RU2680727C1 - Correlation hydroacoustic lag - Google Patents

Abstract

FIELD: hydro acoustics.SUBSTANCE: invention relates to underwater acoustics, and more specifically to navigation devices, specifically to logs, and can be used to improve the accuracy of measuring the speed of movement of surface ships, submarines and other ships of water transport at small and deep depths. Principal difference of the proposed device from the prototype is that it additionally includes a low-frequency correlation block of the CCF at zero time delay, consisting of the third block of the additional time delay τsequentially connected and the third multiplying device and also additionally included in the low-frequency correlation unit of the CCF the second block of the additional time delay τ, the output of which is connected to the second input of the second multiplying device, and also the first block of the additional time delay τincluded in the ACF correlation unit, the output of which is connected to the first input of the first multiplying device of the correlation block ACF, and the input is connected to the output of the block adjustable time delay τ,which is connected in parallel with the second block of the additional time delay τlow-frequency correlation block CCF, and also a unit for comparing the works of the ACF and the CCF, the first input of which is connected to the output of the first multiplying device of the correlation block of the ACF, and the second input is connected to the output of the second multiplying device of the low-frequency correlation block of the CCF, output of the unit for comparing the work of the ACF and the CCF is connected to the input of the second integrator, the output of which is also connected to the second input of the block of adjustable time delay τcorrelation block ACF, as well as a setting corrector values (lag corrections), the output of which is connected to the second input of the computing unit; in addition, the output of the first detector is connected in parallel with the second input of the third block of the additional time delay τa low-frequency correlation unit CCF at zero time delay and with the second input of the first multiplying device of the correlation unit ACF, and the output of the second detector is connected to the first input of the third multiplying device of the low-frequency correlation block CCF at zero time delay, the output of which is connected to the input of the first integrator, the output of which is connected to the input of the adaptation unit, output of which is connected in parallel with the second input of the first block of additional time delay τcorrelation block ACF, second input of the second block additional time delay τlow frequency correlation unit CCF and the second input of the third block additional time delay τlow-frequency correlation block CCF at zero time delay. In the detection mode of the full speed module, the first detector is additionally connected in parallel with the second block of the additional time delay τlow frequency correlation unit CCF, and a block of adjustable time delay τcorrelation block ACF connected only with the first block of additional time delay τcorrelation block ACF.EFFECT: improvement of the design and technological indicators of the device, increasing the stability of the entire scheme, the possibility of entering lag correction values determined on the measuring line, will lead to an increase in the accuracy of determining the speed of the ship when maneuvering in different sea conditions.3 cl, 2 dwg

Description

The invention relates to hydroacoustics, and more specifically to navigation devices, specifically to lags, and can be used to improve the accuracy of measuring the speed of movement of surface ships, submarines and other watercraft at shallow and deep depths.

Since the beginning of the 70s, in the field of production of marine navigation technology of developed countries (USA, Sweden, Japan), there has been an increased interest in correlation sonar lags (KGAL). The increased interest in KGAL is caused by its advantages compared to traditional Doppler sonar logs (DGAL), such as high accuracy of the ship’s speed measurement, independence of the KGAL operation from measuring the speed of sound in water, less influence of the ship’s pitching due to better acoustic contact with the ground, due to the larger width of the antenna, and also does not require temperature stabilization of the master generators of the radiation path, the wave size of the antenna is smaller, the relatively small dead zone allows you to expand the range of p working depths under the keel, lower power consumption and radiated power. An additional advantage is the ability to simultaneously measure the speed of the ship and the depth under the keel without forming an additional (vertical) beam antenna.

The variety of implementations of existing correlation sonar lags requires their classification and systematization, the introduction of common definitions in order to facilitate assessment of the prospects of their use on ships and ships of the Navy.

Correlation sonar logs are characterized by:

1. By type and volume of initial information, they relate to correlation systems (KENS-1) (first class “without memory”), in which information about the navigation field is taken at one current “point”, ie the output of the field sensor is a scalar quantity.

2. According to the method of determining the absolute speed of a ship - refer to lags based on the measurement of physical quantities associated with the speed of a ship by known fluctuation dependencies.

3. By the nature of the geophysical field used, stationary fields of natural origin (Earth field) are used.

A device for determining the speed of a ship, based on the measurement of an acoustic signal, is closest in technical essence to the claimed invention. The device comprises a transceiver path including a generator to which an antenna emitter is connected, as well as a first and second receiving antenna, the output of each of the receiving antennas being connected through their respective amplifiers to the inputs of the first and second detectors, respectively, a low-frequency correlation unit for calculating the cross-correlation function (VKF), a low-frequency correlation unit for calculating the values of the autocorrelation function, an adaptation unit and a computing unit used with the possibility of calculation the speed of the ship according to the formula V = X / 2 (τ ₁ + τ ₂ ), where X is the distance between the antennas; wherein the output of the first detector is connected to the first input of the first block of adjustable time delay with the possibility of delaying a time delay τ ₁ by a predetermined amount therein; the first output of the first block of adjustable time delay is connected to the first input of the multiplier device of the low-frequency correlation block VKF, in which the multiplier device is connected through the first integrator with an extremal regulator, the output of which is connected in parallel with the input of the adaptation block, with the possibility of selecting values of the time-controlled delay having the value of the cross-correlation coefficient within 0.2-0.8 of its maximum, as well as with the first input of the computing unit; wherein the second input of the computing unit is connected to the second output of the first adjustable time delay unit, the second input of which, in turn, is connected to the adaptation unit; in addition, the first output of the second detector is connected to the second input of the multiplying device of the low-frequency correlation block VKF, and the second output of the second detector is connected to the first input of the second block of adjustable time delay with the possibility of delaying the time delay t ₂ by a predetermined amount, in addition, the third output the second detector is connected to the first input of the multiplier device of the low-frequency correlation block ACF, in which the output of the corresponding multiplier device is connected to the second integ Hur, whose output is connected to a fourth input of the computing unit; the first output of the second adjustable time delay unit is connected to the second input of the multiplier device of the low-frequency correlation unit of the ACF, and the second output of the second adjustable time delay unit is connected to the third input of the computing unit, the output of which is connected to the second input of the second adjustable time delay unit. (Utility Model Patent No. 111633 Russian Federation, Hydroacoustic Correlation Lag / Avanesov A.A., Vereshchagin S.A .; Patent Holder Ministry of Defense of the Russian Federation Federal State Military Educational Institution of Higher Professional Education "Military Training and Scientific Center of the Navy" Naval Academy named after Admiral of the Fleet of the Soviet Union N.G. Kuznetsov "(RU) - 2011133632/28; published on December 20, 2011)

However, the previous model with two integrators (low-pass filters), two blocks of adjustable time delays, in which independent variable delays of two random signals are implemented with independent signals to control these delays in the functions of the correlator operating point level and ship speed, will require a rather complicated and accurate choice of parameters these devices in order to ensure the stability of the entire circuit and ensure an acceptable value of the fluctuation error of the lag, especially when maneuvering AI ship.

The disadvantages inherent in the prototype are eliminated by the proposed device: “Correlation sonar log”, the technical task of which is to improve the known technical devices of correlation speed meters and develop a new design solution with high accuracy in determining the speed of surface ships, submarines and other watercraft on small and great depths in conditions of varying degrees of sea waves.

The implementation of the specified technical problem allows to achieve the following total technical result, which consists in:

- to improve the structural and technological parameters of the device, which will lead to an increase in the accuracy of determining the speed of the ship in various conditions of sea waves;

- to increase the stability of the operation of the whole scheme, the reliability and speed of processing calculations when determining the speed of the ship, as well as to ensure an acceptable value of the fluctuation error of the lag, especially when maneuvering the ship;

- in increasing the accuracy of determining the speed of the ship, due to the ability to enter the values of the lag corrections defined on the measuring line.

To achieve the technical result, a device is proposed - “Correlation hydroacoustic lag”, containing a transceiver path, including a series-connected generator and radiator antenna, as well as the first and second receiving antennas, the output of each of which is connected through their respective strip amplifiers to the inputs of the first and second detectors, respectively, wherein the output of the first detector is connected to a first input of an adjustable time delay τ _P block correlation unit ACF containing t kzhe first multiplier and the output of the second detector is coupled to a first input of the second multiplier device CCF baseband correlation unit and the adaptation unit, a first integrator and a second integrator whose output is connected to a first input of the computing unit.

The fundamental difference between the proposed device and the prototype is that it additionally includes a low-frequency correlation block VKF at zero time delay, consisting of series-connected third block of additional time delay τ_P and a third multiplying device, as well as a second additional time delay unit τ additionally included in the low-frequency correlation unit of the VKF_Pthe output of which is connected to the second input of the second multiplier device, as well as the first additional time delay unit τ additionally included in the ACF correlation block_Pthe output of which is connected to the first input of the first multiplier device of the ACF correlation block, and the input is connected to the output of the adjustable time delay block τ_R, which is connected in parallel with the second block of the additional time delay τ_P a low-frequency correlation unit VKF, as well as a unit for comparing ACF and VKF products, the first input of which is connected to the output of the first multiplier device of the correlation unit ACF, and the second input is connected to the output of the second multiplier device of the low-frequency correlation unit VKF, while the output of the unit for comparing ACF and VKF products connected to the input of the second integrator, the output of which is also connected to the second input of the adjustable time delay unit τ_P the correlation block of the ACF, as well as the adjusting value (lag corrections) adjuster, the output of which is connected to the second input of the computing unit; in addition, the output of the first detector is connected in parallel with the second input of the third block of the additional time delay τ_P the low-frequency correlation block VKF at zero time delay and with the second input of the first multiplier device of the correlation block ACF, and the output of the second detector is connected to the first input of the third multiplier device of the low-frequency correlation block VKF at zero time delay, the output of which is connected to the input of the first integrator, the output of which is connected with the input of the adaptation block, the output of which is connected in parallel with the second input of the first block of the additional time delay τ_P correlation block ACF, the second input of the second block of additional time delay τ_P the low-frequency correlation block VKF and the second input of the third block of the additional time delay τ_P low-frequency correlation block VKF at zero time delay.

In the full-speed module determination mode, the first detector is additionally connected in parallel with the second block of additional time delay τ _{P of the} low-frequency correlation block VKF, and the block of adjustable time delay τ _P of the ACF correlation block is connected only to the first block of additional time delay τ _P of the ACF correlation block.

Such a mutual arrangement of structural elements and their interconnection are necessary to effectively determine the speed of the ship relative to the bottom, determine the cross-correlation coefficient of the envelopes of the reflected signals received by the first and second receiving antennas that are spaced along the ship’s hull, and determine the speed of the ship by dividing half the distance between the receivers the correlation time delay, which is determined by the coefficient of auto correlation of the envelope of the signal from the first receiver, and also summing the value of this delay with the value of the correlation time delay. Only after this is the ship speed determined by dividing half the distance between the receivers by the sum of the values of the introduced adjustable delay and the correlation time delay.

It is the presence in the claimed invention of distinctive features from the prototype that allows you to determine the speed of the ship with increased accuracy. In addition, an increase in the functional stability of the device is achieved.

The invention is illustrated by drawings, which are presented in FIG. 1 and FIG. 2. In FIG. 1 shows a structural-functional diagram of a correlation sonar log of longitudinal velocity, and in FIG. 2 shows a structural-functional diagram of the correlation sonar lag of full speed.

The structural and functional diagram of FIG. 1 and FIG. 2 includes:

A. Transmitting path KGAL.

1. Generator;

2. Antenna emitter;

3. The first receiving antenna (1PA);

4. The second receiving antenna (2 PA);

5. The first strip amplifier;

6. The second band amplifier;

7. The first detector;

8. The second detector;

9. Correlation block ACF;

9.1 Block of adjustable time delay τ _P ;

9.2 The first block of the additional time delay τ _P ;

9.3 First multiplier;

10. Low-frequency correlation block VKF;

10.1 The second block of the additional time delay τ _P ;

10.2 Second multiplier;

11. Low-frequency correlation block VKF at zero time delay (VKF (0));

11.1 The third block of the additional time delay τ _P ;

11.2 Third multiplier device;

12. The first integrator;

13. The adaptation unit;

14. Block comparing works of ACF and VKF;

15. The adjusting value adjuster (lag corrections);

16. The second integrator;

17. The computing unit;

18. The ground.

On the longitudinal velocity functional diagram, the receiving-transmitting path of the correlation sonar log (KGAL) is designed to emit acoustic signals vertically down to the ground 18 and receive acoustic signals reflected from the bottom, the first receiving antenna 3 and the second receiving antenna 4 are identical and located at the bottom of the ship, on distance due to the design of the ship.

The first receiving antenna 3 is designed to transmit the received acoustic signal reflected from the ground 18, which through the first strip amplifier 5 and then through the first detector 7 is fed to the input of the adjustable time delay unit 9.1, with the possibility of delaying it by a predetermined time delay τ _one , as well as the first multiplier device 9.3 of the correlation block ACF 9 and the third block of the additional time delay τ _P low-frequency correlation block VKF at zero time delay 11.

The second receiving antenna 4 is designed to transmit the received acoustic signal reflected from the ground 18, which then passes through the second strip amplifier 6 to the second detector 8.

The first output of the second detector 8 is connected to the second input of the second multiplier device 10.2 of the low-frequency correlation block VKF 10 and to the second input of the third multiplier device 11.2 of the low-frequency correlation block VKF at zero time delay 11.

A series of interconnected adjustable time delay unit τ _P 9.1, a second additional time delay unit τ _P 10.1, a second multiplier device 10.2, in combination form a low-frequency correlation unit VKF 10. An adjustable time delay unit τ _P 9.1, is also connected to the second additional unit time delay τ _P 10.1. The output of the second multiplier device 10.2 of the low-frequency correlation block VKF 10 is connected to the unit for comparing works of ACF and VKF 14.

Consistently connected to each other, the third additional time delay τ _P 11.1, the third multiplier device 11.2, in combination, form a low-frequency correlation block VKF 11 with a zero time delay. The output of the third multiplier device 11.2 is connected to the input of the first integrator 12. The first integrator 12 is connected to the first input of the adaptation unit 13, in which the measured values of the FCF are compared with the assigned limits of the range.

The output of the adaptation block 13 is connected to the second input of the first block of the additional time delay τ _P 9.2, the second input of the second block of the additional time delay τ _P 10.1, the second input of the third block of the additional time delay τ _P 11.1.

The first and second multiplying devices are connected through the first and second inputs to a unit for comparing works of VKF and ACF 14, from which the difference signal ACF and VKF is fed to the input of the second integrator 16. The second integrator 16 is connected to the computing unit 17, which is also connected through the second input adjusting value adjuster (lag corrections) 15 and with an adjustable time delay unit τ _P 9.1.

In the functional diagram of the full-speed module, the receiving-transmitting path of the correlation sonar log (KGAL) is designed to emit acoustic signals vertically down to the ground 18 and receive acoustic signals reflected from the ground, the first receiving antenna 3 and the second receiving antenna 4 are identical and located at the bottom of the ship, at a distance due to the design of the ship.

The first receiving antenna 3 is designed to transmit the received acoustic signal reflected from the ground 18, which through the first strip amplifier 5 and then through the first detector 7 enters the first input of the first block of adjustable time delay 9.1, with the possibility of delaying it by a predetermined amount of time delay τ ₁ as well as the first multiplier device 9.3, the second block of the additional time delay 10.1 of the low-frequency correlation block VKF 10 and the third block of the additional time delay 11.1 of the low-frequency orrelyatsionnogo CCF block at zero time delay 11.

The second receiving antenna 4 is designed to transmit the received acoustic signal reflected from the ground 18, which then passes through the second strip amplifier 6 to the second detector 8.

The first output of the second detector 8 is connected to the second input of the second multiplier device 10.2 of the low-frequency correlation block VKF 10 and to the second input of the third multiplier device 11.2 of the low-frequency correlation block VKF at zero time delay 11.

A series of interconnected adjustable time delay unit τ _R 9.1, a second additional time delay unit τ _P 10.1, a second multiplier device 10.2, together form a low-frequency correlation unit VKF 10. The output of the second multiplier device 10.2 is connected to a unit for comparing ACF and VKF products 14.

Consistently connected to each other, the third block of the additional time delay τ _P 11.1, the third multiplier device 11.2, in the complex form a low-frequency correlation block VKF 11 with zero time delay. The output of the third multiplier device 11.2 is connected to the input of the first integrator 12. The first integrator 12 is connected to the first input of the adaptation unit 13, in which the measured values of the VKF are compared with the assigned range boundaries coming from the set point of the VKF at zero time shift.

The output of the adaptation block 13 is connected to the second input of the first block of the additional time delay τ _P 9.2, the second input of the second block of the additional time delay τ _P 10.1, the second input of the third block of the additional time delay τ _P 11.1.

The first and second multiplying devices are connected through the first and second inputs to a unit for comparing works of VKF and ACF 14, from which the difference signal ACF and VKF is fed to the input of the second integrator 16. The second integrator 16 is connected to the computing unit 17, which is also connected through the second input adjusting value adjuster (lag corrections) 15 and with an adjustable time delay unit τ _P 9.1.

The device operates as follows

We present an algorithm for measuring the longitudinal speed of a ship:

The receiving and transmitting path of the correlation sonar log (KGAL) is designed to emit acoustic signals vertically down to the ground 18 and receive acoustic signals reflected from the ground, the first receiving antenna 3 and the second receiving antenna 4 are identical and are located in the bottom of the ship, at a distance determined by the ship’s design .

The first receiving antenna 3 is designed to transmit the received acoustic signal reflected from the ground 18 to the first strip amplifier 5 and further to the first detector 7.

The second receiving antenna 4 is designed to transmit the received acoustic signal reflected from the ground 18, which then passes through the second strip amplifier 6 to the second detector 8.

Further, for a more convenient consideration of the structure of the functioning of the device, we break the algorithm of work into steps.

First stage. The selected envelope of the detected signal (U ₁ (t)) from the output of the first detector is supplied to the first input of the adjustable time delay block 9.1 and the first input to the third block of the additional time delay τ _P 11.1 at a value of τ _P = 0.

From the output of the second detector, the envelope of the signal U ₂ (t + τ _T ) is supplied to the second inputs of the multiplier devices 10.2 and 11.2.

Since the AGC and VARU circuits operate in the receiving paths, we can assume that the signals at the output of the detectors and the calculated correlation functions will be normalized.

From the output of the third block of the additional time delay τ _P 11.1, the signal U ₁ (t + τ _P ) is supplied to the first input of the multiplier 11.2. From the output of the multiplying device 11.2, the signal is supplied to the integrator 12. From its output, the signal is proportional to the normalized cross-correlation function at a zero time shift ρ _U1U2 (0) is supplied to the adaptation unit 14.

The value ρ _U1U2 (0) is a measure of the width of the correlation functions and the possibility of the HACC and HACM methods of measuring speed.

In adaptation block 13, the obtained value of the VKF coefficient at a zero time shift is compared with the boundaries of the range (0.2 - 0.8) · ρ _U1U2 and a control signal is generated that is fed to the second input of the additional time delay block τ _P 11.1 in order to change delays to the value of τ _P , so that at the output of block 12 to obtain the value of the coefficient VKF ρ _U1U2 in the specified limits of 0.2 - 0.8 (Fig. 1).

Further, this procedure will be carried out throughout the lag.

Second stage. Simultaneously with obtaining the value of τ _P in block 11.1, which provides the value of the BKF coefficient at a zero time shift in the range 0.2 - 0.8, the same delays on the control signal from block 14 are received in blocks 9.2 and 10.1.

The signals from the output of the first detector, delayed by the value of the time delay τ _P , also arrive at the first inputs of the additional time delay blocks τ _P 9.2 and 10.1.

Next, the signals of the first detector, delayed by the total value of the time delay τ _P and the additional time delay τ _P are received:

- from the output of the additional time delay unit τ _P 9.2 to the first input of the multiplying device 9.3, and the signal from the output of the first detector 7 is received at its second input;

- from the output of the block of the second block of the additional time delay τ _P 10.1 to the first input of the multiplier 10.2, and the second input of the multiplier 10.2 receives the signal from the output of the second detector 8.

Thus, we obtained the positions of the levels of the operating tracking points of the VKF and ACF on the time axis, shifted towards decreasing the correlation delays by τ _P.

Third stage. At the output of the computing unit 17, a difference signal is obtained that is proportional to the non-smoothed level of the tracking signal, i.e. the difference in the levels of ACF (τ _P + τ _P ) and VKF (τ _P + τ _P ).

After passing through the second integrator 16, a difference signal proportional to the values of the ACF and VKF coefficients controls the adjustable time delay τ _P in the adjustable delay unit 9.1, so that the operating tracking points are shifted by τ _P, i.e. a delay τ _{P was} added to the delay τ _P , and the ACF and VKF coefficients would become equal in magnitude at the VKF level in the range (0.2 - 0.8) · ρ _U1U2 .

Therefore, the equations will be solved

,

,

.

.

Fourth step. After fixing the equality of the coefficients of ACF and VKF, in block 17 the speed of the ship is calculated by dividing half the distance between the receiving antennas (1PA) 3 and (2PA) 4 by the sum of the values of the time delay τ _P and the additional time delay τ _P according to the formula

.

.

We also consider the second model of the correlation sonar lag of the full-speed module.

The scheme of this lag operation mode (Fig. 2) differs little from the previous one (Fig. 1). However, the functioning algorithms differ in part of the second, as well as the third and fourth stages.

Second stage. Simultaneously with obtaining the value of τ _P in block 11.1, which provides the value of the BKF coefficient at a zero time shift in the range 0.2 - 0.8, the same delays on the control signal from block 14 are received in blocks 9.2 and 10.1.

The signals from the output of the first detector 7 are fed to the first input of the second block of the additional time delay 10.1, and also, delayed by the amount of time delay τ _P , are fed to the first input of the first block of the additional time delay 9.2.

Next, the signals of the first detector, delayed by:

- the total value of the time delay τ _P and the additional time delay τ _P come from the output of the first block of the additional time delay 9.2 to the first input of the multiplying device 9.3, and the signal from the output of the first detector 7 is received at its second input;

- the value of the additional time delay τ _P comes from the output of the second block of the additional time delay 10.1 to the first input of the multiplying device 10.2, and its second input receives a signal from the output of the second detector 8.

Thus, we obtained the positions of the levels of the operating tracking points of the VKF and ACF on the time axis, shifted towards decreasing the correlation delays by τ _P.

Third stage. At the output of the unit for comparing the works of ACF and VKF 14, a difference signal is obtained that is proportional to the non-smoothed level of the tracking signal, i.e. the difference in the levels of ACF (τ _P + τ _P ) and VKF (τ _P ).

After passing through the second integrator 16, a difference signal proportional to the values of the ACF and VKF coefficients controls the adjustable time delay τ _P in the adjustable delay unit 9.1, so that the operating tracking points are shifted by τ _P, i.e. the delay τ _{P was} added to the delay τ _P , and the ACF and VKF coefficients would become equal in magnitude when the VKF level (0) was in the range (0.2 - 0.8) · ρ _U1U2 .

Therefore, the equations will be solved

Fourth step. After fixing the time delay with the equality of the coefficients of ACF and VKF, the ship speed is calculated by dividing half the distance between the receiving antennas (1PA) 3 and (2PA) 4 by the sum of the values of the time delay τ _P and the additional time delay τ _P according to the formula

Expressions for delays respectively equal to expressions

и

and

With a drift angle of C = 0 °, these expressions will accordingly have the form:

,

,

,

,

Such a construction of the lag circuit:

- shares the procedures for adjusting the VKF level at zero time shift and other processes;

- simplifies the scheme of averaging the tracking signal at the operating point of tracking the level of ACF (τ _P + τ _P ) = VKF (τ _P );

- it is possible to enter corrections when calibrating the lag on the measuring line.

Thus, the claimed invention “Correlation sonar log” is a universal device for improving the accuracy of measuring the speed of movement of surface ships, submarines and other watercraft at shallow and deep depths in various conditions of sea waves.

The claimed device is industrially applicable, since its implementation uses widely used components and products of the industry, such as acoustic signal receivers, strip amplifiers, detectors, adjustable delay units, multipliers, integrators and other electronic measuring devices.

Claims (3)

1. Correlation sonar log containing a transceiver path, including a series-connected generator and radiator antenna, as well as the first and second receiving antennas, the output of each of which is connected through their respective strip amplifiers with the inputs of the first and second detectors, respectively, the output of the first detector connected to the first input of the adjustable time delay unit τ_R the ACF correlation unit, which also contains the first multiplier device, and the output of the second detector is connected to the first input of the second multiplier device of the low-frequency correlation unit VKF, as well as the adaptation unit, the first integrator and the second integrator, the output of which is connected to the first input of the computing unit, characterized in that it additionally includes a low-frequency correlation block VKF at zero time delay, consisting of a third block of additional time delay τ connected in series_P and a third multiplying device, as well as a second additional time delay unit τ additionally included in the low-frequency correlation unit of the VKF_Pthe output of which is connected to the second input of the second multiplier device, as well as the first additional time delay unit τ additionally included in the ACF correlation block_Pthe output of which is connected to the first input of the first multiplier device of the ACF correlation block, and the input is connected to the output of the adjustable time delay block τ_R, which is connected in parallel with the second block of the additional time delay τ_P a low-frequency correlation unit VKF, as well as a unit for comparing ACF and VKF products, the first input of which is connected to the output of the first multiplier device of the correlation unit ACF, and the second input is connected to the output of the second multiplier device of the low-frequency correlation unit VKF, while the output of the unit for comparing ACF and VKF products connected to the input of the second integrator, the output of which, in addition, is connected to the second input of the adjustable time delay unit τ_P the correlation block of the ACF, as well as the adjusting value (lag corrections) adjuster, the output of which is connected to the second input of the computing unit; in addition, the output of the first detector is connected in parallel with the second input of the third block of the additional time delay τ_P the low-frequency correlation block VKF at zero time delay and with the second input of the first multiplier device of the correlation block ACF, and the output of the second detector is connected to the first input of the third multiplier device of the low-frequency correlation block VKF at zero time delay, the output of which is connected to the input of the first integrator, the output of which is connected with the input of the adaptation block, the output of which is connected in parallel with the second input of the first block of the additional time delay τ_P correlation block ACF, the second input of the second block of additional time delay τ_P the low-frequency correlation block VKF and the second input of the third block of the additional time delay τ_P low-frequency correlation block VKF at zero time delay. 2. The device according to claim 1, characterized in that in the determination mode of the full speed module, the first detector is additionally connected in parallel with the second block of the additional time delay τ _{P of the} low-frequency correlation block VKF, and the block of adjustable time delay τ _{P of the} correlation block ACF is connected only with the first block additional time delay τ _P correlation block ACF. 3. The device according to claim 1, characterized in that it is possible to enter corrections when calibrating the lag on the measuring line.

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