RU2794703C1 - Method for self-correction of satellite navigation receivers and device for its implementation - Google Patents

Abstract

FIELD: navigation systems.

SUBSTANCE: invention can be used to create autonomous satellite navigation receivers (SNR) with a self-correction mode for aircraft and other moving objects. The method for self-correction of the speeds of horizontal channels of the SNR using its coordinates consists in constructing an additional navigation channel containing a physical integration filter, a signal delay unit, an adder in each horizontal channel and a navigation information calculation unit. Signals with SNR coordinates are sent to the first inputs of physical integration filters, and signals with SNR velocities are sent to the second inputs of physical integration filters, high-frequency errors in velocities and coordinates are filtered simultaneously and constant errors in SNR velocities are extracted. The filtered and extracted constant speed errors are sent to the inputs of the signal delay blocks, for the duration of the transition process, from the outputs of the signal delay blocks, the set speed error is sent to the second inputs of the adders, where it is subtracted from the SNR velocities directed to the first inputs of these adders, from the outputs which the corrected SNR velocities are sent to the first input of the navigation information calculation unit, the second input of which receives navigation information from the third SNR output. On their basis, in the block for computing navigation information, the coordinates of the object's location are calculated.

EFFECT: increase in static and dynamic accuracy.

2 cl, 6 dwg, 2 tbl

Description

The present invention relates to the field of navigation systems, and more specifically to autonomous self-correction (SC) of satellite navigation receivers (SNS) without the use of external differential correction (DC) tools. The invention can be used to build SNP with the SC mode, designed for any stationary and moving objects.

The technical result is an increase in the static and dynamic accuracy of the SNS in determining the speed and coordinates of the location of an object, the autonomy of self-correction, efficiency, and improved noise immunity. To achieve this goal, an additional navigation channel (DTC) is built in the SNP based on the physical integration filter (PFI). DTCs provide filtering of dynamic errors in the speed and coordinates of the SNS in a certain frequency range, selection of a systematic error in the speed of the horizontal channels of the SNS and its SC, using the coordinates of the SNS, calculation of coordinates and speed, the accuracy of which does not depend on the systematic and dynamic errors of the SNS in speed and coordinates and higher than the accuracy of the domestic DC system. The essence of the invention for the method lies in the fact that instead of the well-known method of DC of the coordinates of the SNP, using external means, the SC of the horizontal components of the speed of the SNP is carried out using its coordinates, for which purpose the SNP is constructed in the SNP, which contains the FFI, the signal delay block, the adder in in each horizontal channel and a coordinate calculation unit, the corrected speed signals from the FFI, with a given delay, are sent to the navigation information calculation unit, which generates output parameters for consumers in terms of speed and coordinates, the accuracy of which is several times higher than that of the SNS receiver.

Known domestic and foreign SNP, which operate offline, without the use of external means of correction, designed for installation on moving objects. For example, SNP R-737, developed by ICD "KOMPAS" Russia, is known, has an offline accuracy in determining the coordinates of the place of 20 m, and in determining the speed of 0.15 m / s, the site of the enterprise. Also known is the domestic SNP SN - 4312-02 developed by JSC "KB NAVIS" Russia, the accuracy of determining the location coordinates is 15 m, and the speed is 0.3 m / s, the site of the enterprise. Also known is the American SNP GG24 developed by the company "Ashtech" USA, this SNP has an offline accuracy in determining the coordinates of the place of 20 m, in the differential correction mode 0.9, the flyer of the company "Ashtech". Also known is a digital receiver of signals of a satellite radio navigation system, patent No. RU 2467351 published on November 20, 2012. These SNPs have the following disadvantages:

- there is no mode of self-correction of coordinates of place and speed;

- relatively low accuracy of navigation information.

There are also known ways to improve the accuracy of SNP. For example, "Method for Suppressing Multipath Errors in a Satellite Navigation Receiver". Patent No. RU 2432585, published on November 27, 2011. This method has the following disadvantages: the use of signals from many satellites of different GLONASS, GPS, Galileo and other systems; increase in the occurrence of information failures and radio interference; only one error out of many other errors is corrected; expensive external means of correcting this error are used; the autonomy of the SNP is lost. In addition, the method of DC SNP is known, for example, "Global navigation satellite systems. Differential correction systems, General requirements". GOST R 54459 - 2011, as well as a description of the DC method is given on the Wikipedia website. The DC method uses a large number of ground base stations, their location coordinates must be known with high accuracy. For example, geodetic referencing of a base station site with an accuracy of 0.1 arc seconds will cause a consumer error in determining the coordinates of 3 m. The modern way of DC is as follows. Base stations located on the Earth at a certain distance from each other continuously receive signals from space satellites. Then, the accumulated information is transmitted by the base stations to the control and computing stations, which form differential corrections for a certain limited territory of consumers. The calculated differential corrections are transmitted to data transmission stations evenly located in the service area. Data transmission stations transmit differential corrections to geostationary satellites from which they are received by consumers.

Foreign DC systems are known, for example, GDGPS - the DC system (USA), is described on the Wikipedia website. At the heart of GDGPS is a global framework, including the WAAS system and the next generation GPS operations management segment. The system uses a large terrestrial network of reference base stations, innovative network architecture and data processing software. The system provides a positioning accuracy of 10 cm, apparently relative to the base station, without taking into account the error of its binding and the consumer's own dynamic errors.

Also known is the domestic DC system, for example SDKM GLONASS, (GOST R 54459 - 2011). The system has more than 50 base stations located in Russia and abroad, a space segment of satellite communications and other subsystems. The system provides positioning accuracy of 3-5 m.

SNP CH - 4312-02 can be adopted as a prototype for the proposed device in terms of its technical essence and the results achieved. Its disadvantages are the relatively low accuracy of navigation information and the absence of the SC mode of location and speed coordinates. The proposed method of SC SNP has no analogues, but according to the technical essence and the results achieved, the above-described domestic method of DK SNP of consumers can be selected. The disadvantages of this method are:

- use for correction of external radio technical information;

- only the coordinates of the SNP are corrected, and the speed is not corrected;

- economically extremely costly method, a huge amount of ground equipment is used, located almost on the entire surface of the globe, and complex software and mathematical software;

- to provide means of correction, a huge number of service personnel are involved;

- the signals of radio technical base stations may have failures and radio interference, which affects the accuracy of the DC.

The essence of the invention for the method lies in the fact that in the known method of external differential correction of the coordinates of satellite navigation receivers, including the construction of a huge number of radio base stations located around the globe, and other equipment, the creation of complex software and mathematical software for processing and transmitting navigation information to consumers , the use of numerous service personnel, instead of differential correction from external means, the speed of the horizontal channels of the satellite navigation receiver is self-corrected using its coordinates, for which an additional navigation channel is built containing a physical integration filter, a signal delay unit, an adder in each horizontal channel and navigation information calculation unit, for which the signals according to the coordinates of the satellite navigation receiver are sent to the first input of the physical integration filters, and the signals according to the speeds of the satellite navigation receiver are sent to the second input of the physical integration filters, high-frequency errors are simultaneously filtered in them by speeds and coordinates, constant errors are isolated according to the speeds of the satellite navigation receiver, the filtered and selected constant errors in speeds are sent to the signal delay blocks, for the duration of the transient process, as a result, the effect of the systematic error in coordinates on the accuracy of the additional navigation channel is eliminated, from the output of the signal delay blocks, the steady-state error in speeds is sent to the first input of the adders, where it is subtracted from the speeds of the satellite navigation receiver directed to the second input of these adders, from the output of which the corrected speeds of the satellite navigation receiver are sent to the navigation information calculation unit, in which the object location coordinates are calculated based on them.

The essence of the invention for the device lies in the fact that in a satellite navigation receiver operating in offline mode, without the use of external differential correction means, in each horizontal channel, the correction of the speeds and coordinates of the horizontal channels is carried out, for which they are built, in each horizontal channel, an additional navigation channel containing a physical integration filter, a signal delay unit, an adder in each horizontal channel and a navigation information calculation unit, the first outputs of the horizontal channels of the satellite navigation receiver by coordinates being connected to the first inputs of the first adders corresponding to the horizontal channels of the physical integration filters, and the second outputs of the horizontal channels of the satellite navigation receiver in terms of speeds are connected to the second inputs of the second adders, the corresponding horizontal channels of the physical integration filters, containing the first and second integral-amplifying link, the integral link, the amplifying link, the first, second, third and fourth adders, and the second inputs of the first adders are connected to the outputs of the first integral amplifying links, the outputs of the first adders are connected to the first inputs of the fourth adders, the second inputs of which are connected to the outputs of the integral links, the outputs of the fourth adders are connected to the inputs of the first integral amplifying links, amplifying links and the second integral amplifying links, the first inputs of the second adders are connected to the outputs of the second integral-amplifying links, the outputs of the second adders are connected to the second inputs of the third adders, the first inputs of which are connected to the outputs of the amplifying links, the outputs of the third adders are connected to the inputs of the integral links, the outputs of the second integral-amplifying links connected to the inputs of the corresponding horizontal channels of the signal delay blocks, the outputs of which are connected to the first inputs of the adders, the second inputs of which are connected to the second speed outputs of the satellite navigation receiver, the outputs of the adders are connected to the first inputs of the navigation information calculation block, and its second inputs are connected to the third outputs of the satellite navigation receiver.

EFFECT: increased static and dynamic accuracy of autonomous SNS in determining the speed and coordinates of an object's location, by means of SC, without the use of external DC tools, autonomy of self-correction, efficiency, determined by the exclusion of the use of expensive, numerous base stations and other equipment, as well as the services of maintenance personnel , improved noise immunity. To achieve the goal in SNS, instead of DC from external means, SNS speed SC is performed using its coordinates, for which additional horizontal navigation channels are built, containing FFI, a signal delay unit, an adder, and also a general navigation information calculation unit.

The essence of the invention is illustrated by drawings (Fig. 1-6) and tables 1, 2. In Fig. 1 shows an example of the implementation of the method and shows a functional diagram of the device and the connection between the blocks. In FIG. Figure 2 shows in detail an example of the implementation of the SC method and shows a block diagram of the DTC and FFI of one of two identical horizontal channels. In FIG. 3, 4 and tables 1, 2 show the errors in the speed and coordinates of the SNS and DTC with SC, obtained in the course of calculations and modeling, and in Fig. 5, 6 in the experiment on a laboratory sample of SNP with SA.

In FIG. 1, 2 the following designations are accepted:

1 - satellite navigation receiver;

2.1, 2.2 - physical integration filters (PFIs);

3.1, 3.2 - signal delay blocks;

4.1, 4.2 - adders of additional horizontal navigation channels;

5 - navigation information calculation unit;

1C, 2C, 3C, 4C - the first, second, third and fourth FFI adders;

SD - adder of additional navigation channel (DTC);

IU1, IU2 - the first and second integral - amplifying link;

IZ - integral link;

US - amplifying link;

BZ - signal delay block;

BV - DNA navigation information calculation unit;

NI - initial information;

P - DTC parameters issued to consumers;

D _NC , V _NC - coordinate and speed of the SNP along the horizontal channel;

V _NCK - corrected DTC speed in the horizontal channel;

δV _NFC - error in the speed of the SNP allocated by the FFI;

K ₁ , K ₂ , K ₃ - FFI coefficients.

The signal delay block 3.1, 3.2 is a relay switch that delays, at a given time (10-15 s), the arrival of the signal, the selected error in the speed of the SNP by the second integrated amplifying link IU2, to the adder.

The essence of the method operation will be explained with the help of Fig. 2 for one of two identical horizontal channels. The DTC begins its parallel work simultaneously with the transfer of the SNP to the operating mode. The coordinates of the SNP in longitude and latitude are converted into a linear dimension, taking into account the radii of curvature of the Earth and the initial conditions. Then the coordinates and velocities of the SNR of the horizontal channels are sent to the corresponding inputs of the FFI. The structure and parameters of the FFI links are designed in such a way as to ensure the constant stability of its operation and eliminate the influence of random and harmonic errors (more than 0.3 rad/s) in the speed and coordinates of the SNS on the accuracy of the DTC. In addition, FFI allocates a constant error in the speed of the horizontal channels of the SNP with the help of the second integral-amplifying links. The selected speed error is sent to the signal delay unit, which delays it (by 10-15 s) for the time of the transient process in order to eliminate the influence of the constant error of the SRS along the coordinate on the accuracy of the DTC. From the output of the delay block, the selected (measured) speed error is sent to the adder of the DTC, in which it is calculated from the speed of the horizontal channel of the SNR. From the output of the adder, the corrected SNS speed is sent to the navigation information calculation unit, based on this speed, the coordinate of the object location is calculated.

We will explain the operation of the device, SNP with the SC mode, for one of two identical horizontal channels, using Fig. 12.

At the moment of transferring the ATS from the preparatory mode to the operating mode, the DTCs simultaneously start working and issue corrected speeds and coordinates to consumers. For this, the coordinates and velocities of the horizontal channels of the SNP are sent to the inputs, respectively, of the first 1C and the second 2C of the FFI adders, where they are supplemented with signals to the error SC, respectively, from the first IU1 and the second IU2 of the integrated amplifying link, the signals from the output of the adders 1C and 2C are sent, respectively, to the inputs of the adders 4C and 3C, where signals for error correction are added to them, respectively, from the integral link IZ and the amplifying link of the US, from the output of the adders 3C and 4C, the signals, respectively, are sent to the inputs of the integral link OUT of the first UT1 integrated-amplifying link, in addition, the signals from the output of the adder 4C are sent to the inputs of the amplifying link US and the second integrated-amplifying link IU2, from the output of which the signal of the selected error in the speed of the SNP is sent to the signal delay block BZ, delayed by 10-15 s, the signal from the BZ output it is sent to the first input of the SD adder, where it is subtracted from the SNS speed directed to the second input of the SD adder, the corrected speed of the SNS from the output of the SD adder is sent to the BV navigation information calculation unit, where the coordinates of the object location are calculated.

The technical result is achieved as follows.

In accordance with FIG. 2, the operation of the DTC SNP on one of two identical horizontal channels can be described by the following system of equations in the Laplace transform (in operator form).

In the system of equations (1) it is additionally indicated:

δV _NC , δD _NC - errors in the speed and coordinate of the SNP along the N-axis of the geographic coordinate system;

5V _NCK - speed error of DTC SNS after its SC;

V _N is the component of the object's velocity along the N axis;

B, B ₀ - geographical latitude of the object location and its initial value;

R _N - radius of curvature of the meridian section of the Earth, taking into account the height of the object's flight;

Z - switch signal delay corrected speed error, for time t ₁ .

The solution of the system of equations (1) with respect to δV _NFC , δV _NCK has the form.

Let us analyze the characteristic equation [S ² +(K ₁ +K ₃ )⋅S+K ₂ ], expressions (2) and (3), and determine the values of the coefficients based on the conditions for the stability of the FFI. The stability condition, based on the Hurwitz criterion, will look like: (K ₁ +K ₃ ) ² ≥4⋅K ₂ . For the time of the aperiodic transient process not more than 15 s, we will take the following values of the coefficients: K ₁ =0.5 1/s, K ₂ =0.25 1/s ² , K ₃ =0.5 1/s. At the end of the transient, to improve the dynamic accuracy, the value of the coefficients can be reduced, for example: K1=0.1 1/s, K ₂ =0.01 1/s ² , K ₃ =0.1 1/s.

Let us analyze the steady value of expressions (2) and (3) for the systematic (constant) components of the errors of the SNP (δV _NC , δD _NC ). To do this, we use the finite value theorem

Taking into account expression (4), the steady value of expressions (2) and (3) in the time domain, respectively, will be.

As expression (5) shows, the steady-state value of the error in the speed of the FFI output signal δV _NFC is equal to the systematic error in the speed of the SNP δV _NC . That is, FFI allocates a systematic error on the speed of the SDR, which carries out the SC of the speed of the SDR. Therefore, the steady-state error of the corrected speed of the SLR δV _NCK is equal to zero, expression (6), and, consequently, the error in coordinates, equal to the integral of the steady-state error in speed, is also equal to zero.

Thus, the accuracy of the DTC SNP does not depend on its systematic errors in speed and coordinates, and in the prototype of the last error dependence takes place.

Let us determine the dynamic errors of the DTC from the dynamic errors in terms of the speed and coordinates of the AOS. For calculations, we assume that the dynamic errors (noise) in terms of the speed and coordinates of the SNP change according to the harmonic law: δV _NC =A _V ⋅sinωt, δD _NC =A _D ⋅sinωt, or in the Laplace transform.

A _V , A _D - amplitudes of dynamic errors in the speed and coordinates of the SNP;

ω - frequency of dynamic errors.

Substituting expressions (7), (8) in turn into expression (3) and solving separately for each perturbation, we find the dynamic error in the speed of the DTC depending on the amplitude and frequency of dynamic errors in the speed and coordinates of the SOP.

Where, b ₀ \u003d 1, b ₁ \u003d K ₁ + K ₃ , b ₂ \u003d K ₂

A _V1 , A _V2 are the amplitudes of dynamic errors in the DTC speed, depending on the amplitude and frequency of dynamic errors, respectively, in the speed and coordinates of the AOS.

We will carry out calculations using expressions (10), (11), taking into account that the dynamic errors in the speed and coordinates of the SLR are mainly of a high-frequency nature. The frequency of issuing information in modern SNS is 10 hertz, therefore, SNS errors also change with this frequency. The results of calculations of dynamic errors in speed and coordinates of DTCs depending on the amplitude and frequency of dynamic errors in speed and coordinates of the AOS are shown in Table 1.

A _D1 , A _D2 are the amplitudes of dynamic errors in the coordinates of the additional navigation channel, depending on the amplitude and frequency of dynamic errors, respectively, in terms of speed and coordinates of the navigation system.

Amplitudes A _D1 , A _D2 are obtained by integrating expression (9). The values of the FFI coefficients taken in the calculations are given above, and also taken A _V = 0.1 m/s, A _D = 5 m, which corresponds to real errors in the horizontal flight of the aircraft at a constant speed.

From Table 1 it follows that the amplitude of the DTC dynamic error along the coordinate, in the frequency range ω≥20 rad/s, does not exceed 5⋅10 ^-3 m. and the third row of Table 1, the root mean square error, in 5 columns, in terms of DTC speed was 3.63⋅10 ^-2 m/s.

Thus, analytical calculations have proved that the accuracy of DTCs is practically independent of systematic errors in velocity and coordinates and dynamic errors of SOR in the frequency range ω≥20 rad/s.

To confirm the obtained technical result in dynamic modes and numerical evaluation of the characteristics, mathematical modeling of the operation of the SNP in the SC mode under the conditions of an aircraft flight and a laboratory experiment on a mock-up were carried out.

When modeling, the mathematical model of DTC, expression (1), was adopted. The inputs of the FFI received the speeds (V _NC , V _EC ) and coordinates (D _NC , D _EC ) of the RNS, formed in the mathematical model by adding errors to their ideal values in the form of random fluctuations and a systematic component. Thus, the operation of the DTC was ensured under the conditions of a simulated flight.

The simulation was carried out under the following conditions, SNP and DTC began to work simultaneously from the moment the aircraft took off, which gained altitude and speed for 200 s and then flew at a constant speed of 200 m/s, the flight time was 1200 s. The initial value of geographic latitude and longitude was taken equal to B ₀ =46°, L ₀ =29°. The simulation results are shown in Table 2 and in Figures 3, 4. Table 2 shows the errors of the DTC in the coordinate δD _NCK and in the velocity δV _NCK and the errors of the SLR in the coordinate δD _NC and in the velocity δV _NC . When modeling, the error of the AOS in the coordinate was set as a constant component of 10 m, and a random one, varying according to the Gauss law, in the range of ±6 m. As a result, the total error in the coordinate varied in the range from 4 m to 16 m. was set in the form of a constant component equal to 10⋅10 ^-2 m/s and random fluctuations according to the Gauss law in the range of ±5⋅10 ^-2 m/s. As a result, the total velocity error varied in the range from 5⋅10 ^-2 m/s to 15⋅10 ^-2 m/s. The root-mean-square error (RMS), calculated from 13 error values, depending on time, was: 0.154 m for DTC, 11.55 m for SNP; in terms of speed for DKN 3.7⋅10 ^-2 m/s, for SNP 12.26⋅10 ^-2 m/s. The delay of the DNA velocity error signal was 15 s.

In Fig 3, 4 shows the change in time errors SNP (upper graphs) and DTCs (lower graphs), respectively, in determining the speed and position coordinates on one of two identical horizontal channels. These errors have a similar form for another horizontal channel. The time (time) of the flight of the aircraft, in this implementation, was 6000 s.

The speed error of the SLR was set as a systematic component equal to 0.5 m/s and random fluctuations according to the Gauss law in the range of ±0.2 m/s (Fig. 3). As a result, the total error in the SOR velocity varied in the range from 0.3 m/s to 0.7 m/s. As can be seen from FIG. 3 (lower plot) in the DTC, the systematic error in the SOR velocity of 0.5 m/s was completely eliminated, and the range of random error ±0.2 m/s decreased 10 times to the level of ±0.019 m/s.

The position error of the SOP was also set as a systematic component equal to 50 m and random fluctuations according to the Gauss law in the range of ±10 m. As a result, the total error in the coordinate varied in the range from 40 m to 60 m. his real mistakes to show the potential of the SK way.

As seen from FIG. 4 (lower curve) in DTCs, the systematic error in the DTC coordinate of 50 m was almost completely eliminated, and the range of random error ±10 m decreased by 10 times to the level of ±0.8 m. The systematic error in the DTC coordinate, about 3 m, was caused by With very large errors, the SNS, which reached 0.7 m/s in velocity and 60 m in coordinates, drove the errors (15 s) for its correction during the delay time. With real SNS errors, this coordinate error will be within ±0.3 m (Table 2, δD _{NCK error,} ).

The simulation results confirmed the analytical calculations and showed that the accuracy of the DTC (0.3 m) is much higher than the accuracy of the autonomous SNP. And the SNP SC method provides the accuracy of determining coordinates and speed higher than the DK method of the domestic SDKM GLONASS system (3-5 m). Thus, the results of analytical calculations and mathematical modeling confirm the technical result and the purpose of the proposal.

A laboratory experiment was carried out on a complex of semi-natural simulation of inertial and satellite navigation systems. The experiment was carried out on a serial SNP SN-3700, developed by the Design Bureau "Navis", operating in an autonomous mode. The SNP antenna was installed on the roof of the laboratory building under a radio transparent dome. The output information of the SNP was fed into the laboratory computer of the HIL simulation complex. The computer implemented a mathematical model of the aircraft flight, a mathematical model of the operation of the DTC expression (1), an error model of the SNP and other programs. In a laboratory computer, the current velocities and coordinates from the aircraft flight model, as well as errors in the speed and coordinates of the ATS, were added to the signals based on the speed and coordinates of the horizontal channels of the SNS. The flight values of the signals in terms of speed and coordinates of the SNS, together with its errors, were received at the corresponding inputs of the FFI DTC. Thus, the DTC worked under the conditions of a simulated aircraft flight.

The main purpose of the experiment was to confirm the results of analytical calculations and mathematical modeling to eliminate the influence of systematic errors in the speed and coordinates of the AOS on the accuracy of the DTC.

The results of one of the typical implementations of the experiment on one of two identical horizontal channels are shown in FIG. 5 and FIG. 6. In FIG. Figure 5 shows the graphs of errors in the SNP coordinate (upper graph) and in the DTC coordinate (lower graph). On FIG. 6 shows the graphs of errors for the speed of the SOP (upper graph) and for the speed of the DTC (lower graph). In this implementation, the systematic errors of the ARS in coordinate were 14 m, plus random fluctuations in the range of ±2 m, and the systematic error of the ARS in velocity was 0.5 m/s. The duration of the implementation (time of the simulated flight) was 6000 s. As the results of the experiment show, the systematic errors of the AOS in terms of speed and coordinates were completely eliminated in the DTC. Insignificant fluctuations in the error in the DTC coordinate are explained by one-time jumps in the error in the AOS coordinate, which reached up to 3 m and are caused by the instability of the AOS operation, with an insufficient number of observed satellites, under experimental conditions.

Thus, the results of the experiment confirmed the results of analytical calculations and mathematical modeling and showed that systematic errors in velocity and coordinates do not affect the accuracy of DTCs.

The main goal of the proposal, in contrast to the prototype, to improve the accuracy of SNP, without the use of external means of DC, by autonomous SC, has been achieved. Autonomous SC eliminates the influence of systematic and random high-frequency errors of the ATS in terms of speed and coordinates on the accuracy of the DTCs of the ATS. This makes it possible to provide high accuracy, commensurate and even higher than the accuracy of DC from external means, at a much lower cost. These qualities of SNP with the SC mode increase its immunity from radio interference and expand the scope of its application on various moving objects of civil and military purposes, but also in non-traditional commercial areas. In addition, a high-precision SNS with the SC mode can be used as a reference tool for flight tests, SNS and other navigation systems and is recommended for implementation by organizations and firms involved in the creation and testing of SNS.

In the description of the invention, the following abbreviations are accepted: DK - differential correction; DKN - additional navigation channel; SC - self-correction; SNP - satellite navigation receiver; FFI - physical integration filter.

Claims (2)

1. A method for self-correcting the speeds of horizontal channels of a satellite navigation receiver using its coordinates, which consists in building an additional navigation channel containing a physical integration filter, a signal delay unit, an adder in each horizontal channel and a navigation information calculation unit, for which the signals for the coordinates of the satellite navigation receiver are sent to the first inputs of the physical integration filters, and the signals at the speeds of the satellite navigation receiver are sent to the second inputs of the physical integration filters, in which, at the same time, high-frequency errors are filtered by speeds and coordinates and constant errors are isolated by the speeds of the satellite navigation receiver, filtered and the selected constant speed errors are sent to the inputs of the signal delay blocks, for the duration of the transient process, from the outputs of the signal delay blocks, the steady-state speed error is sent to the second inputs of the adders, where it is subtracted from the speeds of the satellite navigation receiver directed to the first inputs of these adders, with outputs of which the corrected speeds of the satellite navigation receiver are sent to the first input of the navigation information calculation unit, the second input of which receives navigation information from the third output of the satellite navigation receiver, based on them in the navigation information calculation unit the object location coordinates are calculated. 2. Satellite navigation receiver operating offline, without the use of external differential correction, characterized in that it contains an additional navigation channel containing a physical integration filter, a signal delay unit, an adder in each horizontal channel and a navigation information calculation unit, with the first outputs horizontal channels of the satellite navigation receiver are connected by coordinates to the first inputs of the first adders of the corresponding horizontal channels of the physical integration filters, and the second outputs of the horizontal channels of the satellite navigation receiver by speeds are connected to the second inputs of the second adders of the corresponding horizontal channels of the physical integration filters, containing the first and second integral-amplifying link, integral link, amplifying link, first, second, third and fourth adders, and the second inputs of the first adders are connected to the outputs of the first integral-amplifying links, the outputs of the first adders are connected to the first inputs of the fourth adders, the second inputs of which are connected to the outputs of the integral links, the outputs of the fourth adders are connected to the inputs of the first integrated amplifying links, the amplifying links and the second integrated amplifying links, the first inputs of the second adders are connected to the outputs of the second integrated amplifying links, the outputs of the second adders are connected to the second inputs of the third adders, the first inputs of which are connected to the outputs amplifying links, the outputs of the third adders are connected to the inputs of the integral links, the outputs of the second integral-amplifying links are connected to the inputs of the corresponding horizontal channels of signal delay blocks, the outputs of which are connected to the first inputs of the adders, the second inputs of which are connected to the second speed outputs of the satellite navigation receiver, the outputs adders are connected to the first inputs of the navigation information calculation unit, and its second inputs are connected to the third outputs of the satellite navigation receiver.

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