RU2661676C1 - Topogeodetic survey and target designations formation portable equipment kit - Google Patents

Abstract

FIELD: instrument making.

SUBSTANCE: kit relates to the of topography and navigation means and can be used for the artillery fire servicing and aviation targeting. Topogeodetic survey and target designations formation portable equipment kit contains rotary mechanism with support, range finder, kit's operator computer, connected to the range finder, of satellite navigation systems module with antenna and wireless communications channel. At that, the kit is additionally equipped with electronic goniometric device, made in the form of the controller containing unit, which is connected with the local control and indication devices, three-axis angular velocity sensor, accelerometer and magnetometer with coordinated to each other axes of sensitivity, temperature sensor, satellite navigation systems two-channel goniometric module with possibility of the separate remote antenna with its own means of installation connection to each channel. Electronic goniometric device controller is informationally and by power connected to the kit’s operator computer, the electronic goniometer unit is mechanically connected to the range finder and rotation device using the anti-backlash detachable connections.

EFFECT: kit has small dimensions and weight and allows to solve the assigned tasks with sufficient accuracy.

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Description

A set of wearable equipment for geodetic reference and target designation relates to topography and navigation, in particular, to measuring angles, distances, and combinations thereof. The kit can be used to control the firing of artillery (receiver and multiple launch rocket systems), aircraft of operational tactical and army aviation and is intended to equip military reconnaissance, artillery fire spotters, advanced aviation gunners (hereinafter - the kit's operators).

The tasks of the kit are its own topographic and geodetic reference on the ground and measuring the relative position of the target, which allows you to calculate its coordinates. The result of the proposed kit are its coordinates, range, directional angle and elevation angle of the target, as well as its coordinates. The ability and quality of solving these problems depends on the composition of the hardware of the kit, the availability of a priori data (about landmarks, reference points, strong points, etc.), the availability of external sources of information (satellite navigation systems, etc.). Depending on the conditions listed, various modes of operation of the kit are possible.

Known artillery compass [1], containing a rotary mechanism with a support, a single-axis magnetometer (compass) and a sighting device. As a rotary mechanism, a ball clamp and an artillery compass are used. The ball clamp is designed for initial installation (leveling) of the compass on a support (tripod) using a bubble level. The bussol provides guidance of the sighting device to the target. The measurement results - azimuth and elevation angles - are read by the operator from the scales of the swivel mechanism of the compass.

The disadvantages of the device [1] are limited functionality due to the impossibility of solving the problem of topographic and geodetic reference due to the use of only one measuring device - a magnetic compass.

Known laser target designator - range finder [2], containing a set of devices, including a rotary mechanism with a support, a single-axis magnetometer, range finder, a set operator computer connected to a range finder, a module of satellite navigation systems (SNA) with an antenna, as well as a wireless channel. In the designator [2], in addition to the listed devices, it is possible to use a laser gyrocompass with an optical sight and a barometric pressure sensor. The gyrocompass in orientation mode is set instead of the rangefinder and allows you to determine the directional angles of directions to landmarks. The barometric sensor allows you to calculate the pressure at the location of the target. In the designator [2], a compass and a ball clamp are used as a rotary mechanism, and the designator is mounted on a support (tripod). The presence of the SNA module allows you to partially solve the topographic location problem, and the computer and the communication channel can improve the efficiency of obtaining source data and sending the results of target designation - an information message about the coordinates of the target and the target, as well as a number of service data.

The disadvantages of the device [2] are limited functionality, large size and weight. Limited functionality is due to the complexity of the topographic and geodetic reference, caused by the need to repeatedly reinstall the rangefinder and gyrocompass. There is also no functional and constructive unity of the magnetic compass, rangefinder, gyrocompass, and the SNS module.

Closest to the claimed invention is [3] a set of portable equipment of a topographic device containing a rotary mechanism with a support, a single-axis magnetometer, a range finder, a set operator computer connected to a range finder, a module of satellite navigation systems with an antenna and a wireless channel. The set is based on a car and allows you to conduct topographic location at the starting point of movement, on the route and at the end point. This kit contains and can be used gyrocompass, theodolite and goniometer device SNS. Information is processed using a computer, and the transmission of information is provided by the radio station, which is part of the kit. Set [3] allows you to maintain topographic location while the car is moving, including using the odometer. The topographic bin kit [3] is not intended to solve the target designation problem, for which other means are supposed to be used.

The disadvantages of the kit [3] are limited functionality, large size and weight. Limited functionality is due to the lack of functional and constructive unity of measurement sources: gyrocompass, magnetometer, SNA, theodolite and range finder. Using a car to transport the kit reduces responsiveness and stealth, making it impossible to use it as a single operator.

All analogues of the claimed invention have common disadvantages:

1. They are a set of disparate devices, which for use must be assembled, installed, rearranged, etc., which requires time and physical costs.

2. Need support in the form of a heavy tripod.

3. As a rotary mechanism using a heavy compass.

4. They require precise installation of the compass in the horizontal plane, which leads to significant time costs.

5. Angles are estimated by the kit operator on the compass and / or theodolite scales, which does not allow automation of measurements.

The task facing the developers of the claimed kit is to create a small-sized, lightweight, versatile device capable of quickly solving the problems of topographic and geodetic reference and forming target designations with high accuracy and in various conditions.

The technical results of using the claimed invention are:

• small dimensions and weight of the kit, which ensures its transportation and use by one operator;

• the presence of various micro-meters in the kit, which allows you to:

- choose different modes of operation depending on the availability of a priori data and the availability of external sources of information;

- refuse strict leveling of the kit;

- increase the accuracy of measurements.

To achieve this result, a set of wearable equipment for topographic and geodetic reference and target designation, containing a rotary mechanism with a support, a range finder, a set operator’s computer connected to a range finder, a module of satellite navigation systems with an antenna and a wireless communication channel, is additionally equipped with an electronic goniometer made in the form of a unit comprising a controller that is connected to local control and indication bodies, a three-axis angular velocity sensor, an accelerometer, and a magnetometer with coordinated sensitivity axes, a temperature sensor, a two-channel goniometer module of satellite navigation systems with the ability to connect to each channel a separate remote antenna with its own installation tool, the controller of the electronic goniometer device is connected information and power to the kit operator’s computer, the block of the electronic goniometer device with the help of backlash-free plug-in connections it is connected with a range finder and a rotary mechanism.

The inventive device is illustrated by the following graphic materials:

FIG. 1 block diagram of the kit, where:

1. The rotary mechanism.

2. Prop.

3. Rangefinder.

4. Computer operator kit.

5. The module of the SNA.

6. Antenna module SNS.

7. Wireless channel.

8. Electronic goniometer device.

9. The controller.

10. Local control and indication bodies.

11. Three-axis angular velocity sensor (DOS).

12. Three-axis accelerometer.

13. Three-axis magnetometer.

14. Two-channel goniometer module (DUM) SNS.

15. Remote antenna DUM.

16. The temperature sensor.

17. Backlashless connection with a range finder.

18. Backlash-free connection with a rotary mechanism.

FIG. 2 The appearance of the electronic goniometer device 8, where:

19 - Folding holders.

FIG. 3 Assembled kit with range finder 3, electronic goniometer 8 and support 2 in the form of a tripod 20.

FIG. 4 Assembled kit with swivel mechanism in the form of a compass 21.

Significant differences of the claimed invention from the prototype are as follows.

The presence of an electronic goniometer device 8 allows you to quickly and accurately take measurements, enter the results into computer 4 and transfer them via wireless communication channel 7 to higher-level controls.

In the prototype, the measurement of the angles is carried out according to the risks of the rotary mechanism (compasses), it is not accurate and cannot be quickly processed by computer 4.

The implementation of the electronic goniometer device 8 in the form of a unit containing a controller 9, to which local control and indication bodies 10 are connected, makes it possible to automate (simplify and speed up) the process of controlling measurement modes, monitor the progress of their execution, and also transmit measurement results in real time into the computer 4. Thanks to the technologies described below, the electronic goniometer device 8 is small and light.

In the prototype, changing measurement modes involves performing labor-intensive operations by the kit operator, and the kit itself is heavy and cumbersome.

Three-axis DOS, accelerometer and magnetometer are made in the form of a single device that allows you to use the vector of gravity, the angular velocity of rotation of the Earth and the set itself, as well as the vector of the Earth's magnetic field (together or separately) in various modes with the ability to automatically transmit measurement results.

In the prototype there is no accelerometer, a single-axis magnetometer and gyrocompass are used. All these devices are fragmented and do not allow the use of the results of their measurements in automatic mode.

The sensitivity axis of the angular velocity sensor 11, the accelerometer 12 and the magnetometer 13 are aligned, which simplifies the joint processing of measurements. The indicated axes are also aligned with the associated axes of the electronic goniometer device 8 and the range finder 3. The alignment of the axes simplifies the calculation.

In the prototype there are no such measurement sources, therefore, the processing results are uninformative, and their reception and transmission are performed manually by the operator.

The temperature sensor 16 is intended to clarify the measurement results of the angular velocity sensor 11, accelerometer 12 and magnetometer 13 by introducing corrections for the calibration dependences of the systematic errors of the sensors on temperature, which are embedded in the sensors during factory calibration.

There is no temperature sensor in the prototype.

The presence of a two-channel goniometer module SNS 14 in the electronic goniometer device 8 with the ability to connect to each channel a separate remote antenna 15 allows you to solve the problem of angular orientation of the kit without using other sensors and artificial and natural landmarks on the ground.

In the prototype there is no goniometer module, but it is assumed the possibility of using two separate SNA modules with antennas for measuring angles.

The electronic goniometer device 8 is connected information and power to computer 4. The information connection allows you to quickly transfer the measurement results (azimuth and elevation angle) to computer 4 and via communication channel 7 to higher levels. Communication power allows you to reduce the weight of the electronic goniometer device 8 due to the lack of its own power sources.

In the prototype, the goniometer device (compass) does not have power.

The electronic goniometer device 8 is connected mechanically by backlash-free detachable connections 17 and 18 with a range finder 3 and a rotary mechanism 1, respectively.

In the prototype there is no electronic goniometer device.

Consider the possibility of implementing the inventive kit.

The rotary mechanism 1 is designed to guide the range finder 3 to the target in azimuth and elevation. In analogues [1-3], this action is performed in two stages: leveling the compass and pointing the compass to the target, FIG. 4. A similar procedure can be used in the inventive kit. For this, a tripod 20, a ball clamp 1, FIG. 1 and compass 21, FIG. four.

A tripod 20 is mounted on the ground by changing the lengths of the legs and their deepening, so that its upper surface is horizontal. On the tripod 20, a ball clamp 1 is installed, which consists of a ball cup with a clamping mechanism, means of attachment to the support 2 (screw) and a ball support mounted on the compass 21. Then, the compass 21 is leveled using its bubble level. After leveling the compass 21, the ball clamp is fixed. To aim the range finder 3 on the target, the compass 21 is used due to its rotation in horizontal and vertical planes.

In the claimed invention, simpler technologies can be used. The three-axis accelerometer 12, used as an inclinometer, makes it possible to measure the projections of the Earth's gravity vector and use them to calculate the position of the plane of the local horizon orthogonal to it. The presence of this feature allows you to orient the goniometer device 8, without making high demands on the accuracy of its leveling. Similar opportunities are provided by a three-axis magnetometer 13, which also allows you to build a plane of the local horizon.

This makes it possible to abandon the heavy tripod 20 as a support 2. Instead of a tripod, any support 2 can be used - a stump, a tree, etc., to which, for example, a ball clip is attached, and an electronic goniometer device 8 is mounted on it.

In addition, in the inventive kit, it becomes possible to abandon the heavy rotary device - compass 21 (theodolite). Instead, in the inventive kit can be used, for example, a ball clamp 1.

The range finder 3 is designed to aim at the target, observe it and measure the distance to it. As a range finder, laser rangefinders, night vision devices, etc. can be used. Such devices require careful handling, are transported in a separate box, and are connected to the kit with a backlash-free connection 17, for example, such as a dovetail, for a while. The range finder 3 may have different mounting mechanisms 17, which leads to the need to use the appropriate adapters included in the inventive kit.

The computer of the operator of kit 4 is a necessary element in the instrumentation of a modern military man. Known computer systems of the serviceman: FELIN (France), Future Force Warrior (USA), Gladius (Germany), Sagittarius (RF) [4], etc. Such a computer provides the serviceman with a wireless communication channel 7, navigation information through the SNA 5 module with antenna 6, and also performs a number of other control and reconnaissance functions. Possessing a sufficiently large computing power, computer 4 supports other information modules for equipping a serviceman. In the claimed invention, the main tasks of information processing, as well as providing power supply, are solved by computer 4.

Electronic goniometer 8, FIG. 2, is designed to measure azimuth and elevation. In the claimed device for their determination, mathematical processing of the measurement results of electronic sensors 11-14 is taken into account, taking into account the readings of the temperature sensor 16.

Controller 9 is intended for:

- receiving commands from local authorities and indicating the stage of their implementation through block 10;

- the organization of the specified operating modes of the goniometer device 8;

- transferring the results to a computer 4.

Three-axis DUS 11, three-axis accelerometer 12 and three-axis magnetometer 13 form the basis of the known strapdown inertial navigation systems (SINS). For wearable performance SINS corresponding to the claimed kit, preference should be given to small-sized microelectromechanical systems (MEMS), contained, for example, in most ordinary smartphones. As a manufacturing technology, a solution from Intel [5] can be used. Among the many MEMS design options, samples should be selected that meet the requirements for measurement accuracy.

The SUM of satellite navigation systems 14 is intended for angular measurements between two remote, spaced apart antennas 15 of the SNA. Such modules are manufactured by industry.

Temperature sensor 16 is often part of MEMS.

The backlashless connection 17 with the range finder 3 provides gentle transportation of the range finder, as well as quick preparation for work. As such a connection can be used, for example, dovetail.

The initial installation of the kit consists in the fact that the rotary mechanism 1 is mounted on the support 2, an electronic goniometer device 8 is connected to it by a clearance-free connection 18, to which a rangefinder 3, in turn, is connected by a clearance-free connection 17, FIG. 3. The presence of 8 appropriate meters in the device allows you to compensate for the inaccuracy of the initial installation (leveling) of the kit. The goniometer device 8 and the range finder 3 are connected by cables to the computer 4, providing communication on information and power. When the electronic goniometer device 8 is turned on under the control of controller 9, the three-axis DUS 11 is ready to measure projections of the angular velocity vector, the three-axis accelerometer 12 is the projection of the gravity vector, the three-axis magnetometer 13 is the projection of the direction vector to the north magnetic pole, and the temperature sensor 16 is the temperature. It is believed that the factory and field calibrations of the above sensors are completed, see [6, 7, 8]. The operating modes of the kit are set and displayed using the local control and indication 10.

Consider the operating modes of the claimed kit.

The key node of the claimed kit, significantly distinguishing it from the prototype, is an electronic goniometer device 8, combining the functions of a compass, theodolite and gyrocompass. In essence, the device 8 is a measuring part of the angle-based SINS channel on a fixed base, made on a fundamentally different element base compared to the prototype, namely using MEMS technologies (sensors 11-13). The SINS is supplemented by a dual-channel goniometer module 14 integrated in the device 8 with two external antennas 15. Module 14 has a larger number (sixty-four) of measuring channels that provide reception of GLONASS, GPS, Galileo, SBAS, SDKM signals with frequency and code division, and implements more Accurate in comparison with the prototype (the method of relative positioning), the method of angle measurement by phase of the carrier frequency.

The aforementioned allows the electronic goniometer device 8 together with the range finder 3 and the operator’s computer 4 (and therefore, the claimed set as a whole) to fully solve the entire list of tasks of topographic and geodetic reference performed by the prototype.

In the formation of target designations, the main operation, in addition to measuring the distance to the target (range finder 3), is to determine the directional angle α _d and the elevation angle β of the target. This problem is solved by mathematical processing of the measurement results of the sensors 11-14 in the operator's computer 4.

In accordance with the composition of the measuring sensors 11-14 included in the goniometer device 8, two main modes of determining the angles α _d , β are possible.

In the first mode - magnetic azimuth measurement mode - the directional angle α _d is determined by the ratio:

α _d = α _and -δα _cm = α _m + δα _ms -δα _cm

where α _and are the true azimuth, α _m is the magnetic azimuth, δα _ms is the magnetic declination, δα _cm is the approach of the meridians.

The magnetic azimuth α _{m is} calculated by the formula:

where N _x , N _y , H _z are the projections of the Earth's magnetic field, measured by a magnetometer 13; β is the elevation angle of the target, γ is the roll angle of the goniometric device 8, calculated from the readings a _x a _y , a _{z of the} accelerometer 12 in accordance with the relations:

where g is the acceleration of gravity at the installation point of the kit. Relations (2) determine the operation of the accelerometer 12 as an accelerometer triaxial inclinometer.

Formulas (1), (2) describe the operation of the electronic goniometer device 8 in the magnetic geographical coordinate system OE _m N _m h and the associated coordinate system OXYZ with the origin at its center of mass. In this case, the OY axis coincides with the longitudinal axis of the optical sight of the range finder 3 and is aimed at the target. These coordinate systems are widely used in solving topographic and geodetic and navigation problems.

The second mode is the gyro-azimuthal mode (direction gyro mode). This mode assumes the presence of a preselected reference direction defined by the directional angle α _{d op of a} certain reference point.

The physical meaning of this mode is that relative to the direction of α _{d op} according to the measurements of the angular velocity sensor 11 when redirecting (rotating) the goniometric device 8 from a landmark to the target, the angle increment Δα _d is measured, followed by the determination of the full value of the target angle α _d .

Mathematically, when processing measurements in operator computer 4, this mode is implemented using a recursive procedure:

where c ₁ (k) = sinα _d (k) cosβ (k), c ₂ (k) = cosα _d (k) cosβ (k), c ₃ (k) = sinβ (k) are the current values of the direction cosines of the OY axis the associated coordinate system OXYZ relative to the axes of the geographic coordinate system (geographic trihedron) OENh, which is the reference in inertial navigation problems.

In procedure (3), δ _x (k) = ω _x (k) T, δ _y (k) = ω _y (k) T, δ _z (k) = ω _z (k) T are the partial (incremental) increments of the angles rotation of the goniometer device 8; ω _x (k), ω _y (k), ω _z (k) - current readings (readings) of the angular velocity sensor 11; T = t _k -t _k-1 is the step (time interval) of the data output by the sensor, during which the angular velocities ω _x , ω _y , ω _z are considered constant; k = 1,2, ..., K is the number of the next step; K is the number of steps (measuring readings of the sensor) on the retargeting interval of the goniometric device 8 from a landmark to the target.

At the end of the retargeting (k = K), the desired directional angle of the target is determined

and its elevation

It is also possible to determine the angle β (K) from relation (2) using the measurement of the accelerometer а _у (K) at the end of the redirection.

The initial conditions necessary for starting recursive procedure (3) are defined as follows:

c ₁ (0) = sinα _{d op} cos β (0), c ₂ (0) = cos α _{d op} cos β (0), c ₃ (0) = sin β (0),

where β (0) is the elevation angle of the landmark, determined by the relation (2) by measurement and _y (0) in the initial position of the goniometer 8.

There are three options for setting the reference directional angle α _{d op} :

- using a landmark (reference point) with known coordinates and the SNA 5 module, which determines the coordinates of the installation point of the kit;

- using a two-channel goniometer module 14 with two remote antennas 15, spaced at the base of a given length, providing the required accuracy of angular phase metering;

- using an angular velocity sensor 11 and an accelerometer 12 in gyrocompassing mode.

In the latter case, for the true reference azimuth angle α _{and op} in the formula for calculating the angle α _{d op} = α _{and op} -δ _cm , relation (1) remains valid when replacing the magnetic field projections Н _х Н _у , H _z with the projections measured by the angular velocity sensor 11 ω _x (0), ω _y (0), ω ₂ (0) of the angular velocity of the Earth’s rotation Ω in the installation position of the goniometric device 8 on the landmark:

where, as before, β (0) is the angle of the landmark; γ (0) is the roll angle of the goniometric device 8. Both angles are determined by relations (2).

In conclusion, we note that when 8 high-precision angular velocity sensor 11 samples are used in an electronic goniometer device and have low systematic (zero drift) and fluctuation errors (such as MEMS sensors of tactical and navigational classes, miniature wave solid-state gyroscopes [9]), the gyrocompassing mode can become an independent mode in addition to the two main modes for determining the angles α _d , β of the target.

Thus, the inventive set of wearable equipment of topographic and geodetic reference and target designation can be implemented. It has small dimensions and weight and allows solving assigned tasks with sufficient accuracy.

Information sources

1. Periscope artillery compass PAB-2. Order of the Red Banner of Labor Military Publishing House of the Ministry of Defense of the USSR, Fourth Edition, Moscow, 1970

2. Patent RU 2522784.

3. Patent RU 2480714.

4. https://vpk.name/library/f/strelec.html.

5. Patent RU No. 2602746.

6. Patent RU No. 2577806.

7. Patent RU No. 2572109.

8. Application for invention RU No. 2016104007, decision on the grant of a patent dated 03.15.2017.

9. Patent RU No. 2544870.

Claims (1)

A set of wearable equipment for geodetic reference and target designation, comprising a rotary mechanism with a support, a range finder, a set operator’s computer connected to a range finder, a satellite navigation system module with an antenna and a wireless communication channel, characterized in that the set is additionally equipped with an electronic goniometer made in the form block containing the controller, which is connected to the local control and display, three-axis angular velocity sensor, accelerometer and m a pressure meter with coordinated sensitivity axes, a temperature sensor, a two-channel goniometer module of satellite navigation systems with the ability to connect to each channel a separate remote antenna with its own installation tool, the controller of the electronic goniometer device is connected information and power to the kit operator’s computer, the electronic goniometer unit is mechanically with the help of backlash-free plug-in connections it is connected with a range finder and a rotary mechanism.

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