RU2624458C1 - Method of determining coordinates of object - Google Patents

Abstract

FIELD: radio engineering, communication.

SUBSTANCE: stations of a transmitting system that are stationary or moving as a unit, arranged in a predetermined manner in a three-dimensional Cartesian coordinate system associated with the transmitting system, synchronously transmit radio signals with known on the object for each radio signal by time shifts of transmission in a given time reference system associated with the transmission system, and on the object they are received in the time reference system associated with the object, the moments of the reception times are recorded, the relative time deposits the reception of radio signals from stations and correcting them taking into account time shifts. According to the corrected relative time delays in the reception of radio signals, the relative ranges are determined and, according to the expressions given in the claims, the distances from the antenna phase centers (FCA) of the stations to the FCA of the object are determined. From the given spatial coordinates of the FCA of the stations and the indicated distances, the spatial coordinates of the FCA of the object in the indicated coordinate system are determined.

EFFECT: increasing the accuracy and reliability of determining the spatial coordinates of objects.

1 cl

Description

The invention relates to radio navigation and can be used to determine the coordinates of objects, stationary or moving, and control their movement in navigation areas. Radio signals are transmitted to stations of a transmitting system, stationary or moving as a whole, with the given coordinates of the phase centers of the antennas (FCA) of the stations, they are received at the object and the coordinates of the phase center of its antenna are determined. The implementation of the method will allow, among other things, to simplify the corresponding positioning systems, to ensure the accuracy and reliability of measuring the coordinates of the object.

Known methods for determining the coordinates of objects based on the use of goniometric, rangefinder, differential and total rangefinder and combined methods for determining the location of an object with amplitude, temporal, frequency, phase and pulse-phase methods for measuring radio signal parameters (Patents of the Russian Federation No. 2018855, 2096800, 2115137, 2258242, 2264598, 2309420, 2325666, 2363117, 2371737, 2378660, 2430385, 2439617, 2506605, 2507529, 2558640, 2559813, 2561721; Fundamentals of testing aircraft / E.I. Krynetsky et al. Edited by E.I. Krynetsky. - M.: Mechanical Engineering, 1979, pp. 64-89; Radio Engineering systems / Yu.M. Kazarinov et al. Edited by Yu.M. Kazarinov. - M: IC "Academy", 2008, p. 7, 17-18, pp. 7.1-7.4, chap. 10 .; Melnikov Yu.P., Popov SV Radio-technical intelligence. Methods for evaluating the efficiency of determining the location of radiation sources. - M .: Radio engineering, 2008, chap. 5; Kinkulkin I.E. et al. Phase method for determining coordinates. - M .: Sov. Radio, 1979, pp. 10-11, 97-100). Known methods have certain disadvantages, for example, the need for mechanical movement of the antenna system, the impossibility of unambiguous determination of the coordinates of the object, the need for general synchronization of radio objects transmitting and receiving radio signals, insufficient speed and accuracy.

According to the criterion of minimum sufficiency, the closest is the method of determining the coordinates of objects according to patent RU No. 2578750.

The advantage of the proposed method for determining the coordinates of objects in comparison with known methods is to ensure the accuracy and reliability of their measurement in the absence of the requirement of mutual time synchronization between stations and the object. This is achieved by the fact that the stations of the transmitting system, stationary or moving as a whole, arranged in a predetermined manner in the three-dimensional Cartesian coordinate system associated with the transmitting system, transmit synchronously radio signals with time shifts of transmission known in the object for each radio signal in a given time reference system associated with transmitting system, and at the object they are received in the time reference system associated with the object, the moments of the reception times are recorded, the relative time delays in receiving radio signals from stations and correct them taking into account time shifts. Based on the adjusted relative time delays in the reception of radio signals, the relative ranges are determined and the distances from the FCA stations to the FCA object are determined from the following expressions. Based on the given spatial coordinates of the FCA stations and the indicated ranges, the spatial coordinates of the FCA of the object in the specified coordinate system are determined.

The spatial coordinates of the object’s FCA are determined by the obtained ranges, for example, using one of the known ranging methods (you can use, for example, one suitable from the methods protected by patents RU No. 2484604, 2484605, or published in the author’s article [Simple algorithm for determining the spatial coordinates of an object using the ranging method / / Information-measuring and control systems. 2015. V. 13. No. 4, S. 3-8]).

и между второй и третьей станциями

, при этом две любые группы могут не содержать ни одной общей станции либо содержать одну или две общие станции, передают синхронизированно радиосигналы с известными на объекте для каждого радиосигнала в группе временными сдвигами передачи в заданной системе отсчета времени для данной группы, а на объекте осуществляют их прием, регистрируют моменты времен приема и определяют относительные временные задержки приема радиосигналов от станций в системе отсчета времени, связанной с объектом, корректируют их с учетом указанных временных сдвигов, по скорректированным относительным временным задержкам приема радиосигналов Δt_i,j определяют относительные дальности от указанных ФЦА станций до ФЦА объекта в соответствии с выражением Δ_i,j=сΔt_i,j, где с - скорость распространения радиосигналов, индекс j изменяется от 1 до 3, и определяют дальности D_i,j от ФЦА станций до ФЦА объекта в соответствии с выражениемTo achieve the specified technical result in accordance with the invention, in a method for determining the coordinates of an object, including a moving one, from each station of a transmission system, stationary or moving as a whole, containing a set of N≥5 stations with the coordinates specified in the three-dimensional Cartesian system associated with the transmission system FCA located in such a way that the whole set forms the i-th group of stations, containing three sequentially ordered j-th stations in the group, the 1st, 2nd and 3rd stations ns, the coordinates FTSA stations in the group are set so that FTSA are on the same straight line at predetermined distances between the first and second stations

and between the second and third stations

Moreover, any two groups may not contain a single common station or contain one or two common stations, transmit synchronously radio signals with the transmission time shifts known in the object for each radio signal in the group in a given time reference system for this group, and perform them at the object reception, record times of reception times and determine the relative time delays of receiving radio signals from stations in the time reference system associated with the object, correct them taking into account the indicated time shift gov on the corrected relative time delays receiving radio Δt _{i, j} determine the relative distance from said FTSA stations to FTSA object in accordance with the expression Δ _{i, j} = sΔt _{i, j,} where c - velocity of propagation of radio signals, the index j runs from 1 to 3, and determine the distance D _{i, j} from the FCA stations to the FCA facility in accordance with the expression

Where

and the FCA coordinates of the object are determined by the obtained ranges D _{i, j} in the indicated three-dimensional Cartesian coordinate system, for example, using one of the known ranging methods, and for a set of N = 5 stations, which corresponds to the two indicated groups of stations having only one common station, they provide a unique determining the coordinates of the FCA of the object by attracting additional a priori information about the location of the FCA of the object relative to the plane formed by the FCA of these five stations, and for a set of N≥6 stations, t FTSA unambiguous definition coordinates of the object by forming a plurality of at least two of said groups of stations, so that the line on which are FTSA one group, and the line on which are FTSA other groups are skew.

The combination of all the features allows you to determine the spatial coordinates of the object with the achievement of the specified technical result.

In the current level of technology, no sources of information have been identified that would contain information about methods of the same purpose with the specified set of features. The invention is described in more detail below.

The essence of the method is as follows.

и между второй и третьей станциями

. Также две любые группы могут не содержать ни одной общей станции либо содержать одну или две общие станции. С каждой станции передают синхронизированно радиосигналы с известными на объекте для каждого радиосигнала в группе временными сдвигами передачи в заданной системе отсчета времени для данной группы. Эти временные сдвиги передачи радиосигналов либо заранее известны на объекте, либо передаются на него по каналам связи при необходимости. Передающая система может быть как стационарной наземной, так и располагаться на корабле, автомобиле и т.п.и перемещаться с ними как единое целое. На объекте осуществляют прием радиосигналов в системе отсчета времени, связанной с объектом, и регистрируют моменты времен приема. Определяют относительные временные задержки приема радиосигналов от станций и корректируют их с учетом указанных временных сдвигов. По скорректированным относительным временным задержкам приема радиосигналов Δt_i,j определяют относительные дальности от ФЦА станций до ФЦА объекта в соответствии с выражением Δ_i,j=cΔt_i.j, где с - скорость распространения радиосигналов, индекс j изменяется от 1 до 3. Затем определяют дальности D_i,j от ФЦА станций до ФЦА объекта в соответствии с выражением (1).A system transmitting radio signals, stationary or moving as a whole, contains a set of N≥5 stations with the coordinates of the FCA stations specified in the three-dimensional Cartesian system associated with the transmitting system. The phase centers of the station antennas are arranged in such a way that the entire set of stations forms the i-th group of stations, containing three j-station in each group in sequence, the 1st, 2nd and 3rd stations. Moreover, the coordinates of the FCA stations in the group are set so that the FCA are on the same line at given distances between the first and second stations

and between the second and third stations

. Also, any two groups may not contain any common stations or contain one or two common stations. From each station, radio signals are transmitted synchronously with the transmission shifts known in the object for each radio signal in the group in a given time reference system for this group. These time shifts of the transmission of radio signals are either known in advance at the facility, or transmitted to it via communication channels, if necessary. The transmitting system can be either stationary land-based, or located on a ship, car, etc., and move with them as a whole. At the object, radio signals are received in the time reference system associated with the object, and moments of reception times are recorded. The relative time delays of receiving radio signals from the stations are determined and corrected for them taking into account the indicated time shifts. Using the adjusted relative time delays of receiving radio signals Δt _{i, j,} determine the relative distances from the FCA of the stations to the FCA of the object in accordance with the expression Δ _{i, j} = cΔt _ij , where c is the propagation speed of the radio signals, index j varies from 1 to 3. Then determine the range D _{i, j} from the FCA stations to the FCA facility in accordance with expression (1).

From the obtained ranges D _{i, j} in the indicated three-dimensional Cartesian coordinate system, the spatial coordinates of the object’s PCA are determined, for example, using one of the known range-finding methods (for example, one can use, for example, the suitable method protected by patents RU No. 2484604, 2484605, or from the mentioned article of the author). For a set of N = 5 stations, which corresponds to the two indicated groups of stations having only one common station, they provide an unambiguous determination of the coordinates of the FCA of the object by involving additional a priori information about the location of the FCA of the object relative to the plane formed by the FCA of these five stations. For a set of N≥6 stations, the coordinates of the FCA of an object are uniquely determined by forming at least two of these groups of stations in such a way that the line on which the FCA of one group is located and the line on which the FCA of another group are intersecting (a plane cannot be drawn through two such lines).

Let us show with a simple example the use of the proposed method for determining the coordinates of the FCA of an object with the number of stations of the transmitting system N = 6, which form two groups of stations, formed in such a way that the line on which the FCA of one group are located and the line on which the FCA of another group are located are crossbreeding. In this case, the coordinates of the object are uniquely determined, i.e. no additional a priori information is required on the location of the FCA facility.

Let the following coordinates of the FCA of six stations in a three-dimensional Cartesian coordinate system associated with the transmitting system be given:

coordinates of the 1st group of stations (index i = 1):

(x _1,1 , a , b), (x _1,2 , a , b), (x _1,3 , a , b) under the conditions x _1,1 <x _1,2 <x _1,3 ,

coordinates of the 2nd group of stations (index i = 2):

(c, y _2.1 , d), (c, y _2.2 , d), (c, y _2.3 , d) under the conditions y _2.1 <y _2.2 <y _2.3 and b ≠ d.

Then the coordinates of the PCA of the object (x ₀ , y ₀ , z ₀ ), for example, can be represented in the same coordinate system in the form

z ₀ = (A + Bx ₀ + Cy ₀ ) F,

Where

,

,

,

,

,

,

here D _{i, j} are the ranges determined in accordance with the proposed method according to the formula (1) with the values of the indices i = 1, 2 and j = 1, 2, 3.

The method may find application for building a universal navigation and landing system.

We list the main advantages of the method:

- provides an unambiguous determination of the spatial coordinates of the FCA object with high accuracy;

- general synchronization of transmitting radio signals stations and objects receiving them is not required, synchronizing transmitting stations, including only in groups, and objects receiving radio signals use their time reference systems;

- the implementation of the method is simpler and cheaper than known analogues;

- allows simultaneous measurements on a large number of objects.

The effectiveness and efficiency of using the proposed method lies in the fact that it can be applied in practice for the development and improvement of radio engineering systems for determining the coordinates of objects. The method allows you to uniquely determine the coordinates with great accuracy and more simply compared to known methods. Thus, the claimed method provides the emergence of new properties not achieved in analogues. The analysis made it possible to establish: analogues with a set of features identical to all the features of the claimed technical solution are absent, which indicates the conformity of the claimed method to the “novelty” condition.

Also, the popularity of the influence of the actions provided for by the essential features of the invention on the achievement of the specified result was not revealed. Therefore, the invention meets the condition of patentability "inventive step". Thus, the invention meets the criteria of "novelty" and "inventive step", as well as the criterion of "industrial applicability".

Claims (4)

A method for determining the coordinates of an object, including a moving one, in which from each station of the transmitting system, stationary or moving as a whole, containing a set of N≥5 stations with the coordinates of the phase centers of the antennas specified in the three-dimensional Cartesian system, arranged in such a way that the whole set forms i-th group of stations containing three sequentially arranged j-th stations in the group, 1st, 2nd and 3rd stations, while the coordinates of the phase centers of the station antennas in the group are set so that the phase The antenna centers are located on one straight line at given distances between the first and second stations r12 _i and between the second and third stations r23 _i , while any two groups may not contain a single common station or contain one or two common stations, transmit synchronously radio signals from the transmission time shifts known in the object for each radio signal in the group in the given time reference system for this group, and they are received at the object, the moments of the reception times are recorded, the relative time The delays of receiving radio signals from stations in the time reference system associated with the object correct them taking into account the indicated time shifts, using the adjusted relative time delays Δt _{i, j of} receiving radio signals, determine the relative distances to the object from the indicated phase centers of the station antennas in accordance with the expression Δ _{i , j} = cΔt _{i, j} , where c is the propagation speed of radio signals, the index j varies from 1 to 3, and the distances D _{i, j} from the phase centers of the station antennas to the phase center of the antenna of the object are determined in accordance with expression D _{i, j} = Δ _{i, j} + δ _i , Where

and the coordinates of the phase center of the antenna of the object is determined by the indicated ranges D _{i, j} , for example, by one of the known ranging methods, and for a set of N = 5 stations, which corresponds to the two indicated groups of stations having only one common station, provide an unambiguous determination of the coordinates of the phase center the antenna of the object by attracting additional a priori information about the location of the phase center of the antenna of the object relative to the plane formed by the phase centers of the antennas of these five stations, and for the scoop the characteristics of N≥6 stations provide an unambiguous determination of the coordinates of the phase center of the antenna of the object by forming together at least two of these groups of stations, so that the line on which the phase centers of the antennas of one group are located, and the line on which the phase centers are located the antennas of the other group are crossed.