(Fig. 3). Wherein

.

. Следовательно

.According to the expression (3)

. Hence

.

. Следовательно D_вx=D_о+b_вx⋅cos α_х.

. Therefore, D at _x = D _о + b at _x ⋅cos α _x .

(фиг. 3). При этом

.Signal a _{nx travels a} distance

(Fig. 3). Wherein

.

. Следовательно

.According to the expression (3)

. Hence

.

. Следовательно D_нх=D_о-b_нх cos α_x.

. Therefore, D _hx = D _o -b _hx cos α _x .

The distances D _in , D _o , D _nx signals a _I, a _o , and _nx overcome with the speed of propagation of the radio signal in space from ≈3⋅10 ⁸ m / s for the time T _I , T _o , T _nx , respectively, time lag receiving signals a _I , and _oh , and _nx at point V will be:

Therefore, the individual phase shifts of the received signals are equal to:

Thus, the mathematical expression of the set of signals received by the aircraft's onboard antenna has the form:

The signals (6) from the output of the radio receiver 14 are fed to the inputs of the filters 15, 16, 17, which are divided into: high-frequency signal a _I , reference signal a _about , low-frequency signal a _nx . From the output of the filters 15, 16, 17, these signals are fed in pairs to the inputs of two frequency converters of the signal 18, respectively: a _in and a _about , a _about and a _nx .

The product of the conversion of the signals a _bx and a _about the frequency converter of the signal 18 is an ensemble of components produced from these signals, one of the components of which has a difference frequency (ω _in- ω _о ). To remove this component and the suppression of other components of the product conversion output signal the frequency converter 18 is input to the difference-frequency filter 19, whose output signal is obtained as _WMOs (ω _Rin -ω _o) at the difference frequency:

With the notation (2) and (5) a signal _WMO (ω _Rin -ω _o) becomes:

where and phase of the signal _WMO (ω _Rin -ω _o) comprises a time-varying tone phase (Ω _x ⋅t + F _x) and individual constant phase shift (θ _Rin -θ _o), equal to the difference of the phase shifts and signal _Rin and a _o acquired by them during propagation from the corresponding beacon antennas to the aircraft’s onboard antenna.

The product of the conversion of the signals a _o and a _nx the frequency converter of the signal 18 is an ensemble of components produced from these signals, one of the components of which has their difference frequency (ω _{o -ω nx} ). To remove this component and the suppression of other components of the product outputted from the signal converting frequency converter 18 is input to the filter 19. The difference frequency output signal which is obtained as _onchus (ω _to -ω _Hx) at the difference frequency:

With the notation (2) and (5) a signal _onchus (ω _to -ω _Hx) takes the form:

where the phase of the signal a _onx (ω _{о -ω нх} ) contains the time-varying phase of the tone signal (Ω _x ⋅t + Ф _х ) and an individual constant phase shift (θ _{o -θ nx} ) equal to the difference in the phase shifts of the signals a _o and a _hx , acquired by them during propagation from the corresponding beacon antennas to the aircraft onboard antenna.

From a comparison of the phases of the signals a _input (ω _in- ω _o ) and a _onx (ω _about- ω _nx ), indicated by (8) and (10), it follows that. firstly, both signals have a common variable part of the phase equal to (Ω _x ⋅t + Ф _х ) - which reveal their coherence, and secondly, each of these signals has a special constant part of the phase equal to the difference in phase shifts of the signals, from which he descended.

Signals and _WMOs (ω -ω _{about Rin)} and a _onchus (ω _to -ω _Hx) shown in (8) and (10), from the output of filter 19 is supplied to a phase comparison input to the phase difference meter 20. The measured phase difference ΔΨ _{x of} these signals is equal to:

difference ΔΨ and phases of the signals _{x WMOs} (ω -ω _{about Rin)} and a _onchus (ω _to -ω _Hx) equal to the difference of differences of pairs of phase shifts and signal _Rin and a _o, a _o and _Hx and received by them in the propagation from the respective antennas a beacon to the aircraft's onboard antenna.

If in the expression (11) substitute the definitions for θ _in , θ _about , θ _nx given in (4) and (5), then the result is:

If the notation given in expression (2): ω _о = ω, ω _in = ω + Ω _x , ω _nx = ω-Ω _x , is substituted into expression (12), then expression (12) leads to the form:

From the comparison of expression (13) with expression (1): ΔΨ = 2π⋅с ^-1 ⋅ƒ _о ⋅b⋅cos α their identity follows. For all values of _Bx ƒ, ƒ _{Hx Rin} and b, b _Hx expression (13) will always be equivalent values ƒ _{eq eq} b, which correspond to the equation ƒ _Rin ⋅b _Rin -f _Hx ⋅b _Hx = ƒ _{eq eq} relative ⋅b to expression (14) and correspond to the equality ƒ _eq ⋅b _eq = ƒ _o ⋅b with respect to expression (1). Therefore, it has the right to be equal ƒ _Rin ⋅b _Bx -ƒ ⋅b _{Hx Hx} = ƒ _about ⋅b, which reveals that by their functional system in which the inventive method is carried out, identical with the classical direction finder. However, at the place of receiving navigation information - on board the aircraft about its location relative to the runway - the system is a radio beacon. Therefore, the claimed system is a radio beacon phase direction finding.

From the expression (13) it follows:

the directing cosine (cos α _x ) of the angle α _x between the line of sight of point V, the location of the aircraft and the base line of the antennas B _x H _{x is} directly proportional to the measured phase difference ΔΨ _{x of the} signals a _in and _a , and _oh , received on board the aircraft, and inversely proportional the design parameter (ω _in ⋅ ⋅ b _{in -ω} х _{х ⋅} b _nx ) of the antenna base B _x H _x .

The directing cosine (cos α ₂ ), formed from the phase shifts of the signals emitted by the antennas of the Z axis of the beacon, is measured on board the aircraft in a similar manner.

According to the results of determining on the aircraft four directional cosines of the aircraft the position of the aircraft relative to the X and Z axes of two beacons installed in the landing area of the aircraft on the runway on opposite sides of its axis, symmetrical about its axis, and spaced apart from each other at the base distance B of the system, and knowing the value of the base distance B between the beacons, calculate the rectangular coordinates of the position of the aircraft relative to the point of touchdown of the aircraft on the runway according to the formulas obtained by the method below.

In FIG. 4 and FIG. 3 shows: a local rectangular coordinate system of runway 0XYZ centered at the landing point of the aircraft on the runway, radio navigation points (RNT) A ₁ and A _{2 of the} location of the centers of the antenna systems of radio beacons; point C (X _c , Z _c , Y _c ) - the location point of the antenna of the radio receiver of the aircraft’s direction finder; the base of the landing system B and the four angles α _x1 , α _z1 , α _x1 , α _z2 , which are the arguments of the guiding cosines.

The basis of the geometry of the relationship between the navigation parameters of the landing system (the size of the base B of the landing system and the values of the four cosine guides) available on board the aircraft with the position of the aircraft in the rectangular coordinate system 0XYZ (Fig. 4, Fig. 5) is one kind of geometric figures - rectangular triangle. In the construction, one geometric property was used - a line and a point outside it always belongs to one and only one plane.

In FIG. 4 X-axis of beacons, the centers of the antenna systems of which are located in РНТ А ₁ and А ₂ , are parallel to the local axis X of the runway. The X axis of the beacon, the center of the antenna system of which is located in the RNT A ₁ , and the point C of the aircraft position belong to the plane bounded by the rectangle A ₁ A ' _c CC ₁ , the diagonal of which is the line of sight D ₁ . Similarly, the X axis of the beacon, the center of the antenna system of which is located in the RNT A ₂ , and the point C of the aircraft position belong to the plane bounded by the rectangle A ₂ A ' _with CC ₂ , whose diagonal is the line of sight D ₂ .

The length of the line of sight of the aircraft from RNT A ₁ and RNT A ₂ is the range of D ₁ and D ₂ .

In FIG. The 5 Z-axis of the beacons, the centers of the antenna systems of which are located in the РНТ А ₁ and А ₂ , belong to the local axis Z of the runway. The local Z axis and point C of the aircraft position belong to the plane bounded by the rectangle A ₁ A ₂ C ' ₂ C' ₁ , the diagonals of which are the distances D ₁ and D ₂ .

The direction cosines formed by two beacons and measured on board the aircraft are respectively marked: cos α _x1 , cos α _z1 , cos α _x2 , cos α _z2 . Wherein:

In the square A ₁ A ₂ C ₂ C ₁ (Fig. 4 and Fig. 5) have the ratio:

A ₁ C ₁ = A ₂ C ₂ = A _c C _c = X _c .

From consideration of FIG. 4 shows that:

in triangle A ₁ CC ₁ :

in triangle A ₂ SS ₂ :

This means: D ₁ ⋅cos α _x1 = D ₂ ⋅cos α _x2 , whence:

From consideration of FIG. 5 shows that:

in the triangle A ₁ CA _c : A ₁ A _c = D ₁ ⋅cos α _z1 ;

in the triangle A ₂ CA _c : A ₂ A _c = D ₂ ⋅cos α _z2 .

Replacing in these expressions A ₁ A _c and A ₂ A _c from (16) get:

0.5B-Z _c = D ₁ ⋅cos α _z1 , 0.5B + Z _c = D ₂ ⋅cos α _z2 .

If the resulting expressions are added up, then they get:

0.5B + Z _c + 0.5B-Z _c = D ₂ ⋅cos α _z2 + D ₁ ⋅cos α _zl ;

If the obtained expressions are subtracted, then they get:

0.5B + Z _c - (0.5B-Z _c ) = D ₂ ⋅cos α _z2 -D ₁ ⋅cos α _z1 ;

2Z _c = D ₂ ⋅cos α _z2 -D ₁ ⋅cos α _z1 ;

where from:

Substituting (17c) into (18a) gives:

From the resulting express D ₁ through B have:

Expressing D ₁ = D ₂ ⋅ cos α _x2 / cos α _x1 , as was done in (17c), and substituting this result in (18a), we obtain:

In the expression (17a) X _c = D ₁ ⋅cos α _x1 substituting (18c), get:

We have formula (20) for converting the values of the base of the landing system B and the values of the measured guide cosines cos α _x1 , cos α ₁ , cos α _x2 , cos α _z2 into the value of the rectangular coordinate X _{from the} position of the aircraft in the local coordinate system of the runway.

Substituting (17c) into (18b), one obtains:

Z _c = 0.5⋅ (D ₁ ⋅cos α _x1 ⋅cos α _z2 / cos α _x2 -D ₁ cos α _z1 ) =

= 0.5D ₁ ⋅ (cos α _x1 ⋅cos α _z2 -cos α _x2 cos α _z1 ) / cos α _x2 ;

Substituting in the resulting expression D ₁ from (19a), get:

Z _c = 0.5D ₁ ⋅ (cos α _x1 ⋅cos α _z2 -cos α _x2 ⋅cos α _z1 ) / cos α _x2 =

= 0.5B⋅ (cos α _x1 ⋅cos α _z2 -cos α _x2 ⋅cos α _z1 ) ⋅cos α _x2 / (cos α _x1 ⋅cos α _z2 + cos α _z2 + cos α _x2 ⋅cos α _z1 ) ⋅cos α _x2 ;

where from:

We have formula (21) for converting the values of the base of the landing system B and the values of the measured guide cosines cos α _x1 , cos α _z1 , cos α _x2 , cos α _z2 into the value of the rectangular coordinate Z _{c of the} position of the aircraft in the local coordinate system of the runway.

In the square CA ' _c A _c C' _c (Fig. 5) have the ratio:

From consideration of FIG. 5 shows that: A ₁ C = D ₁ , A ₂ C = D ₂ ;

in triangle A ₁ CA ' ₁ :

in triangle A ₂ CA ' ₂ :

In view of (22b) and (22c), expressions (22a) will take the form:

Y _c1 = D ₁ ⋅cos α _y1 , Y _c2 = D ₂ ⋅cos α _y2 .

Taking into account the definitions for cos α _y1 and cos α _y2 given in (15), we obtain:

Substituting the values for D ₁ , D ₂ into these expressions from (19a) and (19b), we obtain:

We have formulas (23) for converting the values of the base of the landing system B and the values of the measured guide cosines cos α _x1 , cos α _z1 , cos α _x2 , cos α _z2 into the value of the rectangular coordinate Y _{from the} position of the aircraft in the local coordinate system of the runway. The presence of two equivalent formulas in expression (23) means that the landing system has redundancy in the information received, which can be used to increase accuracy by averaging: Y _c = (Y _c1 + Y _c2 ) / 2.

Formulas (20), (21), (23) are used in the aircraft calculator to convert the measured navigation parameters to the rectangular coordinates of the aircraft position, which are then converted into landing navigation elements: the lateral deviation of the aircraft from the runway axis, the distance to the aircraft landing point at The runway, aircraft altitude and flight speed, its current glide path, aircraft descent rate, which are displayed in a convenient crew form on the aircraft display or used for automatic aircraft landing.

If the constraints on the change in α _x or α _{z are} specified in expression (14)

on the interval [0 °, 180 °] and restrictions on the change ΔΨ on the interval [π / 2, -π / 2], then for α values equal to 0 °, 90 °, 180 ° and the corresponding ΔΨ values equal to π / 2b 0, -π / 2 get three equations:

a) α = 0 °, ΔΨ = π / 2, then:

cos 0 ° = π / 2⋅c / 2π⋅ (ƒ _in ⋅b _in -ƒ _n ⋅b _n )

4⋅(ƒ_в⋅b_в-ƒ_н⋅b_н)=c;

4⋅ (ƒ _in ⋅b _in -ƒ _n ⋅b _n ) = c;

1 = 4c ^-1 ⋅ (ƒ _in ⋅b _in -ƒ _n ⋅b _n ), whence:

b) α = 90 °, ΔΨ = 0, then:

cos 90 ° = 0⋅c / 2π⋅ (ƒ _in ⋅b _in -ƒ _n ⋅b _n )

0 = 0⋅c / 2π⋅ (ƒ _in ⋅b _in -ƒ _n ⋅b _n ); where from:

Expression (25) with ΔΨ = 0 contains an uncertainty of 0 = 0, therefore, its reliability for the relation ƒ _in ⋅b _to -ƒ _n ⋅b _n , defined by expression (24), is possible only in the far zone.

c) α = 180 °, ΔΨ = -π / 2, then:

cos 180 ° = -π / 2⋅c / 2π⋅ (ƒ _in ⋅b _in -ƒ _n ⋅b _n )

-4⋅(ƒ_в⋅b_в-ƒ_н⋅b_н)=-c;

-4⋅ (ƒ _in ⋅b _in -ƒ _n ⋅b _n ) = - c;

данное выражение есть выражение (24).

this expression is expression (24).

From the expression (24) it follows:

Expression (26) denotes the ratio of the frequencies of the signals emitted by the beacon and the dimensions of the measuring bases of its antenna system (Fig. 2), taking into account the restrictions for α and ΔΨ specified above.

Example.

1. Set the frequency of the beacon signals:

radio signal ƒ = 3000 MHz = 30⋅10 ⁸ Hz;

tone signal F _x = 1 MHz = 0.01⋅10 ⁸ Hz;

tone signal F _z = 15 MHz = 0.15⋅10 ⁸ Hz.

2. Set the measuring base of the antenna system of the beacon: b _nx = b _nz = 0.25 m (Fig. 2).

3. Determine the frequency of the beacon signals emitted by the antennas B _x , N _x , B _z , H _z :

antenna B _x emit a signal at a frequency ƒ _I = ƒ + F _x = 30⋅10 ⁸ + 0.01⋅10 ⁸ = 30.01⋅10 ⁸ (Hz);

antenna H _x emit a signal at a frequency of ƒ _nx = ƒ-F _x = 30⋅10 ⁸ -0.01⋅10 ⁸ = 29.99⋅10 ⁸ (Hz);

antenna В _z emit a signal at a frequency ƒ _Вz = ƒ + F _z = 30⋅10 ⁸ + 0.15⋅10 ⁸ = 30.15⋅10 ⁸ (Hz):

antenna H _z emit a signal at a frequency ƒ _Нz = ƒ -F _z = 30⋅10 ⁸ -0.15⋅10 ⁸ = 29.85⋅10 ^s (Hz).

4. By the formula (26) calculate the values of b _I and b _Bz measuring bases of the antenna system:

For the conditions of use of the beacon α∈ [0 °, 180 °] and ΔΨ∈ [π / 2, -π / 2], the frequency of the radio signal ƒ = 3000 MHz and tonal signals F _x = 1.0 MHz and F _z = 15.0 MHz it is necessary to have the dimensions of the measuring bases of the antenna system of the beacon, equal to:

b _nx = b _nz = 0.25 m, b _in ≈ 0.2748 m, b in _≈ 0.2724 m.

Description and mathematical justification of the proposed method, carried out (Fig. 1, Fig. 2), performed under the assumptions:

1) the phase delays of the signals in the selective filters 5, 6, 7 are equal to each other;

2) phase delays of the signals in the selective filters 15, 16, 17 are equal to each other;

3) the phase delays of the signals in the filters of the differential frequency 19 are equal to each other;

4) the amplitudes of the signals at the output of the generators 2, 3, modulator 4, power amplifiers 8, at the inputs and outputs of the frequency converters 18 and at the inputs of the phase difference meters 20 are sufficient for further use and are arbitrarily equal to unity.

Given the initial parameters of the antenna system and the indicated assumptions, it is possible to determine the spatial position of the aircraft relative to the runway on board the aircraft and to display this position to the crew in real time.

The claimed landing system is small-sized, lightweight, economical, mobile to deploy and collapse, does not require constant maintenance, is subject to control of switching on and off from the outside via a radio channel. It can be demanded during the development of inaccessible areas of the Far North and the Far East, for landing aircraft on prepared sites, sections of highways, aircraft carriers, for automatic landing of unmanned reusable aircraft for various purposes. It can also be effective for use in the navy - to overcome straits and in coastal waters with a broken coastline.

Claims (9)

1. A method for determining the position of an aircraft relative to the runway during landing, which consists in emitting coherent signals by an antenna system of a ground beacon, containing antennas spaced apart from each other by the distance of the measuring base, receiving by a radio receiver on board an aircraft of ground beacon signals, converting signals in frequency and measuring their phase difference, which is proportional to the difference in the signal propagation paths from the beacon antennas to the aircraft’s onboard antenna, and its value is a parameter of the hyperbole and rotation relative to the measuring base of the beacon, the aerial part of the surface of which is the position of the aircraft, characterized in that the antenna system of the ground beacon is formed of two mutually orthogonal to each other measuring bases, which additionally include a common central antenna O installed at point O, and four peripheral antennas B _x , H _x and B _z , H _z are installed from the central antenna O at base distances b _in , b _hx and b _bz , b _nz, respectively, at points B _x , H _{x of} the X axis and at points B _z , H _z axis z which belong to the measuring bases of the beacon, the coherence of the beacon signals is carried out by modulating with tonal signals of frequency F _x and F _{z the} radio signal of frequency ƒ, the five components of the modulated signal are separated by filters, which are sent to five identical antennas: to the antennas installed at points B _x H and _x, respectively, directed high (on the upper side _Rin frequency ƒ = ƒ + F _x) signal and a low frequency _Bx (on the lower side _Hx frequency ƒ = ƒ-F _x) signal and _Hx, the antenna, Mouth fief at O guide support (carrier frequency ƒ _a = ƒ) signal and _on, at the antenna, set at points B _z and H _z, directed respectively high (on the upper side frequency ƒ _BZ = ƒ + F _z) signal and _bz and low-frequency (at the lower lateral frequency ƒ _нz = ƒ-F _z ) signal a _нz , the signals emitted by the antenna system of the beacon are received by the antenna of the airborne radio receiver of the aircraft, onboard the aircraft, the signals are separated by filters, one pair of signals: high-frequency at the frequency ƒ _I and reference at a frequency, _o , convert to a single signal at a frequency (ƒ _in- ƒ _o ) with a phase shift containing the time-varying phase of the tone signal (2π⋅F _x ⋅t + Ф _х ) and a constant phase shift proportional to the difference in the propagation paths of signals from the beacon antennas to the LA antenna, another pair signals: the reference frequency on the low frequency ƒ _o and at the frequency ƒ _Hx, is converted into another signal at a frequency (ƒ _about -ƒ _Hx) with a similar phase shift, measure the phase difference ΔΨ _x converted signals, which difference equals the difference between the phase shifts and signal pairs _Rin and a _o , a _o and a _nx received by him and when it propagates from the corresponding beacon antennas to the aircraft’s onboard antenna, while in the far zone of the beacon, the surface of the aircraft’s location hyperboloid asymptotically "degenerates" into the lateral surface of the rotation cone, emanating from the radio navigation point (RNT) of the central antenna O, which generates a direct sight of the aircraft with an angle α _x counted from the X axis, where the aerial part of the lateral surface of the cone of rotation is the position of the aircraft, with the value of the guide cosine of the lateral surface ty cone is determined by the formula cosα _x = ΔΨ _x ⋅c / 2π⋅ (ƒ _in ⋅ ⋅b _in -ƒ _nx ⋅b _nx ), where c is the propagation speed of the radio signal, in the same way, the guiding cosine for the Z axis is formed and determined by the formula cosα _z = ΔΨ _z ⋅c / 2π⋅ (ƒ _вz ⋅b _вz -ƒ _нz ⋅b _нz ), the intersection of the side surfaces of the cones of the location of the aircraft defined by the cosines _x and cosα _z is the line of sight of the aircraft from the center of the antenna system of the beacon, to determine onboard the aircraft its position in space relative to the runway additionally emit signals by the antenna system of the second beacon, wherein beacons distinguish between a radio frequency _of ƒ, which for each beacon is its identifier, both beacon mounted near point Challenge aircraft on the runway on opposite sides of its axis, symmetrically about its axis at a basic distance from each other, according to the results of determining on the aircraft four guide cosines formed by both beacons, and knowledge of the basic size of the landing system is determined in the runway coordinate system the intersection of the line of sight of the aircraft from the centers of the antenna systems of the beacons, which is the location point of the aircraft relative to the runway, then calculate the rectangular coordinates of the position of the aircraft relative to Aircraft landing points on the runway, which is converted to the appropriate crew members of flight navigation of aircraft during landing. 2. The method of determining the position of the aircraft relative to the runway during landing according to claim 1, characterized in that for the conditions of use of the beacon with angles α _x and α _z ∈ [0 °, 180 °], measured relative to the X and Z axes of the beacon and measured in the phase differences of the signals ΔΨ∈ [π / 2, -π / 2], for a given frequency of the radio signal ƒ and frequencies of tonal signals F _x and F _z , as well as for the given geometric dimensions of the bases of the antenna system b _nx and b _{nz the} dimensions of the bases of the antenna system b _in and b _{inz are} determined by the formulas b _in = (

⋅с + ƒ _нх ⋅b _нх ) / ƒ _вх and b _вz = (

⋅c + ƒ _нz ⋅b _нz ) / ƒ _вz . 3. A system for determining the position of an aircraft relative to the runway during landing, containing beacons installed at the aerodrome near the runway at points with known coordinates, and radio beacons radiation registration units installed on board the aircraft, a calculator comprising a module for calculating the matrix of directional cosines and a calculation module coordinates of the aircraft, characterized in that two ground beacons are installed in the area of the aircraft’s landing on the runway on opposite sides of its axis, symmetrically about its axis, on a known base from each other, a direction finder with a radio receiver is installed on board the aircraft; each beacon contains a radio signal generator, the frequency _of which is the identifier of the beacon, two tone generators whose frequencies F _x and F _z are identifiers of the X and Z axes of the beacon, two modulators, five selective filters, five power amplifiers that organize into channels generating signals along the X and Z axes and a channel for generating a reference signal, an antenna system containing five antennas B _x , B _z , O, H _x , H _z , of which the antenna O is installed in the center of the antenna system, and the antennas B _x , B _z , N _x , N _z set on the periphery relative to the antenna O so that the antenna line B _x , O, H _{x is} orthogonal to the antenna line B _z , O, H _z , while the antennas B _x and H _x are separated from the antenna O at distances b _in , b _nx of the measuring base B _x H _x , the antennas B _z and H _z are separated from the antenna O at distances b _Вz , b _{нz of the} measuring base В _z Н _z , where each measuring base contains a base vector that determines the direction of the X axis or Z axis of the beacon, relative to which measure the angular position of the aircraft, while the inputs of the modulators are connected to the output th oscillator RF signal and outputs the Tone signals, wherein for separating the modulated signal component from each other outputs modulators combined with election filter inputs: high (on the upper side frequencies ƒ _Rin and ƒ _BZ) signals and low frequency (on the lower side frequencies ƒ _Hx and ƒ _нz ) of the X and Z axis signals, and the input of the selective filter of the reference signal (at the carrier frequency ƒ _о ) of the signal is connected to the output of the radio signal generator, the outputs of the selective filters are connected to the inputs of power amplifiers, the outputs of which are connected to the antennas H _x , H _z , O, B _x , B _z , which are emitted by the signals associated with the antenna of the radio receiver of the aircraft direction finder, the aircraft direction finder contains a radio receiver of beacon signals, ten band-pass selective filters, eight frequency converters, eight differential filters frequency, four phase difference meters, which are organized according to the accessories of the beacons in two paths, each of which is organized into channels for generating signals along the X and Z axes and a channel for generating a reference signal, where When generating signals along the X and Z axes, the channel of the reference signal is common, and the calculator with a display, while the output of the radio receiver of the direction finder in each path is connected to the inputs of the selective filters of the reference (at the carrier frequency ƒ _о ) signal, two high-frequency (at upper side frequencies ƒ _in and ƒ _bz ) of signals and two low-frequency (at the lower side frequencies ƒ _nx and ƒ _nz ) signals by belonging to the signal generation channels along the X axis and along the Z axis of the beacon, while in the signal generation channel along the X axis the output is high-frequency of the second and low-frequency selective filters together with the output of the selective filter of the reference signal is connected in pairs to the input of the frequency converter to convert the frequency of the signals: high-frequency at a frequency of ƒ _I and reference at a frequency of ƒ _o into one signal with a phase shift at a frequency (ƒ _I- ƒ _o ), the reference frequency on the low frequency ƒ _o and at the frequency ƒ _Hx into another signal with the phase shift at a frequency (ƒ _about -ƒ _Hx), and then outputs through inverters difference frequency filters are connected to inputs of a phase difference meter vyho which connect to the input of the calculator, in the same manner in the channel signal generating Z axis formed by the signals at frequencies (ƒ -ƒ _{BZ a)} and (ƒ _about -ƒ _HZ) are fed through the filters of the difference frequency to the inputs of the phase difference meter whose output associated with the second input of the computer, similarly arrange and connect to the computer the second path of the direction finder, thus, according to the results of determining on board the aircraft four guide cosines formed by both beacons, and knowledge of the magnitude of the base distance between the beacons calculate the rectangular coordinates of the position of the aircraft relative to the point of landing of the aircraft on the runway, determine the spatial position of the aircraft relative to the runway and display on the real-time display to the crew the lateral deviation of the aircraft from the axis of the runway, the distance to the point of landing of the aircraft on the runway, the aircraft altitude and speed, its the current glide path, the speed of descent of the aircraft into the navigation elements of the flight of the aircraft during landing, which are displayed on the display screen in a form convenient for the crew.

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