RU2675671C1 - Radio electronic interference to the satellite navigation signals source location determining system and method - Google Patents

Abstract

FIELD: instrument making.

SUBSTANCE: invention relates to the field of navigation instrument making, and can be used in the moving objects location determining systems using radio waves by comparing two or more found directions in one coordinate system. For this, the system and method provide the location (coordinates) determination of the source of electronic interference to satellite navigation signals with less complexity of operation based on the use of only the self-propelled robots own coordinates, as well as their azimuths to the electronic interference source.

EFFECT: technical result is expansion of functional capabilities.

8 cl, 4 dwg

Description

The invention relates to the field of determining the location using radio waves by comparing in one coordinate system two or more directions found, namely, to systems and methods for determining the location of a source of electronic interference to satellite navigation signals, that is, determining at a remote control point (RC) the location of a source of electronic interference with the subsequent transfer of its coordinates to the destination. The invention can be applied in conditions of electronic conflict for remotely controlled robotic systems (RTKs) for military and special purposes, namely RTKs in which at least two self-propelled robots (CP) are controlled via radio channel from a remote control point (RC). A typical operation scheme of such an RTK is shown in FIG. one.

One of the main trends in the modern development of ground-based military robotics is the gradual transition from remotely controlled to semi-autonomous (in the future to autonomous) RTK. This will eliminate the main disadvantages of remotely controlled RTKs, such as [Rubtsov I.V. State of the art and prospects for the development of domestic ground-based robotics for military and special purposes // Bulletin of the Southern Federal University. Technical science. Section Section I. Robotics - 2013. - No. 3. - S. 14-21]:

- limited radius of action for radio control;

- the need for continuous participation of operators in the management process as a complex as a whole, and its subsystems;

- the possibility of disrupting the stable operation of information transmission channels and control commands by the use of electronic countermeasures by the enemy.

It should be noted that the development, and subsequently the use of robotic means with a high degree of autonomy, is impossible without a navigation and positioning system that provides accurate determination of the current coordinates and orientation of each self-propelled robot from the RTK.

To determine their own coordinates in self-propelled robots, they use a satellite positioning system (GLONASS and / or GPS), or integrated positioning systems (based on satellite and inertial navigation systems).

The trends in the use of electronic warfare (EW) in modern conflicts indicate that the enemy will use electronic warfare systems aimed at suppressing both communication and control channels and satellite navigation signals. In this regard, increasing the noise immunity of radio navigation equipment is an urgent task, since in real conflict conditions the coordinate-time and navigation field will be subjected to electronic suppression, and only the use of noise-resistant navigation equipment will allow the RTK to solve problems in difficult electronic warfare conditions.

The basis of modern methods for increasing the noise immunity of radio navigation equipment is the principle of controlling the antenna system (antenna array) of the navigation receiver, which provides zero signal reception in the direction of interference sources. Such a method and a system for determining the direction to a source of radioelectronic interference are described in US Pat. this direction when receiving signals of the map. At the same time, the influence of the interference environment on the reception of a useful signal from satellites is significantly reduced. Such antenna arrays will be called noise-immune digital antenna arrays (PCAR). An illustration of the operation of the data of the system and method is shown in FIG. 2.

The disadvantage of the method and system of analogues is the inability to determine the location (coordinates) of the source of electronic interference, but only the ability to determine the direction to the source of electronic interference.

Closest to the claimed invention is a method for determining the coordinates of aircraft based on the use of two directional angles and one elevation angle, described in patent RU 2601494. This method is selected as a prototype of the claimed invention.

The disadvantage of the prototype method is the need to determine the elevation angle (an argument whose value is always negligible in the tasks of determining the location of ground objects), which increases the complexity of the prototype method.

The technical result of the claimed invention is the creation of a system and method for determining the location (coordinates) of a source of electronic interference with less complexity due to the use of only their own coordinates of self-propelled robots, as well as their azimuths to the source of electronic interference.

As follows from the principle of operation of noise-resistant digital antenna arrays, in addition to the task of providing noise immunity, noise-resistant digital antenna arrays on self-propelled robots allow us to determine the direction to the interference source (Fig. 2). The use of noise-resistant digital antenna arrays on two or more self-propelled robots from the composition of robotic systems (RTK) will allow us to solve the problem of bearing detection of a source of electronic interference, i.e. determining at the remote control point (RC) the location of the source of electronic interference, followed by the transfer of these coordinates to the destination. The advantage of the claimed system and method is the ease of implementation of coordinate calculations. This advantage is a consequence of the fact that to determine the coordinates of the interference source, only the own coordinates of the self-propelled robots are used, as well as the azimuths received from them to the interference source, while in the prototype (patent RU 2601494 “A method for determining the coordinates of aircraft using two directional angles and one elevation angle ”) also use elevation angles, which increases the complexity of the calculations.

The technical result achieved is achieved by creating a system for determining the location of a source of electronic interference to satellite navigation signals, containing at least two self-propelled robots, each of which has a navigation system and a noise-resistant digital antenna array, as well as a remote control station with an on-board computer, which is connected over a radio channel with navigation systems and noise-resistant digital antenna arrays of self-propelled robots, moreover

точки Q₁ местоположения первого самоходного робота;the navigation system of the first self-propelled robot is configured to determine and transmit geographical coordinates to the on-board computer

points Q ₁ location of the first self-propelled robot;

точки Q₂ местоположения второго самоходного робота;the navigation system of the second self-propelled robot is configured to determine and transmit geographical coordinates to the on-board computer

point Q ₂ location of the second self-propelled robot;

the noise-resistant digital antenna array of the first self-propelled robot is configured to determine and transmit to the on-board computer the azimuth α ₁₃ from point Q _{1 of the} location of the first self-propelled robot to point Q _{3 of the} location of the electronic interference source relative to point P of the north pole;

noise-resistant digital antenna array of the second self-propelled robot is configured to determine and transmit to the on-board computer azimuth α ₂₃ from point Q _{2 the} location of the second self-propelled robot to point Q _{3 the} location of the source of electronic interference relative to point P of the north pole;

точки Q₃ местоположения источника радиоэлектронных помех, при этом выполнения следующих операций:the on-board computer is configured to calculate and transmit geographical coordinates to an external device

point Q ₃ location of the source of electronic interference, while performing the following operations:

calculating the distance (σ ₁₂ ) between points Q ₁ and Q ₂ and the angle α ₁₂ with the vertex at point Q ₁ between the direction to point P of the north pole and the direction to point Q ₂ :

Where:

calculation of angles α ₃₁₂ and α ₁₂₃ :

α ₃₁₂ = α ₁₂ -α ₁₃ ,

α ₁₂₃ = α ₂₃ -α ₂₁ , where:

calculating the distance σ ₁₃ between points Q ₁ and Q ₃ :

и

calculating the desired coordinates

and

In a preferred embodiment of the system, the navigation system of the self-propelled robot is made in the form of an integrated (satellite and inertial) navigation system.

In a preferred embodiment of the system, the on-board computer of the remote control point is connected to the navigation systems of self-propelled robots and noise-resistant digital antenna arrays of self-propelled robots by a wireless communication channel.

точки Q₃ местоположения источника радиоэлектронных помех сигналам спутниковой навигации.In a preferred embodiment of the system, the on-board computer of the remote control station is configured to transmit geographical coordinates to an external device

point Q ₃ location of the source of electronic interference to satellite navigation signals.

The technical result is also achieved by creating a method for determining the location of a source of electronic interference, in which

точки Q₁ местоположения первого самоходного робота;using the navigation system of the first self-propelled robot, geographic coordinates are determined and transmitted to the on-board computer

points Q ₁ location of the first self-propelled robot;

точки Q₂ местоположения второго самоходного робота;using the navigation system of the second self-propelled robot, geographic coordinates are determined and transmitted to the on-board computer

point Q ₂ location of the second self-propelled robot;

using the noise-resistant digital antenna array of the first self-propelled robot, the azimuth α ₁₃ from the point Q _{1 of the} location of the first self-propelled robot to the point Q _{3 of the} location of the electronic interference source of satellite navigation signals relative to the P point of the north pole is determined and transmitted to the on-board PDU computer;

using the noise-resistant digital antenna array of the second self-propelled robot, the azimuth α ₂₃ from the point Q _{2 of the} location of the second self-propelled robot to the point Q _{3 of the} location of the electronic interference source of satellite navigation signals relative to point P of the north pole is determined and transmitted to the on-board remote control computer;

точки Q₃ местоположения источника радиоэлектронных помех сигналам спутниковой навигации, при этом выполняют следующие операции:using the on-board computer of the remote control point, geographical coordinates are calculated and transmitted to an external device

point Q ₃ location of the source of electronic interference to satellite navigation signals, while performing the following operations:

calculate the distance (σ ₁₂ ) between points Q ₁ and Q ₂ and the angle α ₁₂ with the vertex at point Q ₁ between the direction to point P of the north pole and the direction to point Q ₂ :

Where:

calculate the angles α ₃₁₂ and α ₁₂₃ :

α ₃₁₂ = α ₁₂ ^_ α ₁₃ ,

α ₁₂₃ = α ₂₃ -α ₂₁ , where:

calculate the distances σ ₁₃ between points Q ₁ and Q ₃ :

и

compute the desired coordinates

and

In a preferred embodiment of the method, the navigation system of the self-propelled robot is made in the form of an integrated (satellite and inertial) navigation system.

In a preferred embodiment of the method, data is transmitted between the on-board computer of the remote control point, the navigation systems of the self-propelled robots and the noise-resistant digital antenna arrays of the self-propelled robots via a wireless communication channel.

In a preferred embodiment of the method, data is transmitted to an external device via the on-board computer of the remote control point.

For a better understanding of the claimed invention the following is a detailed description with the corresponding graphic materials.

FIG. 1. The operation scheme of robotic systems in which several self-propelled robots are controlled by radio from a remote control point, made in accordance with the prior art.

FIG. 2. The scheme of operation of noise-resistant digital antenna arrays and determining the direction to the source of interference.

FIG. 3. The scheme of operation of the system and method for determining the location of the source of electronic interference, made according to the invention.

FIG. 4. Scheme of input and output data of the on-board computer of the remote control point when calculating the coordinates of the source of electronic interference, made according to the invention.

The principle of the claimed invention (Fig. 1, 3, 4) is to determine the location of the source of electronic interference to satellite navigation signals according to:

- own coordinates of two self-propelled robots;

- the position of noise-resistant digital antenna arrays (PCAR) of self-propelled robots relative to the direction of CP to the north;

- direction to the source of electronic interference received from each noise-resistant digital antenna array.

In accordance with the claimed invention, self-propelled robots equipped with a gyrocompass and a noise-resistant digital antenna array transmit to the remote control point to determine the geographical coordinates of the source of electronic interference to satellite navigation signals data:

- from the gyrocompass of a self-propelled robot about its own position of a self-propelled robot in space;

- from the noise-resistant digital antenna array of self-propelled robots about the direction of the noise-resistant digital antenna array to the source of electronic interference relative to the north direction.

Based on these data, the geographical coordinates of the interference source to satellite navigation signals are calculated at the remote control point. To implement the algorithm, use the direct angular notch method, known in geodetic problems of location. The method is described in detail in the book Morozov V.P. Course of Spheroidal Geodesy, Edition 2, revised and supplemented, Moscow, Nedra, 1979, 296 p.

источника радиоэлектронных помех, расположенной в точке Q₃, по географическим координатам двух самоходных роботов, расположенных в точках Q₁, Q₂, а также азимутам (α₁₃, α₂₃) с этих точек на искомую точку Q₃ относительно точки Р северного полюса. На фиг. 3 обозначены рассматриваемые точки, расстояния и углы.Consider an embodiment of the claimed invention (Fig. 3, 4). In the claimed invention determine the coordinates

the source of electronic interference, located at point Q ₃ , according to the geographical coordinates of two self-propelled robots located at points Q ₁ , Q ₂ , as well as the azimuths (α ₁₃ , α ₂₃ ) from these points to the desired point Q ₃ relative to point P of the north pole. In FIG. 3 denotes the points, distances and angles considered.

Initial data:

- географические координаты точки Q₁ (местоположение самоходного робота №1);

- geographical coordinates of point Q ₁ (location of the self-propelled robot No. 1);

- географические координаты точки Q₂ (местоположение самоходного робота №2);

- geographical coordinates of point Q ₂ (location of the self-propelled robot No. 2);

α ₁₃ is the azimuth from point Q ₁ to point Q ₃ ;

α ₂₃ is the azimuth from point Q ₂ to point Q ₃ ;

Searched values:

- географические координаты точки Q₃ (местоположение источника радиоэлектронных помех);

- geographical coordinates of point Q ₃ (location of the source of electronic interference);

Perform the following operations:

a) Calculate the distance (σ ₁₂ ) between points Q ₁ and Q ₂ and the angle α ₁₂ with the vertex at point Q ₁ between the north direction and point Q ₂ :

Where:

b) The angles α ₃₁₂ and α ₁₂₃ are calculated:

α ₃₁₂ = α ₁₂ -α ₁₃ ;

α ₁₂₃ = α ₂₃ -α ₂₁ , where:

c) Calculate the distance σ ₁₃ between points Q ₁ and Q ₃ :

и

:d) Find the required coordinates

and

:

In FIG. 4 shows the input and output data of the on-board computer of the remote control point when calculating the coordinates of the source of electronic interference, in accordance with the claimed invention.

The on-board computer of the remote control point is able to calculate the location of the enemy’s source of electronic interference, with the subsequent transfer of their coordinates to the destination, depending on the application and interaction.

The claimed invention can be applied in a robotic complex consisting of at least two self-propelled robots. Moreover, with an increase in the number of self-propelled robots in the RTK, both the accuracy of determining the location of the source of electronic interference to satellite navigation signals and the number of sources of electronic interference to satellite navigation signals that can be determined will increase.

The claimed invention can be implemented on a modern elemental base for standard technologies.

Although the above-described embodiment of the invention has been set forth to illustrate the present invention, it is clear to those skilled in the art that various modifications, additions and substitutions are possible without departing from the scope and meaning of the present invention disclosed in the attached claims.

Claims (47)

1. A system for determining the location of a source of electronic interference to satellite navigation signals, comprising at least two self-propelled robots, each of which has a navigation system and a noise-resistant digital antenna array, as well as a remote control station having an on-board computer that is connected via a radio channel to the navigation systems and noise-resistant digital antenna arrays of self-propelled robots, and the navigation system of the first self-propelled robot is configured to determine and transmit geographical coordinates to the on-board computer

,

points Q ₁ location of the first self-propelled robot; the navigation system of the second self-propelled robot is configured to determine and transmit geographical coordinates to the on-board computer

,

point Q ₂ location of the second self-propelled robot; the noise-resistant digital antenna array of the first self-propelled robot is configured to determine and transmit to the on-board computer azimuth α ₁₃ from point Q _{1 of the} location of the first self-propelled robot to point Q _{3 of the} location of the electronic interference source relative to point P of the north pole; noise-resistant digital antenna array of the second self-propelled robot is configured to determine and transmit to the on-board computer azimuth α ₂₃ from point Q _{2 the} location of the second self-propelled robot to point Q _{3 the} location of the source of electronic interference relative to point P of the north pole; the on-board computer is configured to calculate and transmit geographical coordinates to an external device

,

point Q ₃ location of the source of electronic interference, while performing the following operations: a) calculating the distance (σ ₁₂ ) between points Q ₁ and Q ₂ and the angle α ₁₂ with the vertex at point Q ₁ between the direction to point P of the north pole and the direction to point Q ₂ :

, Where:

,

,

; b) calculating the angles α ₃₁₂ and α ₁₂₃ : α ₃₁₂ = α ₁₂ -α ₁₃ , α ₁₂₃ = α ₂₃ -α ₂₁ , where:

; c) calculating the distance σ ₁₃ between points Q ₁ and Q ₃ :

; d) calculation of the desired coordinates

and

:

,

. 2. The system according to claim 1, characterized in that the navigation system of the self-propelled robot is made in the form of an integrated (satellite and inertial) navigation system. 3. The system according to claim 1, characterized in that the on-board computer of the remote control point is connected to the navigation systems of self-propelled robots and noise-resistant digital antenna arrays of self-propelled robots by a wireless communication channel. 4. The system according to claim 1, characterized in that the on-board computer of the remote control point is configured to transmit geographical coordinates to an external device

,

point Q ₃ location of the source of electronic interference to satellite navigation signals. 5. A method for determining the location of a source of electronic interference, in which, using the navigation system of the first self-propelled robot, geographic coordinates are determined and transmitted to the on-board computer

,

points Q ₁ location of the first self-propelled robot; using the navigation system of the second self-propelled robot, geographic coordinates are determined and transmitted to the on-board computer

,

point Q ₂ location of the second self-propelled robot; using the noise-resistant digital antenna array of the first self-propelled robot, the azimuth α is determined and transmitted to the on-board remote control computer₁₃ from point Q_one locations of the first self-propelled robot to point Q₃ the location of the source of electronic interference to satellite navigation signals relative to point P of the north pole; using the noise-resistant digital antenna array of the second self-propelled robot, the azimuth α ₂₃ from the point Q _{2 of the} location of the second self-propelled robot to the point Q _{3 of the} location of the electronic interference source of satellite navigation signals relative to point P of the north pole is determined and transmitted to the on-board remote control computer; using the on-board computer of the remote control point, geographical coordinates are calculated and transmitted to an external device

,

point Q ₃ location of the source of electronic interference to satellite navigation signals, while performing the following operations: a) calculate the distance (σ ₁₂ ) between points Q ₁ and Q ₂ and the angle α ₁₂ with the vertex at point Q ₁ between the direction to point P of the north pole and the direction to point Q ₂ :

, Where:

,

,

; b) calculating the angles α ₃₁₂ and α ₁₂₃ : α ₃₁₂ = α ₁₂ -α ₁₃ , α ₁₂₃ = α ₂₃ -α ₂₁ , where:

; c) calculate the distances σ ₁₃ between points Q ₁ and Q ₃ :

; d) calculate the desired coordinates

and

:

,

. 6. The method according to p. 5, characterized in that the navigation system of the self-propelled robot is made in the form of an integrated (satellite and inertial) navigation system. 7. The method according to p. 5, characterized in that they transmit data between the on-board computer of the remote control point, navigation systems of self-propelled robots and noise-resistant digital antenna arrays of self-propelled robots via a wireless communication channel. 8. The method according to p. 5, characterized in that through the on-board computer of the remote control point transmit data to an external device.

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