RU2670176C1 - System of detection of underwater and surface objects - Google Patents

Abstract

FIELD: radar ranging and radio navigation.SUBSTANCE: invention relates to radio engineering, namely to methods and systems of passive radar, and can be used to determine the location in the three-dimensional space of a radio source (RS) located on underwater and surface objects (USO), by receiving and then processing electromagnetic waves generated by these RS. System for detecting underwater and surface objects, comprising N receive antennas, a first and second analog-to-digital converter (ADC), a calculator characterized by the addition of sensor lines, a switch whose inputs are connected to the outputs of the sensor lines, and the output on the radio link is connected to N receive antennas, a low-noise amplifier (LNA), N inputs of which are connected to N receive antennas, first and second multi-channel synchronous quadrature receivers (MCSQRs) whose inputs are respectively connected to the first and second outputs of the low-noise amplifier, and the outputs – to the first inputs of the first and second analog-to-digital converters, the first and second information processing channels whose first inputs are connected to the outputs of the analog-to-digital converters, and the outputs are connected to the calculator; controller connected at the input to a calculator whose first output is connected to the second input of the first multi-channel synchronous quadrature receiver to the second input of the first analog-to-digital converters and to the second input of the first information processing channel, and the second output to the second input of the second multi-channel synchronous quadrature receiver, to the second input of the second analog-to-digital converters and to the second input of the second information processing channel; beamformer (BF) whose N inputs are connected to N receive antennas; a radio modem unit whose first input is connected to the output of the beamformer; fiber-optic communication line, the inputs of which are connected to the outputs of the radio modem unit; output signal generating device whose inputs are connected to the outputs of a fiber-optic communication line; transmitting phased array antenna whose inputs are connected to the outputs of the output signal generating device; local data transmission system connected to the output of the calculator, to the second input of the beamforming device, to the second and third inputs of the radio modem unit; special communication manager software connected by a link to a local data network; command post, connected by a communication line with the special software of the communications manager.EFFECT: system for detecting underwater and surface objects is proposed.4 cl, 13 dwg

Description

The invention relates to radio engineering, and in particular to methods and systems of passive radar, and can be used to determine the location in three-dimensional space of a radio emission source (IRI) located on underwater and surface objects (PNO), due to the reception and subsequent processing of electromagnetic waves generated this Iran.

Currently, considerable efforts are aimed at solving the problem of ensuring the protection of its territorial waters, forces and assets of the civil and military Fleets against unauthorized actions of foreign surface and underwater objects. This task is complex, in solving which much attention is paid to sonar detection systems for surface and underwater objects (PNO) (ships, submarines, etc.) at distances up to hundreds of kilometers from guarded lines (objects).

In these detection systems, as a rule, three circuits are distinguished:

- marine, including a system of sensors for detecting acoustic signals emitted or reflected by surface and underwater dynamic objects;

- ground-based, providing processing of sensor information in order to identify and classify surface and underwater objects, as well as the issuance of information of interest to consumers;

- space, providing the reception and transmission of information from acoustic sensors during their autonomous functioning.

The marine circuit structurally has stationary and mobile sonar systems, the effectiveness of which is significantly increased as a result of the network integration of their information sensors.

With the network integration of hydroacoustic monitoring elements (sensors of the marine circuit of the detection system) with ground and space circuit elements, not only the problem of detecting and determining the coordinates of the sources of hydroacoustic signals as objects of underwater and surface placement, but also tracking them with subsequent issuance of coordinate information to various Fleet command and control bodies, including command posts (KP) for controlling combat manned and unmanned aircraft and helicopters. Such systems are called surface and underwater lighting systems.

From open sources [1, 2, 3] it is known that a number of countries with access to the sea also pay great attention not only to improving underwater and surface forces, but also to creating active and passive systems for detecting marine (oceanic) dynamic objects located in underwater or surface position. So, a significant place in the US weapons programs is occupied by the creation of integrated lighting systems for underwater and surface situations, the basis of which are sonar monitoring, communication and control systems. Moreover, all objects of this system operate in a single data exchange network. Such a network of “subscribers” contributes to a more efficient solution to the problems of detecting objects (targets), processing and transmitting data to interested control points of anti-submarine and anti-ship forces.

The invention is used to solve a technical problem, which consists in determining the coordinates of PNO in order to monitor them and control their movement by ground services. The technical result achieved is to increase the accuracy of estimating the coordinates of PNOs equipped with a source of radio emission.

When performing tasks, PNO radio equipment creates active electromagnetic fields of artificial origin in the frequency range from 1 MHz to 40 GHz. In addition to active fields, PNOs create their own electromagnetic radiation. This radiation spectrum can be used to solve the problem of detection, direction finding and determination of the coordinates of PNO.

When constructing a multi-position passive radar, the difference-ranging method is used, based on measuring the difference in the signal path from the target to the receiving antennas of the radar. This method allows you to work on pulsed and continuous signals, including noise and noise-like.

The principal features of the method are the synchronous method of receiving signals from a radiating source on spaced antennas. High accuracy of determination of the PNO coordinates is ensured by correlation signal processing, in which the form of the received signal does not matter. The coordinates of the source are determined by the difference in the arrival of signals at each position, and the difference in the arrival of the signal at one position relative to another is determined from the position of the maximum cross-correlation function of the signals from these positions.

The closest technical solution that meets the requirements of passive detection and direction finding is the device described in the article “One-stage estimation of the location of a radio emission source by a passive system consisting of narrow-base subsystems” (Radio Engineering and Electronics, Volume 49, No. 2, 2004, p. . 156-170) is a prototype.

This system contains N receiving antennas, the first and second analog-to-digital converter (ADC), a computer.

The purpose of the invention is the formation of a digital trajectory of coordinate samples in the form of an interactive display of the trajectory of the PNO.

The result is achieved by centralized processing of signals obtained as a result of receiving electromagnetic oscillations at points whose placement in space is determined by the optimal grouping of weakly directed antenna elements inside structural blocks implemented by separate technical means of a distributed complex.

This goal is achieved by the fact that in the system containing N receiving antennas, the first and second analog-to-digital converter (ADC), the calculator additionally introduced sensor lines, a switch whose inputs are connected to the outputs of the sensor lines, and the radio output is connected to N receiving antennas ; low-noise amplifier (LNA), N inputs of which are connected to N receiving antennas, the first and second multichannel synchronous quadrature receivers (MSCP), the inputs of which are connected respectively to the first and second outputs of the low-noise amplifier, and the outputs are to the first inputs of the first and second analog-digital converters, the first and second channels of information processing, the first inputs of which are connected to the outputs of analog-to-digital converters, and the outputs are connected to the calculator; a control controller connected at the input to the calculator, the first output of which is connected to the second input of the first multi-channel synchronous quadrature receiver, to the second input of the first analog-to-digital converter and to the second input of the first information processing channel, and the second output to the second input of the second multi-channel synchronous quadrature a receiver, to the second input of the second analog-to-digital converter and to the second input of the second information processing channel; chart-forming device (DOW), N inputs of which are connected to N receiving antennas; a block of radio modems, the first input of which is connected to the output of the beam-forming device; fiber optic communication line, the inputs of which are connected to the outputs of the block of radio modems; a device for generating an output signal, the inputs of which are connected to the outputs of the fiber optic communication line; transmitting phased antenna array, the inputs of which are connected to the outputs of the output signal generating apparatus; a local data transmission system connected to the output of the calculator, to the second input of the beam-forming device, to the second and third inputs of the block of radio modems; special communication manager software connected by a communication line to a local data network; command post connected by a communication line to special communication manager software.

Comparison with the prototype shows that the inventive system is characterized by the presence of new blocks and their connections between them. Thus, the claimed system meets the criterion of "novelty."

Comparison of the proposed solution with other technical solutions shows that the listed elements used in the blocks are known, however, their introduction in this connection with the other elements leads to the expansion of the functionality of the system.

This confirms the conformity of the technical solution to the criterion of "significant differences".

In FIG. 1 shows a general diagram of the proposed detection system for underwater and surface objects (PNO), in FIG. 2 - structure of a network node, in FIG. 3 - structure of a narrow-base subsystem, in FIG. 4 shows the structure of an information processing channel; FIG. 5 - the principle of determining the coordinates of the IRI using the direction finding method, in FIG. 6 - explanations for determining the range, in FIG. 7 - explanations of a method for determining the coordinates of objects, in FIG. 8 - explanations of the spatial selectivity of the lines of sensors No. 1 and No. 2, in FIG. 9 shows a variant of stationary placement of elements of an infrasound passive radar (IPR) and network nodes of a hardware-software complex (AIC), in FIG. 10 - a variant of the mobile use of the agricultural sector, in FIG. 11 shows a typical arrangement of infrasound passive radars (IPR), FIG. 12 shows a block structure of a radio modem; FIG. 13 is a structure of an output signal generating apparatus.

The network node includes (Fig. 2):

- narrow-base subsystem (UP) 5 (Fig. 3), consisting of: antenna-feeder system (AFS) 5-1, low-noise amplifier (LNA) 5-2, multi-channel synchronous quadrature receiver (MSC) 5-3; analog-to-digital converter (ADC) 5-4; control controller 5-6, calculator 5-7, information processing channel 5-5, including (Fig. 4) filters 5-8, detector 5-9, direction finder 5-10, output driver 5-11;

- chart-forming device (DOU) 6;

- block of radio modems 7;

- device for generating the output signal (UVBC) 9;

- transmitting phased antenna array (PAR) 10;

- special software (STR) communication manager 12;

- local data transmission system (SPD) 11;

- fiber optic communication line (FOCL) 8.

The system operates as follows.

To ensure effective detection and direction finding of PNOs in modern conditions, an important role is assigned to the radio-electronic means of the decameter band of radio waves (DKMV), which can operate in complex jamming conditions and the conditions of propagation of radio waves over long distances.

Practical solutions have been obtained in constructing a low-energy radio data transmission line that is able to withstand narrow-band interference and frequency selective attenuation caused by the multipath propagation pattern, time scatter and eliminate intersymbol interference and, in addition, provide radio communication with dynamic signal sources if they have a high relative radial speed.

Determining the coordinates of radiating objects.

The goniometric (direction finding) method for determining the coordinates of radiating objects is based on determining the location of the IRI as the intersection point of two or more position lines corresponding to bearings measured at spaced receiving points (azimuthal angles).

Measurements can be made simultaneously by several (two or more) direction finders. To ensure the normal functioning of spatially spaced direction finders, their communication is provided by radio link communications. The necessary explanations for this method of direction finding are shown in figure 5.

In FIG. 5 are indicated:

- IRI - direction finding source DKMV radio waves;

- radio line C - inter-station radio links;

- Network node 1,2 ... N - nodes 1, 2 and N of the peer-to-peer network;

α ₁ , β ₁ , α ₂ , β ₂ , α _N , β _N - azimuths (bearings) and elevation angles of the IRI measured by direction finders of network nodes 1, 2 ... N, respectively.

To determine the coordinates of the IRI, it is necessary to have, in addition to bearings and elevation angles of the IRI, the distance (slant range) from the corresponding

- radio line C - inter-station radio links;

- Network node 1,2 ... N - nodes 1, 2 and N of the peer-to-peer network;

α ₁ , β ₁ , α ₂ , β ₂ , α _N , β _N - azimuths (bearings) and elevation angles of the IRI measured by direction finders of network nodes 1, 2 ... N, respectively.

To determine the coordinates of the IRI, it is necessary to have, in addition to bearings and elevation angles of the IRI, the distance (slant range) from the corresponding node (direction finder) to the IRI. This range can be determined by solving the rectangle according to the formula (Fig. 6):

where D ₁ - the distance from the direction finder 1 to Iran;

L is the distance between the first and second nodes.

To determine the coordinates of objects detected by the sensor lines 1 (Fig. 1), we consider the following situation.

The surface object is in the range of discrete sensors (sensors) 1. By the unmasking features of the object (in the infrasonic range), this fact is recorded by sensors 1 and information is transmitted via the communication channel to the i-th network node (i = 1, 2, ..., N) . This situation is shown in FIG. 7, on which are indicated:

- Network node A with coordinates A (x, y);

- Network node B with coordinates B (x, y);

- Sensor line 1 (line No. 1 and line No. 2) of stationary placement with appropriate recording equipment (Ara and Arb);

- Discretely located sensors with coordinates:

A1 (x ₁ , y ₁ ), A2 (x ₂ , y ₂ ), A3 (x ₃ , y ₃ ), A4 (x ₄ , y ₄ );

B1 (x ₁ , y ₁ ), B2 (x ₂ , y ₂ ), B3 (x ₃ , y ₃ ), B4 (x ₄ , y ₄ );

- Ara and Arb - registration equipment 1, providing the corresponding network nodes A and B with hydroacoustic information;

- α1 and α2 are the installation angles of the lines of discrete sensors 1.

PNO is located in control zone 1, which is recorded by Ara and Arb equipment according to the information of sensors 1, which have coordinates A4 (x ₄ , y ₄ ) and B3 (x ₃ , y ₃ ).

It is assumed that while simultaneously detecting the presence of PND by several sensors of the same line, the detection sensor is the one from which the highest level information signal is received. That is, it is assumed here that the sensor lines have spatial selectivity, as a result of which the level of information signals received by sensors A4 (x ₄ , y ₄ ) and B3 (x ₃ , y ₃ ) is the highest compared to the signals of other sensors of rulers No. 1 and No. 2. The necessary explanations on the spatial selectivity of the sensor lines are shown in FIG. 8.

From FIG. Figure 8 shows that in the line No. 1 of discretely located sensors, the highest signal level from the PNO object will be received by a sensor located at a distance D1 (km) from the parking position of the Ara recording equipment and having coordinates A4 (x ₄ , y ₄ ). It can be seen from the same figure that in line No. 2, the sensor with coordinates B3 (x, y) receives the highest signal level from the PNO object.

Based on the foregoing, it is assumed that the PNO relative to the sensors A4 (x ₄ , y ₄ ) and B3 (x ₃ , y ₃ ) is located on the corresponding position lines KL and MN, which are perpendicular to the corresponding sensor lines (all solutions are developed in a rectangular coordinate system where the point (0, 0) is aligned with the location of the Ara recording equipment).

From FIG. Figure 7 shows that the PNO coordinates can be found by solving a system of equations describing the position of the lines KL and MN on the plane. The equations of these straight lines in the general case have the form:

Y = KX + B,

where K is the tangent of the slope of the line relative to the abscissa;

In - the ordinate of the point of intersection with the line of the ordinate axis.

Using FIG. 7, with the known values of the angle α1 and the distance D1 to the sensor A4 (x ₄ , y ₄ ), one can obtain the following relations:

for line KL:

K1 = tgβ1; β1 = ν = α1-90 °; β1 = α1-90 °;

K1 = tg (α1-90 °);

D1 / B1 = cosν = cos (α1-90 °); B1 = D1 / (cos (α1-90 °).

Then the equation of the line KL, on which the PND is located, is written in the form:

Similarly, taking the known values of the angle α2 and the distance D2 to the sensor A3 (x ₃ , y ₃ ), we can obtain the equation for the second line of position (MN):

; β3=α2;K ₂ = tg (90 + β3); β3 = 90 ° -γ;

; β3 = α2;

K ₂ = tg (α2 + 90 °).

From FIG. 7 shows that

B2 = S1 + S2;

S1 = D2⋅sinα2; S2 = x3 tgβ2 = x3⋅tg (90 ° -α2), where x3 is the coordinate of the B3 sensor along the abscissa.

Then B2 = D2⋅sinα2 + х3⋅tg (90 ° -α2).

Given all the above expressions, the equation of the second line of position is as follows:

To obtain the coordinates of the PNO, we solve the system of linear equations (1) and (2), as a result of which we obtain expressions for determining the coordinates of X and Y:

V1 = V2;

tg (α1-90 °) ⋅X + D1 / (cos (α1-90 °) = tg (90 ° + α2) ⋅X + D2⋅sinα2 + x3⋅tg (90 ° -α2); whence

The method for determining the coordinates of detected objects described here can be used for a larger number of positions of the recording equipment and their corresponding lines of discrete sensors (sensors). In this case, the ambiguities that arise can be eliminated by taking into account additional unmasking features of objects that appear, including in the radio range.

To implement this method of determining the coordinates of objects from the information of sensors 1, the following basic source data are required:

- coordinates of stationary sensors 1;

- coordinates of the equipment for recording information of sensors 1;

- coordinates of network nodes 3;

- additional information to avoid ambiguity.

The basic parameters of the object’s movement in the sensor control zone 1 are the speed and acceleration of movement, the direction of movement.

Implemented algorithms for processing secondary information provide for the registration and accumulation of "passports" ("forms") of objects. Moreover, the periodicity of updating passport data, the availability of a single time system and a time-scaling system make it possible to create passport data libraries with minimal computational resources and give out to the Consumers all the information they need, including the current motion parameters of detected PNOs. Moreover, this information can be issued both for the entire conditional period of observation, and at time intervals indicated by the Consumer.

The issued data on the parameters of the movement of objects are accompanied by basic (formular) information on the object, which can include: type and type of object, hazard level (by the criterion of proximity to protected objects, water boundaries, etc.), basic spatial parameters and other information , allowing it to be quickly analyzed and visualized.

The main initial information that allows you to determine in real time the parameters of the movement of PNO, are their current coordinates.

In the armament programs of countries of the world that have naval forces, a significant place is occupied by the creation of integrated lighting systems for surface and underwater conditions. Such systems include both means of primary detection of PND by their unmasking features, and a wide variety of tools and complexes for processing extracted information about the above objects in order to determine their coordinates and identification. Also an integral part of these systems are the means of transmitting both primary and secondary information about the objects to the processing points or to interested CPs in order to make decisions on detected PNOs.

Based on the general provisions on the functional purpose of integrated lighting systems for underwater and surface conditions, the hardware-software complex (AIC) of information processing (AO) is designed to receive and process sonar and other information in order to determine the coordinates of dynamic PNOs and transmit the information of interest to interested command posts .

The peer-to-peer network on DKMV communication radio modems is a service radio communication network created using the peer-to-peer or all-with-all topology (P2P network). This topology provides maximum reliability of the functioning of the peer-to-peer network, and hence the AIC of the OI of infrasound passive radars (IPR), where the separation of computing resources and servers is carried out directly through direct interaction between network participants with each other, without the participation of a central server. Unlike traditional client-server architecture in a P2P network, each node included in a computer network can be either a client or a server, providing or using network resources.

Communications and directions of information exchange in such a network, considered as a peer-to-peer network of the AIC OI, are shown in FIG. 1, 5 (hereinafter it is assumed that the minimum composition of the agro-industrial complex OI includes three nodes with the necessary set of radio equipment).

The minimum model for the exchange of information in such a network (Fig. 5) defines the following rules for the interaction of network nodes.

Each node of the AIC OI transmits to all other nodes information about the detected PNO (IRI). At the same time, when each node receives information from other nodes about the same PNOs, the problem of determining the location of each PNO detected by any node and its "neighbors" is solved, that is, information obtained at each of the network nodes is used to determine the location of the PNO. .

In a more complex network model, each calculated PND bearing is sent back to the node that sent the information (request).

In the general case, the system of infrasound sensors (sensors) can be used both in a stationary one; and in mobile versions. The principle of operation of these sensors (sensors), their design and the conditions for their use are determined by the physical mechanisms of interaction of sensitive elements and hydroacoustic vibrations, which is considered, for example, in [4, 5].

In the option of stationary placement, the sensors of infrasonic passive radars (IPR) are located at the required distances from the covered coastal or marine stationary objects. In this case, the IPR sensors are in a buried position. In these conditions of application of IPR, information and other cables that ensure the functioning of sensors have a length of tens of kilometers, up to the technical means for the primary processing of information of these sensors (sensors) located in the coastal zone. For this stationary variant of IPR placement (Fig. 9), the AIC OI network nodes are located from the primary information processing facilities at distances ensuring its reliable transmission. From FIG. Figure 9 shows that the location of the AIC, consisting of at least three sets of the same equipment of nodes, is determined by the installation location of the IPR information receivers (primary information processing tools of the IPR, which are special equipment that is not part of the AIC OI). Moreover, the distance between the network nodes of the agro-industrial complex is limited only by the range of the inter-site DKMV radio links.

The mobile version of the agro-industrial complex and the tactics of its application are determined by the method of using IPRs operating in the mobile version (when applied from patrol surface ships). Patrol vehicles carrying IPR elements and radio equipment of the AIC OI are used, as a special case, in the general system of covering aircraft carrier and other strike formations, and groups at sea and ocean theaters of operations (TVD) when following them to specified areas, from counteraction of surface and enemy submarine forces.

In this case, the radio-technical equipment (RTO) of the AIC OI is installed on ships monitoring the underwater and surface conditions using IPR. Agro-industrial complex OI in the conditions of mobile use functions in the same way as in the case of stationary placement. But at the same time, the location of the IPR elements and the relative position of the carrier ships of the IPR and RTO APK OI are continuously monitored. The use of APC OI in the mobile version is schematically shown in FIG. 10.

The tactics of using IPRs built on the basis of sensor sensors are mainly determined by their capabilities for detecting signals of the infrasonic wave range emitted or reflected by underwater and surface objects.

So when using hypersensitive sensors of hydroacoustic vibrations, the latter can be located at considerable distances to the covered objects (territories). From available sources of information it is known that these distances can reach tens of kilometers when using sensors (sensors) in the passive mode (in the mode when these sensors register infrasound signals of underwater and surface objects).

In order to increase the capabilities of IPR, they can be used in active-passive object detection systems. In these IPR systems, PNDs are detected by PNO by sonar signals reflected from them emitted by infrasound transmitters (sonar stations lowered into water from surface ships or from helicopters).

In passive detection systems, which are components of lighting systems for underwater and surface situations, it is advisable to use IPR in a stationary version. In stationary use, the elements (sensors) of the IPR are located up to 30 ... 40 km from the coastal zone. The number of sensors (sensors) IPR, concentrated on the area of tens and hundreds of square kilometers, can reach from several hundred to several thousand, which is determined by the range of their action (sensitivity) and the size of the proposed monitoring zones of water areas.

In order to explain the principle of operation and application of IPR in FIG. Figure 11 shows the tactical situation of detecting surface and submarine vessels in the coastal zone that carry out unauthorized actions. The unmasking signs of these objects are their radiation in the infrasonic (FR) range (hydroacoustic vibrations) and the presence of frequencies from the IF range in the spectra of the radio signals emitted by them in different wave ranges, including in the DKMV range. The spatial orientation of the “rulers” of sensors, taking into account the sensitivity of the latter, should ensure continuity in the overlap of zones of controlled water areas.

The IPR elements indicated in FIG. 11 digits 1, 2 and 3, have in their composition the "line" of sensors a, b, c and d connected to the information cable "e" through the switch, indicated in this figure as a rectangle filled in black. The length of each “line” (a, b, c, d) can reach 10 ... 15 km. The number of sensors in the line is determined by their sensitivity. The switches provide not only the connection, but also the alternate operation of the sensors (sensors) of each “line”, thereby achieving an increase in the area of controlled water areas and increasing the accuracy of determining the coordinates of PNOs during further processing.

The information cable “d” provides the transmission of the extracted information to the primary processing equipment, which is part of the IPR, as well as the power of the IPR elements and control. The length of this cable can reach tens of kilometers, which is determined by the general monitoring tasks in the area.

The primary information processing equipment for IPR sensors (sensors) is located, as a rule, in the immediate vicinity of the seashore and includes amplification, digitization and transmission of information via Ethernet channels to the nearest network node of the AIC OI.

From FIG. 11 it is also seen that the spatially distributed IPR includes three subsystems of sensors (in the form of “rulers”), indicated by the numbers 1, 2 and 3. The distance between these subsystems is 50 ... 80 km. Each subsystem of sensors provides hydroacoustic (or other, determined by the types of sensors-sensors) information to the nearest network node of the AIC OI.

The "lines" of sensors (sensors) of all three IPR detection subsystems are stationary, with known coordinates. The IPR placement option is typical and is determined by a number of factors of an operational-tactical and technical nature. With this scheme of application and placement of IPR, it is possible to detect, identify and determine the coordinates of PNO on the basis of information coming from both one subsystem of IPR (for example, the subsystem indicated by number 2), and from the entire set of sensors (sensors) of hydroacoustic information.

The capabilities of the direction finders of network nodes 3 and the computing facilities included in them make it possible to supplement the IPR information on the location of the PNO using radiation from detection objects in the DKMV range. Moreover, PNOs, as objects of detection, tracking and destruction in lighting systems of underwater and surface conditions, can be detected by means of AIC OI outside the IPR coverage areas. This ensures the necessary accuracy of determining the coordinates of the PNO by means of nodes 3 of the AIC OI network, which is also one of the advantages of the proposed technology.

The use of IPR in systems of active-passive detection of PNO implies, as mentioned above, the use of hydroacoustic oscillation sources that are lowered into the water from helicopters or from other maneuverable platforms. Infrasonic vibrations emitted by hydroacoustic means, having reached the PNO, are reflected from them in various directions and are received by sensors (sensors) of stationary IPRs.

Using this method of detecting PNO allows not only increasing the size of the monitoring zone, but also quickly “viewing” (“testing”) the most dangerous directions with the help of special helicopters with hydroacoustic equipment on board (in Fig. 11 it is designated “GAS”).

Coordinate and other information of interest on detected objects via established communication channels can be transmitted from any of the network nodes 3 to KP 4 in order to make decisions on counteracting PNO and controlling patrol and attack aircraft.

A significant advantage of the proposed solution, which is based on the implementation of the “P2P” (peer-to-peer) principle of network interaction, is its resistance to various emergency situations, for example, an unacceptable level of interference in communication channels; hardware failures of the means of receiving / transmitting information; lack of information from individual sensors (sensors) if there are monitoring objects in their control zone, etc.

It is also necessary to note here that the primary processing of information from IPR sensors intended for transmission to AIC OI must be carried out using special IPR equipment, which ensures a higher level of reliability of its transmission to network nodes 3 and the possibility of reducing the requirements for corresponding transmission lines.

The advantages of the described approaches to the implementation of the proposed technology are achieved by hardware and software and technical solutions implemented in transceiver antenna systems, in radio receivers and digital signal processing devices, in adaptive high-speed DKMV radio modems and in direction finding devices.

Network node 3 (Fig. 2).

The ground (mobile) equipment complex consists of several network nodes 3 (SU), which include a hardware and software information processing complex (AIC OI) with an adaptive radio transmission line for decameter range of radio waves (DKMV). SU 3 are interconnected by data transmission channels according to the “P2P network” scheme (Fig. 1, 5).

The stationary control system 3 has several information channels for the exchange of information, among which there may be dedicated communication channels, redundant VHF communication channels, and backup DKMV communication channels.

Communication channels between SU 3 at distances beyond their direct line of sight, it is possible to organize only through DKMV radio, which

The values of the bearing and elevation angle (α, β) are tied to the timeline and, together with the measurements obtained, are recorded in the target database form of the primary database as part of special software (STR) computing equipment SU 3.

After the complete control frame of the target form is formed in SS 3, it is transferred from the internal SS 3 network to the special software of the secondary database of all SS 3 of the system.

The secondary database is intended for storing information on goal forms from all SS 3.

The transmission and exchange of information of the contents of the secondary bases between SU 3 is carried out via data channels of departmental Ethernet networks.

In the absence of the possibility of using departmental communication channels, the inter-network exchange of the contents of the secondary databases is carried out via digital decameter radio channels (DKMV) from the equipment of office communication equipment and reservation of data transmission channels.

All SS 3 have the same information structure in the secondary bases of the entire network of deployed SS 3, regardless of the control zone.

Based on information from secondary databases, the algorithm of special software SU 3 solves the problem of determining the coordinates of PNO.

The distance coordinate of the PNO can be determined or refined by the calculation method according to the distance calculation algorithms using the height of the ionospheric layer, the triangulation method with several CS 3 and the differential-ranging method using the refinement corrections of the first two methods.

The information of the secondary database on SU 3 has access to the STR of the communication manager 12 (Fig. 2) for visualization for constructing dynamic trajectories of PNO movement in space. Dynamic information can be visualized on the monitor of the operator’s technological workplace or on an external special informational demonstrator.

The full vector of coordinates of the monitoring objects in the PNO in a coordinated form or in the form of goal forms is transmitted from any SS 3 post to the equipment of CP 4 (Fig. 1) via Ethernet exchange channels.

Thus, the SU 3 network with radio equipment of the decameter range of radio waves located as part of the ground-based lighting complex performs automatic control of reflected IPR signals between itself or ground control gears and mutual automatic exchange of information about the navigation parameters of the PNO movement in the space of the SU 3 network coverage area.

Algorithms for the functioning of radio devices

The initial state of the network equipment is the standby mode, in which the equipment located at stationary objects is in the off state.

The phased array (PAR) equipment for reception and transmission, which is removed from the control objects at different distances, is under telemetry control and technical protection of special means of SU 3 from unauthorized access and anti-vandal interference.

To ensure constant monitoring of the current state of the PAR, technical security equipment is constantly included in operation and is located in the quick response or physical security zone.

The SU 3 equipment is transferred from its initial state (standby mode) to the operating state after supplying voltage to the equipment.

In this case, the inclusion of the PAR light equipment for transmission, which is carried out up to several kilometers from the location of the main equipment of SU 3, is controlled via telemetry channels.

Through these channels, information on the temperature state of the power amplifier module (UM) is received in the STR of the communication manager 12 (Fig. 2), and when it deviates from the set values from the technical norm, heating or cooling devices for removing the heat flux of the amplifier (radiator UM) are turned on.

After completion of the internal self-control cycle of the SU 3 equipment and obtaining a positive result, the SU 3 operating modes are initialized according to the saved tuning parameters of the previous SU 3 operation sessions.

When the SU 3 equipment is turned on for the first time, a multi-phase semi-automatic adjustment of the equipment and its adjustment to the mode of continuous automatic operation takes place.

The algorithm for establishing communication over service channels provides for the phase of searching for optimal vertical angles of arrival of the radio wave at the receiving headlamp from a given direction.

For this, one of the channels of the SU 3 radio link is transferred to the test signal (TS) transmission mode according to the known time diagram for each SU 3 and the correspondent is called for communication to check the parameters of the communication channel at the calling frequency, which is set by the calculation method.

The digital radio equipment in the course of its work automatically measures the signal-to-noise ratio in the configured communication channels and provides these values for the STR of the communication manager 12, where the measurement information is accumulated and a decision is made and the optimal communication mode is selected.

For spatial control of the virtual center of the radiation pattern, the narrow-band direction finding device 5-10 (Fig. 4) constantly monitors the angular parameters of the source of the received signal and generates mismatch signals in azimuth and elevation, which are received through the local SPD 11 in the STR of the communication manager 12.

Open source communication manager 12 controls the equipment for diagram formation (DOW 6) the receiving and transmitting side of the digital radio line so that in real time the optimal values of the angular values are applied.

In addition, the STR of the communication manager 12 tunes the technical equipment to the assigned communication frequencies of all the communication devices of the SU 3 post and issues the frequencies for monitoring, tracking and a list of allowed and spare communication frequencies with the narrow-band direction finder 5-10 (Fig. 4) for tracking their possible rapid replacement in the indicated range of technical equipment.

To ensure digital communication between SU 3, a digital radio line with a radio modem is functioning as part of the intercom system, which provides an optimal way to deliver digital information to subscribers of the SU 3 network.

The design of digital information exchange provides for the possibility of constant reservation of data transmission channels to ensure uninterrupted operation of the SU 3 network based on a long-term, operational and monitoring forecast of radio wave propagation.

For this, each SU 3 post has its own radio channel along decameter radio links with each post from the network. Organization of channels each with each (Fig. 1).

On each communication direction, a radio modem is used from the structure of intercom and reservation of data transmission channels, which ensures data transmission to the side of the paired post at a separate communication frequency for transmission and reception.

All radio modems and linear high-frequency equipment of the communication channel is controlled from the STR of the communication manager 12.

Due to the principle of building an exchange in a network, radio modems constantly listen to the direction of communication and wait for a ringing signal from the calling party.

After receiving a ringing signal, the radio modem automatically generates a digital communication channel in a given direction for transmitting information to the communication manager or to the designated port for receiving information in the local computer data network.

The interaction and data transfer between the radio modem and the local network is carried out via the TCP / IP protocol in the Ethernet network.

In addition to digital data transmission channels on radio modems, an additional data transmission channel was introduced into the equipment, which provides the communication manager 12 software with information about the status of communication channels and the transmission medium of radio signals based on the operation of a special mode of the radio modem - measuring the frequency characteristics of the radio channel.

This mode allows you to assess the state of the decameter range of radio waves with an estimate of the amplitude-frequency, phase-frequency and energy characteristics, to evaluate the signal-to-noise ratio in the working frequency band of the communication at the frequencies of the wave schedule issued for the operation of the radio line.

For the case of operational technical increase in the bandwidth of a radio link in a certain direction of communication, an additional backup channel of a digital radio link in the VHF band is provided (Fig. 1), which can also be used for communicating via an additional radio direction with similar equipment and the structure of the signal-code structure of a service digital radio line .

Information digital streams of the secondary database are converted into output data streams to visualize the processes of operation of the SU 3 equipment.

The SU 3 network management module allows you to generate a digital trajectory of coordinate samples in the form of an interactive display of the PNO trajectory.

When constructing a radio data exchange line between the control system 3, the presence of interfering signals to the receiving headlamp as part of a narrow-base subsystem 5 from the transmitting headlamp 10 is possible (Fig. 2), which will reduce the minimum level of the received radio signal at the receiving point and significantly affect the electromagnetic environment in the area of the transmitting installation HEADLIGHT.

To eliminate the mutual influence of radio, it is advisable to ensure the separation of the receiving and transmitting headlamps at an optimal distance.

The magnitude of this distance significantly affects the length of the radio cable from the installation site of the working signal synthesizer and power amplifier under the antenna element transmitting the HEADLIGHT 10.

A solution is proposed for performing fixed equipment removal via optical channels for transmitting digital information to large distances, which will allow one to have freedom of choice and the ability to use the existing infrastructure of optical communication lines.

The essence of the solution is to transfer the spectrum of the working signals at the zero frequency of the block of radio modems 7 (Fig. 2) into digital form for transportation over the optical channel over long distances, followed by the addition and packaging of the structure with information about the working signal, the amplitude and phase of the partial channel for generating and summing power radiation in a given direction of space, as well as the transmission of control signals to the corresponding shapers of the carrier frequency with telemetric monitoring of the state of the power amplifier. The group formation of a signal for transmission is carried out in digital form by 8 synthesizers of the carrier frequency of the communication with the subsequent transfer of the group spectrum to the analog form for power gain. Each power amplifier has its own synthesizer.

To eliminate the temperature and current dependence of the transient response of the active elements of power amplifiers (UM 1-8) and the connecting radio cable, a module for measuring the phase of the carrier wave of each antenna is introduced into the shaper structure to take into account its value in the law of forming the maximum radiation pattern of the transmitting HEADLIGHT 10.

The radio modem unit 7 (Fig. 12) has at its input a working signal of the modem modulator in the form of digital samples at zero frequency.

The transmission path of the radio link is a digital device made in digital form with digital signal processing, subsequent filtering, conversion to analog form and power amplification in a terminal power amplifier loaded with the complex resistance of the antenna emitter.

The composition of the device for generating the output signal 9 (Fig. 13) includes a control and measuring receiver (KIP) for estimating the phase value in the established transmission channel.

The measurement process has a high degree of accuracy due to the use of a high-precision reference generator in the reference signal generation circuit and the moment the phase meter is started.

The moment of the beginning of the synthesis process of the output signal in the synthesizer module and the start of measurements in the instrumentation are synchronized by a special command from the communication manager and spaced apart in the operating time of each transmission channel.

The phase values are transmitted to the STR of the communication manager 12 (Fig. 2), where they are taken into account when calculating a given direction as corrections from the operational values of the measured delays.

The adaptive radio data line of the decameter band of radio waves (ARLPD KB) is designed to transmit information using the principle of the spatio-temporal method of forming the direction of communication with automatic selection of the optimal direction to the signal source, which is a complex signal-code design.

Principle of operation

The control program of the STR of the communication manager 12 initializes the equipment included in the ARLPD into a predetermined initial state.

The direction finding device of radio signals (RPS) 5-10 (Fig. 4) is configured to view the specified frequency range to search and detect the signal reflected from the PNO and calculate the direction of arrival of the radio wave in azimuth and elevation. The DSP works on the basis of a one-stage direction finding algorithm for the radiation source (IRI), which allows you to calculate the angular parameters of the IRI. To ensure the functioning of the direction finding algorithm, the DSP is connected to the receiving PAR (I-1) (Fig. 3) of a given configuration.

To the receiving headlamp 5-1 as part of a narrow-base subsystem 5 (output 1) a diagram-forming device (DOW) 6 (input 1) is connected (Fig. 2), which provides amplitude-phase addition of signals at the output from a given spatial direction. The output signal of the receiving headlamp is fed to the block of radio modems 7 to perform frequency selection of the spectrum of the working signal, its amplification and ensure the operation of the demodulator channel of the block of the radio modem.

The law of formation of addition in DOW 6 is set from the STR of the communication manager 12 through the local data transmission network (SPD) when IRI bearings are detected in RUR 5-10. The value of the current bearing in Iran is transmitted to DOW II through SPD in real time.

The block of radio modems (BRM) 7 (Fig. 12) provides the conversion of input information from the STR of the communication manager 12 into a complex signal for transmitting it through the communication channel in the modulator of the radio modem and demodulating the complex signal into the information stream that enters the SPD 11.

BRM 7 generates a signal towards the device for generating the output signal (UVBC) 9 (Fig. 2).

Narrow-base subsystem (UP) 5 (Fig. 3)

A radio emission source (IRI) located on the PNO generates an electromagnetic signal, for the description of which a model of a Gaussian radio signal is used:

where K is the number of components taken into account,

f ₀ - carrier frequency,

f _k are the frequencies of the considered components in the spectrum of the complex envelope,

and _k and b _k are coefficients that are Gaussian mutually independent random variables.

Such a signal corresponds to the case of a stochastic model, the application of which ensures the operation of the system in conditions of the least available a priori information.

Narrow-base subsystem 5 is a technically unified receiving station that implements multichannel reception at individual reception points (TP), the placement of which in the structure of the antenna system UP _i I satisfies two conditions:

1. The distance between the TP of the same UE _{i is} much less than the distance between UE _i and IPI _j . This condition provides a flat wave front.

2. The distance between the TA of the same UE _i does not exceed half the wavelength λ0 = c / f ₀ corresponding to the carrier or center frequency f ₀ of the received radio signal, and with a mean velocity of signal propagation from IPI UE _j to _i, equal to the rate Sveta.

UP _i I consists of an antenna-feeder system (AFS) 5-1, a low-noise amplifier unit (LNA) 5-2, a multi-channel synchronous quadrature receiver (MSC) 5-3, a block of analog-to-digital converters (ADC) 5-4, the first and the second information processing channels 5-5, the control controller 5-6 and the calculator 5-7, connected by a communication line (output 2) to the local SPD 11 (Fig. 2). The LNA block 5-2 pre-amplifies the signals before it is transmitted to the inputs of the MSCP 5-3. MSKP, ADC blocks are program-controlled, the operation mode of which is set by the control signals of the calculator 5-7.

When receiving electromagnetic waves are converted into an analog electrical radio signal, which is fed to the input of the LNA 5-2, the output of which the radio signal is fed to the inputs MSC 5-3. As a result of synchronous detection, an analog video signal is generated at the outputs of the MSCP, which arrives in the form of pairs of quadrature at the inputs of the ADC 5-4, at the output of which a digital signal is formed in the form of samples.

Distinctive characteristics of the MSCP are the central frequency, tunable over a wide range: from 20 MHz to 3 GHz, and a wide frequency band of the demodulated signal, amounting to 60 MHz, which defines the signal as broadband in the upper part of the center frequency range, and as ultrawideband in its lower parts. To achieve the required reception quality, independent digital gain control of each channel is carried out in 0.5 dB steps, and the synchronization of each channel pair of the quadrature receiver should provide a phase difference in the accuracy of the quadrature of no more than 2 degrees in absolute value. To obtain a technical result, a multi-channel 16-bit multi-channel ADC with a tunable sampling frequency is used, with a maximum frequency of 100 MHz, which, taking into account the protective intervals, is consistent with the maximum band of the received radio signal.

The synchronization of sampling in various ADC channels should ensure the mismatch of time instances of not more than 0.05 of the used sampling period.

Calculator 5-7 is implemented on the basis of a high-performance multiprocessor workstation equipped with at least two multi-core universal Intel Xeon processors with an operating frequency of at least 1.8 GHz and a random access memory (RAM) with a capacity of at least 8 GB. The calculator 5-7 in the structure performs the functions of controlling the operation of unitary enterprise _i (5) by setting the functional modes of individual blocks. In addition, the calculator 5-7 performs preliminary digital processing of the received signals, as well as their compression before transmission over the communication line.

The antenna system UP _i (5) is located on a vertical mast, the height of which is from 1.5 to 18 m. In the upper part of the mast, over a section of length L, from one to nine annular antenna sublattices (CAD) are located. The minimum distance between planar CADs is 0.5 m, which is due to the technological features of the mount, and the maximum is limited by the length of the working section of the mast L.

The structural organization of the distributed receiving system of the passive radar system allows you to form the necessary spatial distribution of the electromagnetic field of the signal emitted by IRI _j at the reception.

Let IRI _{j be} located at a point in space whose coordinates are given by the vector r = (X, Y, Z) ^T. Then the signal received by the m-th TP consisting of the structure of the i-th CP is the sum of the delayed and weighted useful signal and the additive noise:

where a _n is the amplitude of the signal at the inputs of the TP i-th UP;

τ _nm = τ _n + χ _n + ζ _nm ; τ _n = | r _n -r | / s is the signal transit time from the IRI _j to the conditional phase center (UFC) of the i-th unit;

r _n = ⎢⎢X _n , Y _n , Z _n ⎢⎢ ^T are the coordinates of the UFC of the i-th unitary enterprise;

χ _n is the error of the signal binding in time;

ζ _nm = (r _nm -r _n ) ^T c _α / c is the signal transit time from the UVC to the TP (from TP to the UVC if ζ _nm <0);

r _nm = ⎢⎢X _im , Y _im , Z _im ⎢⎢ ^T - coordinates of the m-th TP of the i-th UP;

c _α = ⎢⎢cos (α _n ) cos (β _n ); sin (α _n ) cos (β _n ); sin (β _n ) ⎢⎢ ^T ;

α _n , β _n - azimuth and elevation angle of the beam directed from the i-th unitary enterprise to IRI _j ;

c - signal propagation speed.

A distinctive condition for the effective use of this model is that the signal observation time at each position should be chosen much longer than the signal and noise correlation times. Digital samples of all received signals are transmitted via high-speed communication lines to the local SPD 11. Digital signals received by individual TPs are considered together and form a multidimensional digital signal.

Coordinates are estimated using a combined goniometric and differential-ranging method of estimation, in which the entire distributed system is considered as a combined passive system (CPS), combining the common features of a wide-base passive system (SBPS) and a passive system consisting of narrow-base subsystems (PSUP) . The method for evaluating such a system is based on a method for calculating an estimate of the difference in the arrival of signals based on the correlation reception using the maximum likelihood method, which is presented in two papers for two reception points [6].

The angular coordinates of the PNA in azimuth and elevation are determined by the phase-difference direction finder.

Functionally, the device consists of a direction finder 5-10 with a digital antenna array 5-1, a detector 5-9 time-frequency signs of targets (classifier of goals), output shapers 5-11 matrices of target coordinates and calculators 5-6, 5-7, in which there are algorithms for extrapolating PNO trajectories, device control algorithms and network data exchange and control algorithms from the radio complex.

The direction finder 5-10 with a digital antenna array 5-1 consists of a fixed antenna array located at a spatially separated reception point.

Each of the antennas is connected to the input of the LNA 5-2, which provides coordination of the impedances of the antenna element and the connecting cable. Each LNA 5-2 output is connected to its receiving path, which is formed by one of the channels of a multichannel synchronous quadrature receiver (MSC) 5-3 and an analog-to-digital converter (ADC) 5-4. Thus, an individual digital channel of signal samples from one lattice element is formed.

The ADC of a 5-4 signal simultaneously samples a signal across multiple channels. The size of this set is determined by the number of elements of the antenna array 5-1. So, for a lattice of 16 elements, the potential accuracy of the device is about 12 arc minutes. As the number of elements increases, accuracy increases.

Coherent signal processing is performed in filters 5-8, detector 5-9 and direction finder 5-10 of information processing channel 5-5.

Due to the need to ensure the stability of the amplitude-frequency characteristics (AFC) of the direction-finding path, it provides measures for measuring the AFC before taking signal samples in the operating frequency band. The frequency response of the frequency response is associated with the stability of the electrical parameters of the channel and is controlled by the control algorithm of reference (known signal sources) during operation from the controller 5-6.

Direction finder 5-10 provides the determination of the angular coordinates of the PNO (sources of radio emission - IRI) from the phase portrait of the incoming signal. The direction finder determines the angles of arrival of signals to the antenna array from different directions on the same frequency and frequency band. The number of directions is set by the required accuracy of determining the angular coordinates. For an accuracy of 6 minutes, the instantaneous matrix of angles has a dimension of 3600 elements. The time to obtain the bearing (quantum of the time to solve the problem) depends on the speed of the calculator 5-7.

Information processing is carried out in the calculator 5-7.

The matrix (azimuth-elevation angle) is pre-filled in the frequency range is incomplete, without a range coordinate, this coordinate is subsequently obtained by the calculation method from the trigonometric equations of the PNO trajectory (Fig. 6), and it supplements the IRI coordinate base to a logical level.

Work dynamics

The multichannel synchronous quadrature receiver (MSCP) 5-3 operates in the PND direction finding mode at the same frequency with one of the available signal observation bands.

The signals from the output of the calculator 5-7 in digital form are received for processing and issued through the local SPD 11 in the STR of the communication manager 12 (Fig. 2).

With a certain pace of restructuring MSCP 5-3 over the range, the IRI is monitored (located) and their coordinates are automatically determined, with reference to the moment of detection.

Time binding is performed for the differential-range measuring method for updating coordinates and solving special algorithms for the synthesis of space-time separation.

Thus, the considered system of passive detection of sources of radio emission increases the accuracy of determining the coordinates of the PNO.

Reception headlight 5-1.

Phased array antenna consists of several mutually coherent antenna elements with antenna amplifiers for placement on the mast.

Each mast is installed on the ground at random at a given distance between each other.

One antenna element (AE) has two identical horizontal vibrators that are mutually perpendicular to each other and oriented in the lattice along the geographical meridian and latitude.

Antenna elements have a shortened appearance and their own signal amplifier (US) with a high dynamic voltage range. The DC performs matching of the AE with the wave impedance of the power supply cable and through it power is supplied from an external voltage source.

The US output is connected to a signal division device (splitter), to which conjugated consumers are connected — a direction finder of radio signals and diagram-forming devices.

Radio direction finder (PR)

The direction finder of radio signals (Fig. 4) performs the function of detecting and determining the angular directions of arrival of a signal from a radio emission source (IRI). PR works on the principle of a one-stage measurement of the angular coordinates of the IRI.

To solve this problem, the equipment includes special devices for analog and digital conversion of the radio signal and a special calculator 5-7, working according to the algorithm of one-stage determination of angular directions in IRI. The values of the angular coordinates are transmitted to the STR of the communication manager 12 for processing. The PR management is performed from the STR of the communication manager 12 via a local data exchange network. PR sets the frequency range of observation over which automatic scanning and search of IRI is performed with the determination of its angular coordinates.

Diagram-forming device (DOW) 6 (Fig. 2)

The diagram-forming device is made on the basis of lumped components for controlling the phase delays of the radio signal as it passes through the internal processing channels.

The principle of operation of the DOW is based on the possibility of separately controlling the amplitudes and phases of the signals of each element of the antenna system with their subsequent summation to create an amplitude-phase distribution corresponding to a given radiation pattern of the antenna array.

The main element of the DOW is a quadrature amplitude-phase modulator.

The input signal goes to the quadrature phase shifter, where it splits into two orthogonal components. Each quadrature component with the help of two antiphase phase shifters 0 ° -180 ° and keys are additionally “turned” into the desired quadrant. Tunable attenuators produce the formation of amplitudes of the orthogonal components, allowing you to change the amplitude and phase of the signal within a given quadrant on the output adder.

The principle of operation of such a modulator in phase mode can be described by the following formula:

Uout = Uin⋅Sin (ωt + ϕ) = UinвCos (ϕ) Sin (ωt) + UinвSin (ϕ) ⋅Cos (ωt).

In accordance with this formula, in order to rotate the output signal by an angle ϕ in the sine channel, it is necessary to regulate the amplitude according to the law U⋅Сos (ϕ), and in the cosine channel according to the law U⋅Sin (ϕ). In this case, the amplitude of the output signal will be constant and equal to the amplitude of the input signal.

In the general case, when changing both the phase and the amplitude of the output signal, the original formula is converted to the following form

Uout = Uin ⋅A (ϕ) ⋅Sin (ωt + ϕ) = Uin (A (ϕ) ⋅Cos (ϕ) ⋅Sin (ωt) +

+ Uin ⋅A (ϕ) ⋅Sun (ϕ) ⋅Cos (ωt).

In this case, in the sine channel, the amplitude is adjusted according to the law Uin⋅A (ϕ) ⋅Cos (ϕ), and in the cosine channel, according to the law Uin⋅A (ϕ) ⋅Sin (ϕ).

Management of the DOW is carried out from the STR of the communication manager 12. The calculated coefficients are sent to the DOW to ensure coherent addition from a given direction at the output of the DOW 6.

Block of radio modems (BRM) 7

BRM 7 is designed for preliminary analogue selection of the radio signal, amplification and transfer of the spectrum of the received signal to an intermediate frequency with subsequent conversion and filtering, and its conversion to digital form for digital processing of the signal-code structure (CCM) of the working signal of the radio modem in the modem demodulator.

In the modem modulator, adaptive coding and generation of the signal-code structure of the working signal in digital form of samples of the spectrum of the signal at zero frequency is carried out, which is transmitted through the optical channel to the output signal generating device (UVFS) 9 (Fig. 2) for conversion to analog form and amplification by power.

Simultaneously with the digital signals of the CCM samples, a highly stable reference frequency signal from the BRM 7 reference generator is transmitted through the optical channel to the UVBS 9 side.

BRM 7 can receive and generate several working signals, which are converted into a serial form for transfer at high speeds to the side of the UVBC 9 via an optical cable.

Signals from the receiving headlamp 5-1 through the DOW 6 can be received in the BRM 7 at different communication frequencies on several receiving channels.

Each of the receiving channels consists of an active short-wave preselector (APCW), in which preliminary analogue selection of the radio signal, its amplification, and transfer of the signal spectrum to intermediate frequencies with filtering are performed.

The output signal of the APCW is fed to its channel of the MSVM-138-0 modem demodulator (MSVM-138 - Special Modem-138 Computing Module (based on the OMAR-138 processor, dsp & arm 138 of the Ti series), 0 - version) (Fig. 12), where the signal is converted to digital form and its subsequent processing.

From the MSVM-138-0 module towards the multiplexer, the modem output signal is generated in digital form in the form of packets from each modem.

In the multiplexer, a packet of information about the direction of transmission in the form of calculated phase values for the signal synthesizer at the carrier frequency is added to each packet. Additionally, a package of control commands of the UVBC 9 is added to the optical channel.

Output signal conditioning instrument (UVBC) 9

The device for generating the output signal performs multi-channel and multi-frequency shaping of the spectrum of working signals from zero frequency to several communication frequencies. Such a conversion is performed for the spatial addition of the energy of power amplifiers from the transmitting elements of the PAR in a given direction at a given frequency.

The input demultiplexer and control unit UVVS 9 receives the digital signal stream from the optical cable, parses the packets and sends them to the processing channels, where the stream is converted into samples of the communication channel from the number of the radio modem and the parameters of the communication direction (phase of the carrier signal, value of the carrier frequency and its amplitude )

Each communication direction forms its own sample stream of the modem modulator for several synthesizers (according to the number of dimensions of the PAR), where each synthesizer has its own initial phase of the carrier frequency of the communication in digital form.

The output stream of all communication directions, consisting of samples of carrier frequencies, is summed at the input of the digital-to-analog converter of the antenna element (DAC AE) into a complex group signal.

A complex signal from the output of the DAC through the filter and power amplifier is fed to the antenna element of the PAR.

In the synthesizer module, the signal-code structure (CCM) of the working signal of the modem modulator is transferred to the carrier frequency, which is set for one of the communication directions.

Transmitting HEADLIGHT 10

The transmitting PAR 10 consists of antenna elements located at fixed points in space, to which a radio signal from the output of broadband power amplifiers is supplied.

The installation coordinates of the antenna element are selected based on the required radiation area of the PAR.

Local area network data transmission (SPD) 11

Local SPD provides transport of control commands between paired devices and data from the client for transmission in specified communication directions.

Special Communication Manager Software (STR) 12

Open source software communication manager 12 consists of a subset of control and processing programs of the intended purpose of the radio link.

Thus, the considered detection system of underwater and surface objects provides the formation of a digital trajectory of coordinate samples in the form of an interactive display of the PNO trajectory due to passive detection of PNO radio emission sources.

Literature

1. Some aspects in the development of lighting systems for surface and underwater conditions of the Russian Navy and the US Navy. Marine collection, No. 8, 2009.

2. E. Ryapisov. Hydroacoustic stations with flexible extended towed systems of the US Navy. Foreign Military Review, No. 9, 1995.

3. S. Pichugin. Status and development prospects of sonar surveillance systems of the US Navy. Foreign Military Review, No. 6, 2010.

4. Fiber-optic monitoring system “Danube”. Photon Express, No. 5 (117), 2014.

Claims (4)

1. A system for detecting underwater and surface objects containing N receiving antennas, a first and second analog-to-digital converter (ADC), a computer, characterized in that it additionally introduces a line of sensors, a switch whose inputs are connected to the outputs of the sensor lines, and the output the radio link is connected to N receiving antennas, a low noise amplifier (LNA), N inputs of which are connected to N receiving antennas, the first and second multi-channel synchronous quadrature receivers (MSCP), the inputs of which are connected respectively to the first and the second outputs of a low-noise amplifier, and the outputs with the first inputs of the first and second analog-to-digital converters, the first and second information processing channels, the first inputs of which are connected to the outputs of the analog-to-digital converters, and the outputs are connected to the calculator; a control controller connected at the input to the calculator, the first output of which is connected to the second input of the first multi-channel synchronous quadrature receiver, to the second input of the first analog-to-digital converter and to the second input of the first information processing channel, and the second output to the second input of the second multi-channel synchronous quadrature a receiver, to the second input of the second analog-to-digital converter and to the second input of the second information processing channel; chart-forming device (DOW), N inputs of which are connected to N receiving antennas; a block of radio modems, the first input of which is connected to the output of the beam-forming device; fiber optic communication line, the inputs of which are connected to the outputs of the block of radio modems; a device for generating an output signal, the inputs of which are connected to the outputs of the fiber optic communication line; transmitting phased antenna array, the inputs of which are connected to the outputs of the output signal generating apparatus; a local data transmission system connected to the output of the calculator, to the second input of the beam-forming device, to the second and third inputs of the block of radio modems; special communication manager software connected by a communication line to a local data network; command post connected by a communication line to special communication manager software. 2. The coordinates of the underwater and surface objects according to claim 1 are estimated in the form of a three-element vector in the Cartesian coordinate system and are carried out by searching for the unconditional global maximum of the objective function, composed of the terms of the decision function containing information about the estimated parameter formed using the maximum likelihood method for the stationary model in the broad sense of Gaussian radio signals with known samples of the spectra calculated from the received signals using the algorithm quickly of the Fourier transform. 3. The antenna system used in the detection system of underwater and surface objects according to claim 1, consists of an active phased antenna array (AFAR), structurally implemented as a system of ring antenna sublattices of weakly directed active elements, concentrically placed on a collapsible vertical mast, up to 18 m and characterized in that it forms an optimal, in the sense of minimizing the mean square error of the estimated parameters, approximation of a uniform radiation pattern in the upper hemisphere beyond even placement of one to nine ring sublattices with a radius of 0.5 to 2 m and with the number of elements from 3 to 13 in each sublattice, as well as adjusting the distance between the sublattices in height, with a minimum distance of 0.5 m and the rotation angle of each ring antenna sublattices relative to other sublattices. 4. The system according to claim 1, characterized in that the VHF, DKMV and fiber-optic communication lines are used as the data transmission network.

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