RU2692945C1 - Method of orienting mobile objects relative to an object with a known directional angle - Google Patents

Abstract

FIELD: measuring equipment.SUBSTANCE: method of orienting mobile objects relative to an object with a known directional angle relates to measurement equipment and can be used to solve tasks of topographic and geodetic training of antiaircraft complexes of military antiaircraft defence at provision of tasks of functioning of topography and navigation systems. Method consists in determination of direction angle of mobile object as initial angle as parameter of initial orientation, by determining mismatch of its longitudinal axis with the longitudinal axis of the object with a known directional angle using the first and second laser range finders installed on the mobile object.EFFECT: possibility of determining the value of a directing angle of a mobile object without using gyroscopic equipment.1 cl, 2 dwg

Description

The invention relates to the field of measurement technology, and in particular to methods of orientation of a mobile object relative to another object with a known directional angle. The invention can be used to solve the tasks of topographic and geodetic training of anti-aircraft complexes of the military air defense while ensuring the tasks of the functioning of the topography and navigation systems.

One of the most important elements characterizing the level of readiness of anti-aircraft complexes to perform combat missions is the conduct of combat calculations of elements of a complex of topogeodesic training operations. At the same time, the main element of this preparation is to determine the direction angle of each mobile object included in the complex. Correctly determined numerical value of this indicator for each object ensures the effective functioning of the entire anti-aircraft complex as a whole.

The absence of errors in determining the direction angle of the elements of air defense systems allows for full interaction both between the internal elements of the anti-aircraft systems, as well as with external sources and consumers of information.

Currently, several methods for determining the directional angle have become widespread:

- using a standard device based on a gyroscope;

- With the help of artillery bassi PAB-2M;

- relative orientation on an object with a known directional angle. The use of gyroscopes to determine the true azimuth with the subsequent transfer of the obtained value to the grid of the topographic map allows to obtain the required exact values. The main condition, in this case, is the operability of gyroscopes and its proper operation.

The most easy-to-operate and maintain optical gyroscopes as part of a single route-navigation system used in the new-generation anti-aircraft complexes, which allow to solve the problem of determining the direction angle with minimal participation of members of combat crews. In this case, several modes of gyrocompassing are used, depending on the availability of source data.

In the absence of a standard gyroscope, as well as in the event of its malfunction, the use of the PUB-2M artillery compass is foreseen. In this case, the combat crew should be able not only to prepare it for work, but also to carry out a correct data acquisition taking into account the existing amendments.

Determination of the direction angle α _ed using the compass PUB-2M is performed in the following sequence:

- set the mobile object to the combat position;

- install the compass at a distance of not less than 50 m from the mobile object in compliance with the installation rules of the device;

- Swipe the GP-3 device onto the center of the compass and record the angle α of the _visa ;

- swipe through the monocular compass PAB-2M to the optical sight of the mobile object and record the value of the magnetic azimuth A _m ;

- determine the initial directional angle of the mobile object α _ed by the formulas:

if α _ed turns out to be a minus sign, then

где:wherein

Where:

δ is the magnetic declination;

γ is the convergence of the meridians;

β ₂ is a standard correction for the GP-3 sighting device;

Mon - correction of the direction, which is taken from the map, where it is called the average deviation of the magnetic needle (east - plus sign, western - minus);

Pg - the amendment, taking into account the change in declination over time.

Pg = ΔPn - n,

where ΔPn is the change in declination for the year that is taken from the card;

n is the number of years elapsed since the card was issued;

Δ δ - correction of the compass, which is determined periodically, as the arithmetic mean of three measurements:

Where

where α _or - directional angle of the landmark.

The installation procedure of the PUB-2M and the procedure for working with it are illustrated in FIG. one.

If there is an object with a known directional angle, it is possible to determine the angle of inconsistency with this product, using additional standard devices of the GOP-3 type, and then use this mismatch to obtain the desired value of the directional angle.

Orientation of a mobile object at the GP-3 sighting sight is carried out if there is a reference point on the ground at a distance of not less than 1.5 km, the directional angle for which is known (by map or measured in advance by the geodetic support system of the air defense system).

To determine the directional angle of a mobile object α _ed by the GP-3 sight, it is necessary:

- install the mobile object on the starting point by direct access to it or close to the entrance, the nose of the mobile object must be in the direction of the reference point;

- to level the VOP-3 sight and determine the angle of sight for α _visas (counting is clockwise);

Determine the directional angle of the mobile object by the formula:

α _ed = α _or -α _visas ± β

or

α _ed = 60-00 + α _or -α _visas ± β2,

where α _or - directional angle of the landmark;

β2 is a standard correction for the GP-3 sighting tool.

At present, standard gyroscopic equipment, which allows to automatically determine the direction angle, is installed in the air defense system of new modifications. In this case, in any case, the possibility of using other methods of combat calculations as a backup in the event of failure of the installed specialized equipment is provided for. In anti-aircraft complexes that are not equipped with gyroscopes, orientation using PUB-2M or orientation relative to an object with a known directional angle remains fundamental.

Despite the undoubted advantages of the methods used, they provide for the availability of additional equipment and the conditions for its placement. This is not always possible in conditions of limited time, or in conditions of poor visibility at different times of the year, or at different times of the day, which significantly limits the operational capabilities of the navigation system and reduces the mobility of the product.

At the same time, in the case of an orientation error, its presence can only be determined after the start of the combat mission, already in the process of interaction of the elements of the anti-aircraft complex, which may lead to the lack of a centralized setting of fire tasks and control.

Thus, at the disposal of combat calculations of mobile objects to determine the value of the direction angle in the initial orientation process, it is advisable to have a backup method that allows you to quickly solve this problem in any situation.

There is a method for determining the angular orientation (RU patent No. 22,208,004), based on the reception of signals from the spacecraft of global navigation satellite systems on spaced signal receivers located on the object so that they do not lie on one straight line. Signal receivers are GPS receivers, at least three in number. According to their readings, the coordinates of each receiver of the signal are determined, on the basis of which the position of the vectors defining the coordinate system associated with the object is calculated.

One of the drawbacks of this method is the need to have at least three separated signal receivers, which significantly complicates the system and increases the size of the product.

A known system of self-orienting gyroscopic korekrenokazaniya (patent RU 2316730), which provides operation in the gyrocompass mode while the object is stationary and gyro-azimuth when the object moves. Initially, after switching on, the system operates in the gyrocompass mode, and the initial azimuth of the object is calculated analytically from signals about the horizontal component of the angular velocity of the Earth’s rotation from the gyroscopic sensitive elements.

The disadvantage of a gyroscopic system is the complexity of the implementation of algorithms for solving the problem of determining the initial azimuth of an object, it takes considerable time to determine the azimuth and the high cost of the equipment.

There is a method of solving navigation tasks carried out by means of a ground-based gyroscopic navigation system for moving objects (patent RU No. 2308681), based on decomposing elementary path segments into two components in a rectangular coordinate system and the subsequent algebraic summation of these components with the original coordinates.

In this gyroscopic navigation system made on the basis of an astatic gyroscope using the path numbering method, a combination navigation equipment is implemented with an autonomous (odometric) operating mode from a gyrocourse metering device (gyro-azimuth), with an operating mode from satellite navigation system (SNS) and an integrated operating mode, t . with the correction of the current coordinates of the autonomous channel by more accurate information of the satellite channel, which provides an increase in the accuracy of the equipment. At the same time, the use of elements of microprocessor technology, the use of a cartographer with a digital electronic map of the area allows you to expand the functionality of the equipment and implement signal processing using additional algorithms to solve additional navigation problems.

Working with the system when solving navigation tasks includes initial orientation and determining the location of the object in motion. Before the initial orientation, determine the coordinates of the starting point of the route X _ref , Y _ref . As a starting point, as a rule, you select contour points on the terrain (points of the state geodetic network, monuments, bridges, special points in permanent parks, etc.); in the absence of associated contour points, their coordinates are determined by the map or SNA.

The initial orientation of the object, depending on the initial data, can be performed in several ways, for example, determining the initial directional angle α _ref by a known reference direction or using a compass.

The disadvantage of this method of orientation in a known reference direction is the impossibility of its application in cases of absence of objects with known coordinates and a directional angle on the _αα or in conditions of insufficient visibility on a known landmark, as well as the presence of a sighting device with certain characteristics.

There is a method of initial orientation of the gyroscopic navigation system for ground-based moving objects (patent RU 2617147), which is based on using the satellite navigation system (SNS), gyrocourse measuring device (GKI) and sensor for the initial orientation of the parameters of the object, measuring the directional angle and passed paths by a specific algorithm in a certain relationship.

In a gyroscopic navigation system for ground-based mobile objects consisting of a SCI, a computer (cartographer), a track sensor and a satellite navigation system, the initial orientation method is carried out in the following sequence:

- determine the location of the object at the starting point of the route on the information from the SNA;

- the object is moving for short distances and the coordinates of the moving object are determined by the odometer channel relative to the SNA source data about the object location;

- the object stops;

- re-accepted data SNA about the location of the object at the stop;

- Calculate the direction vectors (directional angles from the starting point to the end) of the traversed section from information received from the SNS and autonomous (odometric) channels;

- the calculated directions of the vectors are used to determine the correction Δα _ref to the current directional angle of the object;

- the obtained amendment is summed up with the current directional angle of the object and use the obtained directional angle as the initial directional angle α _Ref as a parameter of initial orientation.

The disadvantage of this method is the need to have the necessary time, track, satellite navigation system, subject to the presence of a certain number of navigation satellites. This method cannot be applied to objects that are forced to perform work as intended without moving and in which the input of the value of the direction angle, measured using external devices, is provided.

The invention solves the problem of reducing the time to conduct a complex of operations topogeodesic training.

The technical result consists in the possibility of determining the value of the direction angle of a mobile object without using gyroscopic equipment.

This technical result is achieved by the fact that in the method of orientation of mobile objects relative to an object with a known directional angle, which consists in defining a directional angle as an initial angle as a parameter of initial orientation, determining the value of the directional angle of a mobile object by determining the error of its longitudinal axis with the longitudinal axis of the object with a known directional angle using the first and second laser rangefinders mounted on the mobile about ekte, wherein the determined distance value to the object with a known directional angle D ₁ measured by the first laser range finder, the range value D ₂ measured by the second laser range finder, determine the value range D ₃ = D ₁ -D ₂ as the difference between the values measured by the first and second laser range finders, determine the value of the distance between the points of contact of the laser beams from the range finders on the surface of an object with a known directional angle using the formula

where L is the value of the distance between the points of radiation of the laser beams from the rangefinders,

Next, determine the value of the mismatch angle of the longitudinal axis of the object with a known directional angle with the longitudinal axis of the object of the mobile object by the formula

then calculate the value of the directional angle of the mobile object by the formula

α _dir1 = α _dir2 -α ₁ ,

where α _dir1 is the value of the direction angle of the mobile object;

α _dir2 - the value of the direction angle of the object with a known direction angle.

FIG. 2 shows a block diagram of the proposed method for orienting a mobile object relative to an object with a known directional angle value.

The method of orientation of mobile objects 1 relative to object 2 with a known directional angle is carried out in the following sequence:

- on board a mobile object 1 with an unknown directional angle using magnetic mounts set the mounting device 3, which is a bar on which two laser range finders 4 and 5 are fixed at a fixed distance from each other L at a right angle;

- measure by distance finders the distance to points A and B of an object with a known directional angle;

- determine the value of the distance to the object with a known directional angle D ₁ measured by the first laser range finder 4;

- determine the value of the distance to the object with a known directional angle D ₂ measured by the second laser rangefinder 5;

- determine the value of the range D ₃ = D ₁ -D ₂ as the difference between the values measured by the first and second laser range finders;

- determine the value of the distance M between points A and B of the contact of the laser beams from the rangefinders on the surface of the object with a known directional angle;

- in accordance with the properties of a rectangular triangle ABC, determine the value of the angle α ₁ mismatch of the longitudinal axis of the object 2 with a known directional angle with the longitudinal axis of the mobile object 1 with an unknown directional angle, which makes it possible to take into account the difference in the location of the axes of both objects relative to each other in the horizontal plane ;

- considering the angle obtained, determine the required direction angle α α _dir1 .

An object with a fixed gyroscopic equipment or a stationary object whose side surface is oriented in a certain known direction is used as an object with a known directional angle.

The software of the proposed method of orientation is a sequence of analytical actions related to determining the mismatch in the values of the direction angle of the longitudinal axis of a mobile object based on the known numerical value of the direction angle of another object.

Mathematical dependencies underlying the definition of the value of the directional angle of a mobile object:

Where:

D ₁ - the distance value measured by the laser range finder 4;

D ₂ - the value of the distance measured by the laser range finder 5;

D ₃ - the distance value, the difference between the values measured by laser rangefinders 4 and 5.

Where:

M - the value of the distance between the points of contact of the laser beams from the rangefinders 4 and 5 on the surface of the object 2 with a known directional angle;

L is the value of the distance between the points of radiation of the laser beams from the rangefinders 4 and 5;

Where:

α ₁ - the value of the mismatch angle of the longitudinal axis of the object with a known directional angle 2 with the longitudinal axis of the object with an unknown directional angle 1;

Where:

α _dir1 - the calculated value of the direction angle of a mobile object with an unknown direction angle 1;

α _dir2 - the value of the direction angle of the object with a known direction angle 2;

Data acquisition from laser range finders 4 and 5 is possible both in a visual way, reading the numerical values of the distances from the built-in displays, and using the possibility of automatically inserting them into the mathematical apparatus, provided that the rangefinders have a Bluetooth function.

The claimed invention in the form of a method for determining the directional angle of a mobile object has a set of essential features not known from the prior art for devices of similar purpose, which allows to make a conclusion that the criterion "novelty" is met.

The implementation of these proposals allows you to monitor the performance of tasks of topographic and geodetic training in determining the directional angle of mobile objects.

The use of the invention in the process of field training of combat crews will make it possible to unambiguously determine the direction of the axis of mobile objects without the need to deploy PAB-2M and in the case of the absence of the VOP-3 sighting device.

The use of the invention in the practical activities of the divisions allows to reduce the time of geodetic training, eliminate the use of additional devices (type PAB-2M and GPA-3), perform the task of orientation in case of malfunctioning of standard gyroscopic equipment in conditions of insufficient visibility and time constraints.

Claims (9)

The method of orientation of mobile objects relative to an object with a known directional angle, consisting in defining a directional angle as an initial angle as a parameter of initial orientation, characterized in that determining the value of the directional angle of a mobile object is carried out by determining the error of its longitudinal axis with the longitudinal axis of the object with a known directional angle using the first and second laser rangefinders mounted on a mobile object, while determining the value the distance to an object with a known directional angle D ₁ , measured by the first laser range finder, the distance to the object with a known directional angle D ₂ , measured by the second laser range finder, determine the value of the distance D ₃ = D ₁ -D ₂ as the difference between the values measured first and second laser range finders, determine the value of the distance between the points of contact of the laser beams from the range finders on the surface of an object with a known directional angle using the formula

where L is the value of the distance between the points of radiation of the laser beams from the rangefinders, Next, determine the value of the mismatch angle of the longitudinal axis of the object with a known directional angle with the longitudinal axis of the object of the mobile object by the formula

then calculate the value of the directional angle of the mobile object by the formula α _dir1 = α _dir2 -α ₁ , where: α _dir1 - the value of the direction angle of the mobile object; α _dir2 - the value of the direction angle of the object with a known direction angle.

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