RU39319U1 - ENVIRONMENTAL CONTROL SYSTEM - Google Patents

Abstract

The utility model relates to environmental controls of both the water and the earth's surface, the detection of environmental pollution, and the detection of sources of environmental pollution. The essence of the utility model is that the environmental control system contains an unmanned aerial vehicle and a mobile ground control panel connected by a communication channel, an unmanned aerial vehicle contains an onboard flight control system, a navigation system, an onboard digital computer, an onboard transceiver, a storage device, and a complex surface review, the mobile control panel contains a ground-based transceiver, a remote control panel for unmanned aerial vehicles Paraty display apparatus. The technical result consists in the fact that the system provides detection and classification with a high degree of reliability of both environmental pollution of various types and sources of environmental pollution both on the water and on the earth's surface.

Description

The utility model relates to environmental controls of both the water and the earth's surface, the detection of environmental pollution, and the detection of sources of environmental pollution.

A known system of water quality control [1], which contains measuring equipment installed in the sea at a depth of 1 and 5 m and using sensors to measure temperature, conductivity and the content of oxygen dissolved in water. Measurement data are transmitted to the coastal post for further processing.

The disadvantage of the system is the local nature of the measurements, which does not allow controlling the vast water spaces of natural water bodies, and the limited range of controlled parameters of the aquatic environment.

It is also known the use of mobile carriers (ships) to determine the pollution of the aquatic environment. So, the equipment installed on board the SHIRASE icebreaker [2] contains equipment immersed to a depth of 8 m, a pump for sampling water, sensors for measuring temperature, salinity, the amount of organic substances dissolved in water, the content of chlorophyll, biogenes in it, and quantitative content of suspended particles with a size of 0.5-5 mm Processing of sensor readings is carried out by an electronic computer system.

A disadvantage of the known analogue is the limited ability to determine the pollution of the aquatic environment due to the lack of means of monitoring the water surface for the presence of oil stains and means to control the thickness of the water and the bottom space, which does not ensure the completeness and reliability of monitoring the ecological state of the water area.

To a large extent, the disadvantages inherent in these analogues have been eliminated in the system for environmental control of the aquatic environment [3]. The catamaran vessel is equipped with a towed line with a unit of sensors for hydrochemical and physical parameters and a water intake device, an underwater inspection device equipped with a television camera for transmitting a television image to the vessel, a bottom water intake device, soil samplers, an ultrasonic probe for the water column, a remote detector petroleum products, a device for monitoring the parameters of the surface water layer with sensors placed on the submersible block iki and water intake head. Outboard hoses connected to

pipelines of a hydraulic main with a continuous flow of water, from which sampling and supply of samples to the hydrochemical analysis equipment is carried out, which implements express control methods in a flow-injection version. The readings of the measuring sensors after preliminary testing are compared with the results of measurements of the equipment for hydrochemical analysis and other subsystems of the complex in the central computing system (CVS).

The complex of technical equipment installed on the vessel ensures the completeness and reliability of control over a wide range of pollution parameters and allows a comprehensive survey of a vast territory of the water body.

The disadvantage of an environmental monitoring vessel is the large time required to survey the water area, the irrational use of all the complex equipment in a search mode, as well as the limited capabilities of the DAC, which does not provide information processing from all subsystems of the complex and does not provide for the formation of an archive with reference to the coordinates of the location of the vessel.

Closest to the proposed utility model and adopted as a prototype is a system for environmental monitoring of territorial waters, the continental shelf and the exclusive economic zone [4], which is a vessel equipped with an underwater inspection apparatus, an ultrasonic sensing device for the water column, a remote oil product detector, whose optical head installed on a remote console in the bow of one of the catamaran boats, a device for water intake from the bottom layer, samples soil samplers, as well as a device for measuring the parameters of the deep water layer, the immersion unit of which is mounted on the tow line deepener, and a device for measuring the parameters of the surface water layer, the immersion units of both of which are equipped with converters of hydrochemical and physical water parameters that are connected to the first interface input of the central computing system , and water intake heads, which, through intake hoses and pipelines of the continuous sampling line connected to the inputs of one and the second device for hydrochemical analysis of water, the outputs of which are connected to the second interface input of the central computing system, contains an aviation-technical complex for television monitoring of the water surface with a remotely piloted aircraft, the launch device of which is located on

the roof of the stern superstructure of the vessel, a surveillance television camera and a receiver-indicator of the satellite navigation system installed on the wheelhouse, as well as a radiation monitoring device, including water radioactivity transducers installed on submerged units of devices for measuring the parameters of the deep and surface water layers, and an air radioactivity transducer connected to the third input of the central computing system, to the fourth input of which a satellite receiver is connected navigation system, to the fifth entrance - a remote detector of oil products, and to the sixth and seventh inputs - control panels of an underwater inspection apparatus and a remotely piloted aircraft, respectively, while the lifting and lowering device of the submersible block of the device for measuring the surface layer of water is installed in the bow of the second boat catamaran and made in the form of a Y-shaped frame, the two ends of which are mounted on a horizontal shaft, which is kinematically connected with the electromechanical water, and a tensioning device, the cable of which is fixed on a short crossbeam of the Y-shaped frame, the third end of which is equipped with an axis for installing a swivel bracket on which the immersion unit is fixed, and in the middle part of the vessel in the middle of the connecting bridge of the catamaran there is a combined lifting and lowering device of the towed line and a device for water intake from the bottom layer, which contains a rotary slip for the tow line deepener, a double-drum winch with a vertical arrangement of the axis of the drums and the electron an anical drive with a mechanism for connecting to one or another winch drum, and a digital computer system is configured to determine the line of movement of a mobile source of environmental pollution by the position of a straight line between two points of the controlled area with a maximum intensity of ripple of the specific electrical conductivity of the water, determined using a satellite navigation system when navigating in different directions of a sea patrol vessel for environmental control, the territorial water, the continental shelf and the exclusive economic zone, while the average value of the specific electrical conductivity of the water exceeds the background average conductive value of the specific electrical conductivity of water and predetermined, for example, maximum permissible, average background concentration values, according to

at least one of the controlled pollutants according to the results of hydrochemical analysis.

The disadvantage of the prototype is the lack of information content of data received from a remotely piloted aircraft, the lack of accuracy in determining the location of a remotely piloted aircraft and the inability to control the earth's surface.

The objective of the utility model is to create an environmental control system that allows to detect and classify both environmental pollution and sources of environmental pollution of both the water and the earth's surface.

The essence of the utility model is that the environmental control system contains an unmanned aerial vehicle and a mobile ground control panel connected by a communication channel, an unmanned aerial vehicle contains an onboard flight control system, a navigation system, an onboard digital computer, an onboard transceiver, a storage device, and a complex surface review, the mobile control panel contains a ground-based transceiver, a remote control panel for unmanned aerial vehicles a device, a display device, while the output of the navigation system is connected to the inputs of the on-board flight control system, on-board digital computer, on-board transceiver, the on-board flight control system is connected to on-board digital computer and on-board transceiver, which is connected to the on-board digital a computing machine, a storage device and a complex of a surface survey are also connected to the on-board digital computer in a mobile control panel Ia to terrestrial transceivers connected to a remote control unmanned aerial vehicle and information display device.

In addition, in an environmental control system, an unmanned aerial vehicle may additionally contain a water sampling system connected to the on-board digital computer.

In addition, in the environmental monitoring system, the surface survey complex may contain a radar station.

In addition, in the environmental monitoring system, the surface survey complex may contain a laser locator.

In addition, in the environmental monitoring system, the surface survey complex may include a television surface survey system.

In addition, in the environmental monitoring system, a surface survey complex may include a thermal imaging system for surface surveys.

The essence of the utility model is illustrated by the drawing, but which shows a functional diagram of the environmental control system. The drawing indicates:

1 - on-board flight control system;

2 - navigation system;

3 - on-board digital computer;

4 - airborne transceiver;

5 - storage device;

6 - complex review of the surface;

7 - ground transceiver;

8 - remote control panel for unmanned aerial vehicle;

9 - information display device;

10 - unmanned aerial vehicle;

11 - mobile ground control panel;

12 - communication channel;

13 is a water sampling system.

Unmanned aerial vehicle (UAV) 10 is a helicopter-type lethal device.

The on-board flight control system 1 includes a remote flight control system, an autopilot, a program control system, interface devices with steering machines and aircraft engine control devices. The remote control system provides control of the unmanned aerial vehicle in accordance with the commands received from the mobile ground control panel 11. In addition, the flight control of the aircraft can be performed using a program control system or by commands received from the on-board digital computer 3.

The navigation system 2 may be an inertial navigation system, a satellite navigation system, or an integrated navigation system comprising a satellite navigation system and an inertial navigation system. For example, a combined navigation system may be used,

containing a vertical line, a system of air signals, a calculator of components of wind speed, a storage device, a navigation calculator, an integrator of components of speed and a radar one-component speed meter that determines the projection of the speed of the aircraft on the direction of its beam when it is scanned and provides data on the direction of the scanning beam in azimuth and relative horizon plane. In this case, the wind speed component calculator calculates the projection of the aircraft’s speed on the beam direction of the radar speed meter from the true airspeed data from the airborne signal system and from the aircraft’s heading and pitch data from the vertical and the calculated projection value of the aircraft’s speed on the radar beam direction speed meter and the value of the projection of the speed of the aircraft on the direction of the beam of the radar speed meter ty, - obtained from a radar speed meter, determines, for example, by the Kalman optimal filtering method, the components of the wind speed and the constant component of the measurement error of the true speed by the system of air signals.

The vertical line output is connected to the input of the radar speed meter, with the first inputs of the calculator of the wind speed components and the navigation calculator. The output of the air signal system is connected to the second inputs of the calculator of the components of the wind speed and the navigation calculator. The output of the radar speed meter is connected to the third input of the calculator of the components of the wind speed. The output of the component of the wind speed components is connected to the input of the storage device, the output of which is connected to the third input of the navigation computer, the output of which is connected to the input of the component integrator of speeds, the output of which is the output of navigation information.

Moreover, the calculator of the components of the wind speed is configured to calculate the projection of the speed of the aircraft on the beam direction of the radar speed meter according to the true airspeed data from the airborne signal system and data on the heading and pitch of the aircraft from the vertical and with the possibility of the calculated projection speed of the aircraft apparatus on the direction of the beam of the radar speed meter and the value of the projection of the speed of the aircraft on the direction l teaching radar speed meter obtained from radar

speed meter, determination, for example, by the method of optimal Kalman filtering, components of wind speed and a constant component of the measurement error of the true speed by the system of air signals.

An airborne single-beam radar station operating in the mode of selection of moving targets (with a mechanically scanning antenna or a phased antenna array) can be used as a radar speed meter. The direction of the beam of the radar speed meter in azimuth varies with a period from 0.1 to 10 seconds with an amplitude of 30-60 ° (mainly about 45 °), which ensures the determination of the errors of both horizontal components of the speed of the aircraft (north and east), formed according to the vertical and system information air signals.

The calculator of the components of the wind speed and the navigation calculator are on-board electronic computers that process digital signals arriving at their inputs. An integrator of component velocities is a computing device (for example, an electronic computer), which, based on data on component velocities, calculates coordinates. The functions of calculators and integrator can also be performed by one on-board electronic computer operating in multitasking mode.

The vertical line produces data about the angles of the true heading Ψ _East , roll γ and pitch ϑ.

The system of air signals generates data on the flight altitude of the aircraft (N), its true air speed (V _East ) and vertical speed V _N.

A radar speed meter measures the projection of the speed of an aircraft on the direction of its beam W _pls . In addition, the radar speed meter generates data about the direction of its beam (beam scanning angles in azimuth E _g and relative to the horizon plane E _b ).

The formation of the values of the angles E _g and Е _b issued by the radar speed meter is carried out according to the data issued on its input by the vertical line about the angles of the true heading Ψ _east , roll γ and pitch ϑ of the aircraft and the data about the rotation angles of the antenna of the radar speed meter from sensors installed on the axes of its cardan suspension (or the corresponding angles of the phased array).

The calculation of the components of the wind speed is performed by the computer 4 components of the wind speed as follows.

The northern (v _nq ) and eastern (v _eq ) components of the aircraft speed are _calculated :

V _Nq = V _East · cosϑ · cosΨ _East

V _Eq = V _East · cosϑ · sinΨ _East

The value of the projection of the aircraft speed on the direction of the scanning beam of the radar speed meter is calculated:

Calculated error calculated projection speed of the aircraft in the direction of the scanning beam radar velocity meter 3 by comparing the values obtained with the W data of the radar speed meter 3 W _radar:

ΔW = W _radar -W.

On the other hand, you can write:

ΔW = ΔW _SHS -ΔV _nin · cosp · cos _Eb + ΔV _EB · sinp · cosE _b

where ΔW _SHS is a constant component of the measurement error of the true speed by the system of air signals, ΔV _Nv is the northern component of the wind speed, ΔV _Ev is the eastern component of the wind speed.

The calculator of the components of the wind speed receives the results of measurements of the speed of the aircraft V _ist and V _N from the air signal system, data on the heading Ψ _ist and pitch ϑ of the aircraft from the vertical direction, the value of the projection of the speed of the aircraft on the beam direction of the radar meter 3 speed W _radar , scanning angles antennas in azimuth E _g and relative to the horizon plane E _b from the radar speed meter. Based on these data, the wind speed component calculator calculates the projection error

the speed of the aircraft to the direction of the scanning beam of the radar speed meter.

The calculator 4 components of wind speed by solving the system of algebraic equations is ΔW values _SAF, ΔV _NB, ΔV _EB. These values are recorded in the storage device and are subsequently used by the navigation computer for the course-air calculation of the coordinates of the aircraft. To solve the system of algebraic equations (ΔW finding _SAF, ΔV _NB, ΔV _EB) method is used with optimal Kalman Filter.

The navigation computer calculates and outputs to the integrator of the speed components the values of the northern and eastern components of the speed of the aircraft. According to these data, the speed components integrator calculates the coordinates of the aircraft, and signals (codes) are generated at its output, which are proportional to the coordinates of the aircraft. These signals can be used to control the movement of the aircraft, control weapons and for other purposes.

The storage device 5 is designed to store reference radar, television, thermal imaging, laser radar images of the surface. As the storage device 5, a long-term storage device based on an electro-reprogrammable memory (flash memory) can be used.

As the storage device 5, a drive module may be used comprising an interface controller and a non-volatile electro-reprogrammable memory unit, an external address interface highway, an external interface data highway, a first control interface highway, a first internal address interface highway, and an internal data interface highway second internal interface address highway, buffer random access memory and internal the controller, while the inputs / outputs of the address of the interface controller are connected to the first internal interface highway of the address, the inputs and outputs of the data of the interface controller are connected to the internal interface of the data highway, the inputs and outputs of the control of the interface controller are connected to the inputs and outputs of the control of the internal controller, the inputs and outputs of the primary addresses of the internal controller are connected to the first internal interface highway addresses, inputs and outputs of data of the internal

the controller is connected to the internal interface data highway, the outputs of the secondary address of the internal controller are connected to the second internal interface highway of the address, the control outputs of the internal memory of the internal controller are connected to the control inputs of the random access memory, the control outputs of the non-volatile electro-reprogrammable memory of the internal controller are connected to the control inputs of the non-volatile unit flash memory input s block address elektropereprogrammiruemoy nonvolatile memory connected to the second internal manifold interface addresses, the address inputs of RAM devices are connected to the second inner trunk interface addresses.

Complex b surface review provides a continuous view of the surface using a radar station, a laser locator, a television system, a thermal imaging system. The results of the surface survey are sent to the on-board digital computer. Moreover, this data can also be provided from the on-board digital computer 3 to the on-board transceiver 4 and transmitted via the communication channel 12 to the mobile ground control panel 11, where they are displayed using the information display device 9.

As the communication channel 12, a communication channel made in the form of a RadioEthernet channel using the standard open TCP / IP protocol (session protocol according to the seven-level ISO OSI model) can be used, which allows combining the mobile ground control panel 11 and the onboard computer 3 of the UAV into a local computing wireless network. The basic standard that defines the communication protocols necessary for the organization of local wireless networks (Wireless Local Aria Network-WLAN) may be IEEE 802.11. On-board and ground-based transceivers 4 and 7 can be implemented as an Access Point radio access point and thus be a data converter from the standards of a wired computer network to a wireless one and vice versa.

Mobile ground console 11 may be located on a ship or car.

As a radar station, an on-board radar station (RLS) can be used, made in the form of a side-view radar (preferably in terms of the maximum detection range of targets) or a front-view locator that is more convenient from the point of view of the arrangement of the equipment for the UAV 10.

The radar has a low pulsed radiation power and uses a complex phase-shift (FM) probing signal with a small duty cycle with fast tuning of the time-frequency parameters, two flat strip antenna arrays with switching and electronic beam stabilization in space.

The radar contains an antenna-waveguide device (AVU), a transmitting device (PU), a receiving device.

AVU is intended for the formation, emission and movement in space of a beam of electromagnetic energy and the reception of electromagnetic waves with their conversion into intermediate frequency signals. AVU can be used with mechanical and electronic scanning of the beam in space.

PU is made according to the scheme with full coherence of all the forming signals. A low-noise stable microwave (microwave) generator with a system of vibration and acoustic protection is used as a reference generator.

The signal of the reference generator is divided in frequency four times by a monolithic analog frequency divider. The received signal is used to form a frequency equal to half the grid spacing of the signals f _g1 and f _c . To do this, it is fed to a frequency divider with a division ratio of 32.

The obtained frequency is used as a support in four loops of phase-locked loop (PLL) operating in the frequency multiplication mode and generating four signals with a frequency twice as low as f _g1 . At the output of the FAP circuits, controlled keys and monolithic frequency doublers are sequentially included, the signals from which are fed to a four-channel switch. A high degree of frequency suppression at the switch output is achieved due to the threshold properties of a monolithic analog frequency doubler. Switching the frequency from letter to letter is performed by the command "code f". The generated signal f _g1 (four letters) is output and the signal generation circuit f _n .

The signal fg1 is formed in a chain of two series-connected frequency converters: the up converter and the down converter. Shear signals are formed in two chains. From one of which a signal f _pc is output. In addition, amplitude and phase manipulation is carried out.

signal f _s . But the output of the second (lowered) frequency converter includes a power amplifier.

It is possible to build a transmitting device using a vacuum device as a output amplifier - a small traveling wave lamp with a high efficiency (up to 50-60%).

In PU it is possible to use monolithic integrated devices (MIP). They have a high level of parameters and wide functionality. The MIP nomenclature in the transmitter is quite wide. These are analog frequency dividers, active mixers, frequency converters, PTS amplifiers. The use of these MIPs together with the original structural diagram of the transmitting device will significantly reduce hardware costs, obtain a high quality spectrum of output signals, and also minimize the dimensions and weight of the launcher (within 5 liters, taking into account the volume of power supplies). The PU is powered by two small-sized rectifiers: one feeds the signal generation circuit, the second feeds the output amplifier.

To ensure normal temperature operation of the amplifier and its power source, it is sufficient to provide contact heat transfer along the external surfaces of the devices.

The operation mode of the control unit is controlled by the digital computer 3, which controls both frequency tuning and the formation of the structure of the output pulse signal (pulse duration and frequency, intrapulse FM).

The receiving device is designed to operate as part of a radar with a phase-shifted probe signal. The device ensures the operation of the equipment on surface targets in the detection and tracking modes, selects the signals of sources of active noise interference and provides a measurement of the angular coordinates of these sources.

The receiving device contains the following main nodes:

- managed protection devices (US);

- microwave signal amplifier and signal converter into an intermediate frequency;

- a signal splitter with a phase shifter;

- a multifunctional device of intermediate frequency, which performs the functions of the main signal amplifier, signal normalizer, matched filter and detector of target signals and interference.

The protection device (US) blocks the input of the receiver at the time of emission of the probe pulses, the transmitter, and is also used as the "expander" (expander) of the dynamic range of the receiver when working on interference. The receiver blocks are made on a frameless element base using hybrid thin-film technology. The elements of the blocks are enclosed in sealed enclosures that guarantee high protection of the elements from the effects of the external environment and their safety.

High sensitivity is achieved due to the small loss of signals in the input elements of the receiver (-2.5 dB) and due to the low noise figure of high-frequency transistor amplifiers (UHF). UHF “mirror” noise is suppressed in double balanced mixers (DBS) by phase suppression method. Microwave signal limiters installed at the inputs of this unit protect the transistor UHF from damage by their random pulses from third-party radars and operate independently of the power supply to the equipment.

To stabilize the intrinsic noise of the channels and maintain the linear amplification mode of the FM signals in the receiver, a high-speed automatic gain control (BAR) circuit is used. The selection of signals of sources of active noise interference against the background of other signals is achieved by short-term shutdown of the BARU circuit with the "SB" strobe at the end of each radar repetition period. Interference signals are normalized using intermediate frequency amplifiers with limiters (UPCH-limiters, UPCHO).

In the detection mode, the channel of the receiving device provides FM reception of signals reflected from surface targets and the allocation of signals from sources of active noise interference by testing the BAR.

To detect the reflected signals, phase detectors (PD) are used, which are fed by the coherent reference voltage f of the _{frequency converter} coming from the transmitting device. At the outputs of the phase detectors, video codes are allocated that, after matched filtering, are supplied to the amplitude quantizers and digital compression filters of the device, the signal processing and control unit (AOSU). To exclude energy losses of weak reflected signals caused by ignorance of the initial phase of the incoming signal, as well as the Doppler frequency shift, each channel of the receiving device is equipped with four PDs whose characteristics are shifted by a 45 ° reference voltage. Filter bands

PDs are switched by an external command simultaneously with a change in the duration of the “discrete” probe pulses.

In tracking mode, the total and difference channels of the receiving device are used. To measure the angular coordinates of the target (or source of active noise interference), the receiving device generates normalized differential signals whose amplitude is proportional to the angular position of the target (or interference) and does not depend on the absolute level of the input signals.

To normalize the FM signals reflected from the targets, the BARU is used in the receiving device, and to normalize the interference, the principle of quadrature normalization with the help of the control amplifier is used. The magnitude of the angular deviation of the interference source is transmitted through the limiters due to the use of a 90-degree symmetric intermediate frequency (IF) adder in the receiving device, which generates quadrature-summed signals at the inputs of both of the control amplifiers. The angular information contained in the amplitudes of the signals is converted using the above-mentioned adder into phase information, and after limiting the signals in the PCR and eliminating their amplitude dependence on the input signals, the angular information is restored back by means of a second 90-degree symmetric adder. The signals of the target and interference are located in different parts of the range, so their single-pulse normalization, as has been shown, can be carried out in different ways and independently of each other.

The same phase detectors PDE and PDD are used to detect target signals and interference in the tracking mode. Further separation of the target signals and the source of interference occurs in the AOSU device, due to the temporary separation of the signals. The decision about which angular information to use in the future is made by the digital computer 3 in accordance with the algorithms of the homing head (GOS).

The signal levels of the target and the source of active noise interference can vary by 20 dB.

In the case of tracking the target on the reflected signal, the full dynamic range of the input signals does not exceed 55 dB relative to the minimum threshold signal of -136 dB / W. Dynamic range control in this case is carried out by devices accompanying the target. The range meter generates the command "ДУ1" and gives it to the preliminary amplifier of the intermediate frequency (PCB) of the receiving device at a given distance to the target.

The dynamic range of operation of the intermediate frequency channels is expanded by 15 dB, which, in combination with the dynamic range of operation of the BAR (at least 40 dB), is sufficient.

The signal processing and control unit (AOSU) is designed to operate as part of an UAV 10 and solves the following tasks:

- built-in control of UAV 10 in the prelaunch mode (PP);

- target detection;

- tracking the target specified by the operator or selected autonomously in accordance with the flight mission;

- the issuance of steering signals for indirect stabilization of UAVs at angles Ψ, υ and γ;

- control of the software movement of the UAV 10;

- the formation of telemetric information of the UAV 10 and its issuance in the channel of the communication line.

AOSU images BCVM 3 and on-board system 1 flight control.

As input signals, AOSU uses signals generated by phase detectors of the sum and difference channels.

In addition, AOSU accepts the following information:

- UAV coordinates 10 x, z;

- coordinates of the priority (set by the operator from the ground control panel 11) point x _Fri z _pt ;

- yaw, pitch and roll angles;

- size of the detection sector;

- flight altitude;

- components of the speed of the UAV 10.

In the process, AOSU forms and issues the following information to the integrated control system (IMS): UAV coordinates 10 X _t , Z _t , y _t ; sign of serviceability of the UAV 10; a sign of the UAV operation mode 10. In addition, AOSU generates antenna drive control signals, phase manipulator control codes (FM), carrier frequency codes, synchronization signals.

Structurally, AOSU is a set of electronic units (modules) in the construct "Euromechanics-3U" with conductive heat removal; placed in the instrument frame. Communication between blocks is carried out by means of a backplane (cross-payment). Signal output to the backplane

the board is carried out using connectors. External connections through the front parts of the blocks are not performed, which provides increased vibration and shock resistance of the structure.

The block of generators and synchronizers performs the following functions:

- generation of operational control signals: modulation pulses with a period of T _p and a duration of T _n for controlling a pulse modulator, which is part of the transmitting device; differential channel switching signals with a period of 2T _p and a duration of T _p used inside AOSU, as well as to control the switching unit in BU1; blanking pulses and strobes of BARU for receiver control; clock pulses to synchronize the operation of devices that are part of AOSU.

- the formation of parallel binary codes used to control the carrier frequency of the transmitting device and the decoder of the phase shifters included

in the composition of the receiving device.

- the formation of binary codes of the number of the carrier frequency of the transmitting device for use inside AOSU.

- the formation of binary codes used inside AOSU, as well as to control the phase manipulator, which is part of the transmitting device.

- coordination of the level of output signals used in AOSU, with the levels of analog signals received at other nodes of the UAV 10.

Quartz resonators (CRs) are designed to generate pulses from a clock frequency f _t . These pulses are used to clock the nodes and blocks that make up the AOSU, as well as to obtain pulses of short duration.

The coordination device (CSS) converts digital signals into digital-to-analog signals (analog signals with two possible values) and consists of several identical converters (comparators).

The code generator (GC) is designed to generate binary codes used to control the phase manipulator, which is part of the transmitting device, as well as to configure digital matched filters (CSF), which are part of the signal compression unit, at the beginning of each repetition period Tp. Codes are an M-sequence whose initial value is fixed. Codes change cyclically from period to period Tn according to the cyclic shift rule. Depending on the operating mode of the UAV 10 (the mode code comes to the main aircraft from

computing unit) changes the bit depth of the codes (from 63 to 31), the duration of the sample and send, as well as the average value of T _p .

The frequency tuning block (BPC) is designed to generate parallel binary codes used to control the carrier frequency of the transmitting device and the phase shifter decoder as part of the receiving device. Also, the BPC generates a 2-bit code of the carrier frequency number of the transmitting device, which is transmitted to other AOSU units, in particular, to the computing unit. The carrier frequency of the transmitting device is controlled by a 4-bit parallel code with one non-zero bit. Frequency tuning is carried out in two ways: either according to a quasi-random law with a period of synchronization pulses Tn, or by commands received from a computing unit. The synchronizer is designed to generate operational control signals that are sent to other blocks and nodes of the AOSU, as well as to nodes that are not part of the AOSU. The temporal characteristics of the signals depend on the unit for which they are formed, as well as on the operating mode of the UAV 10.

The synchronizer is controlled by commands coming from the computing unit, which set the values 1i, Tn and others. All synchronization signals are “tied” to the repetition period Tp, the average value of which depends on the operating mode of the UAV 10. In each mode, T _p is randomly wobbled within ± 20% of the average value.

The storage unit for tuning factors (BHKN) is designed to store the tuning factors of the phase shifters recorded during the manufacture of the UAV 10 during the phase calibration of the receiving path. BHKN is a combination of a control unit and a storage device. The storage device contains tuning factors that are necessary to adjust the phase of the signals depending on the current carrier frequency in the phase shifter assembly.

The Doppler frequency compensation unit converts the analog signals from the phase detector unit into digital signals with a quantization period t _H , compensates for the Doppler frequency and outputs the values of the received signals to the DSP (to the signal compression unit). Signal switching is performed with a frequency of 8 * Fd (Fd - Doppler frequency). To obtain the indicated frequency inside the block, a binary code is converted of the Doppler frequency value Рд coming from the computing unit into clock pulses following with a frequency of 8 * Fd.

The interference detector unit detects interference at the end of each repetition period based on video signals (BC) coming from the receiver. To detect interference, four clock pulses of 40 microseconds each are used, followed at the end of each repetition period T _p .

The signal compression unit is designed to compress the received signals in the search and target tracking modes, form the threshold of binary quantization and compare the received signals with it during incoherent processing. In the target tracking mode, the signal compression unit also generates quadrature signals ξy (s), ξd (s), ξy (s) and ξY (s), which enter the antenna position control unit.

The incoherent (primary) processing unit is intended for the accumulation of pulses during the burst in the viewing mode, for the primary detection and determination of the coordinates of targets and “fragments” (ranges R _u and azimuth Ψu) during the review, as well as storage of the received coordinates and their delivery to the computing unit on the VME bus. Combining the "fragments" and determining the coordinates of the targets is performed in the computing unit. In addition, the incoherent processing unit contains a range finder designed to automatically track the target in range.

The UAV position control unit 10 is designed to control its position in all modes, for issuing control signals to the drive unit. Angular mismatch signals are generated inside the block by signals that come from the CSF (signal compression block) and the computational module.

The computing unit is the main functional part of AO SU.

The task of detecting targets and sources of interference is solved on the basis of data obtained from the primary processing unit: the fragments are combined in the computing unit, the coordinates of the cedi are determined by certain algorithms and the secondary (inter-review) processing is made, as a result of which the “target detected” decision is made. The task of choosing a target or interference is solved programmatically, as a result of which a decision is made on tracking the target or interference. In tracking mode, the target is tracked by range and angular position. To solve this problem, both channels of the receiving device (total and difference) are used, control signals are generated that enter the control unit for the position of the antenna, a mobile grid of clock pulses is generated, which serves to control the signal compression unit. This takes into account the own speed

carrier, the values of which come from the on-board navigation system 2 or according to the flight task.

The computing unit will be created on the basis of micro-computers.

The block of control commands and signals is intended for the formation of control commands and signals used to control the operation of the radar, as well as internal commands and signals of AOSU. In addition, this unit receives external and internal signals characterizing the state of AOSU and UAV 10 as a whole. The interaction between the control command block and the computing block is carried out via the VME bus.

The television surface survey system provides for the detection, recognition, determination of angular coordinates and, by indirect signs, the speed and direction of movement of a ship or a ground object, transmitting the received information via communication channel 12 and receiving operation mode control commands through it.

In addition, a television surface viewing system is used to provide UAV 10 landing on the deck of a ship or on a pre-selected site.

The thermal imaging system of the surface survey has a commensurate with the television angular resolution and a greater range of target detection by thermal contrast. The field of view in the longitudinal and transverse planes is controlled remotely and automatically stabilizes in space).

Laser locator (LC) is used to solve the following main tasks:

- increased noise immunity (LC allows you to select a target with high probability against the background of radio and optical electronic interference) and selectivity (LC allows you to determine the class of the observed target with a high probability by the geometrical dimensions and configuration) of missile weapons in the conditions of electronic countermeasures of the enemy;

- improving the accuracy of guidance of unmanned aerial vehicles to marine surface targets (in this case, for the first time, the task of aiming at specified areas of a target at given, most effective, angles of approach to the target was solved).

However, LC has a significant drawback inherent in all optical channels. Its range significantly depends on weather conditions, namely on the meteorological range of visibility (MDV). The aircraft during operation on board the UAV 10 immediately after its inclusion according to the analysis of the return signal

scattering from the atmosphere determines the distance at which it can be trusted with a given high probability when detecting, selecting and classifying a target.

The field of view of the LC in the longitudinal and transverse planes is controlled remotely and automatically stabilizes in space.

The environmental control system operates as follows. An unmanned aerial vehicle 10 flies along a given path in a given area (patrolling the area). The systems of the complex 6 surface review (radar station, laser locator, television system, thermal imaging system) provide an overview of the water and / or earth surface under the unmanned aerial vehicle 10; From the surface survey complex 6, the data is transmitted to the on-board digital computer 3. Also, the data from the reference laser radar map are transmitted to the on-board digital computer 3 from the storage device 5. According to the laser locator data in the on-board digital computer 3 and according to the reference laser radar map of the area, based on the signs of the reflected signals, decisions are made on the presence or absence of various objects (motor boats, row boats, barrels, floating garbage, etc.) on the water surfaces and anomalies on the earth's surface (insects, scorched and charred places, water-flooded areas, oil spills, smoke, changes in vegetation of the cover). According to the laser locator, a decision is made on the presence or absence of foreign objects, objects or other anomalies on the water and earth surfaces.

The following are used as the main signs of reflected signals:

1. Amplitude features characterizing the intensity of the reflected signal: average value A _sr , standard deviation σ _A change in time A (t).

2. Temporary signs characterizing: the duration of the reflected signal T _and , the duration of the leading and trailing edges T _fp and T _fz , the ratio of the fronts K _t = T _fp / T _fz , their dispersion DT _u , DK _m and the change in time T _u (t )

3. Polarization signs: the amplitude of the reflected signal with the polarization of the probe signal A "and perpendicular A ^⊥ , the polarization ratio K _p = A ^⊥ / A", its dispersion DK _n and the change in time K _n (t).

5. Geometric signs of the distribution of the reflected signal in space: a change in the distance D (υ, Ψ), in a particular case, the length L, height H and area S of the observed object.

The efficiency of detection of the specified object with the background can be evaluated using two indices: the probability of selection (P _sat) and the probability of false alarm (P ^sat l.t). When using the Neumann-Pearson test, the thresholds (a ₁ , a ₂ ) for selection are determined based on the given probability of false alarm:

is the probability density of the distribution of the sign of the background.

Accordingly, the probability of selection of a recognized object on the background

- the probability density of the distribution of the sign of a recognized object.

Preferably, polarization features are used. To detect motor boats, rowing boats, barrels against the background of the water surface, amplitude signs are also used. Temporary signs are also used to detect smoke in the forest.

To determine the length L, geometric relationships are used. Let the sight be located at a distance to the center of the observed object D. The angle of orientation of the object relative to the line of sight is a. Since the length of the object L for real conditions is always much less than the range D at which classification of the object is necessary, it is determined as follows:

where ΔΨ is the angular size of the object, D1 and D2 are the distances to the right and left ends of the object. Further, we denote the length of the object along the line of sight ΔD = | D2-D1 |.

Error σ _L , determining the length in this case

where σ _D is the standard error of measuring the distance to the object. The above expression shows that the error in measuring the length in this way substantially depends on the measurement error σ (ΔΨ) of the angular size. So

Thus, it is possible to use geometric features with sufficient resolution along the length L.

In the event that foreign objects, objects, or other anomalies are detected on the water or earth’s surface, depending on the flight task and commands received from the mobile ground control panel 11, all data about the detected object is transmitted using the onboard transceiver 4 via communication channel 12 to the mobile ground control panel 11 controls, where they are displayed in various forms on the screen of the information display device 9, as well as on-board digital computer 3 commands are issued to the on-board system mu 1 flight control to change the flight path of the unmanned aerial vehicle 10 to approach the detected object. When approaching an object, the surface survey complex b continues to survey the place where the object is detected, transfers data to the on-board digital computer 3, which provides more accurate identification and classification of the detected object.

If necessary, the unmanned aerial vehicle 10 reduces to a height at which water sampling by the water sampling system 13 is possible. In this case, the on-board digital computer 3 issues commands to the on-board flight control system 1, which ensures that the unmanned aerial vehicle 10 hangs above the water surface, and commands are issued to the water sampling system 13 to start the operation of this system. After sampling water, the flight of the unmanned aerial vehicle 10 continues in accordance with the flight mission and the commands received from the mobile ground control panel 11. Water sampling is carried out either in accordance with the flight task, or upon receipt of appropriate commands from the mobile ground control panel 11 through the communication channel 12, or upon detection of objects of a certain type (for example, when oil spots are detected on the surface of the water).

To clarify the location of the unmanned aerial vehicle 10, the distance to the coastline is measured. To calculate the distance to the coastline, the radar station of the surface survey complex 6 provides a radar image of the area to the on-board digital computer 3, and a reference radar map of the area is transmitted from the storage device 5 to the on-board digital computer 3. On-board digital

computer 3 calculates the maximum of the normalized correlation function R of the centered arrays of measurements of the change in distance A _AND (x, y) measured by the radar station and the change in distance Ae _{i, j} (x, y) determined by the reference radar map.

where i, j - mix in x and z coordinates to iterate over the reference map; D _And , D _{Ei, j} -. variance of the measured and reference (same dimension) array; S is the area of the resolution element of the locator on the Earth's surface; ds is the area of the map resolution element.

As a sign of identification, the residual of the measured and reference array or the sum of C _m modules of the difference of these arrays can also be used:

where N is the smallest of the total number of elements having a certain value of the measured value of the signal (distance, intensity), measured and reference arrays.

For those cases when a binary radar map is used, the sum of the coincidence of the signs of the intensity of the signals reflected from the elements of the measured and reference arrays is taken as an identification criterion. This method is called the method of exclusion "OR". The decision on identification is determined by the minimum of excluded "OR" or by the maximum number of matches C _with :

When using the coastline as a guideline, it is advisable when scanning with a locator to cover the characteristic features of the coastline, for example, a section with a sharp difference in distances. In this case, the correlation coefficient and the residual give the best results as signs of recognition of the location of the unmanned aerial vehicle 10 relative to the coastline. In the absence of pronounced coastal features, preference is given to residuals.

To improve the quality indicators of determining the location of an unmanned aerial vehicle 10 with significantly different ruggedness of the coastline, the meter readings are introduced into the orientation algorithm of the unmanned aerial vehicle 10, the filter constant adapts to the nature of the rugged coastline. To filter the "high-frequency" fluctuations, a first-order double filter is used, which practically does not give a phase shift due to sequential integration in the forward and reverse directions:

x _f (j + 1) = x _f (j) + (x _AND (j + 1) -x _f (j)) / T _f when j changes from 1 to n-1,

x _f (j) = x _f (j-1) + (x _AND (j) -x _f (j-1)) / T _f when j changes from n-1 to 1.

The value of t _f will be selected automatically in the process of calculating the values of the comparison criterion for the Z coordinate, adapting the value of T _f to the nature of the analyzed coastline.

The technical result consists in the fact that the environmental control system provides detection and classification with a high degree of certainty of both environmental pollution of various types and sources of environmental pollution both on water and on the earth's surface.

The presented drawings and description make it possible, using existing technical means, to manufacture the proposed environmental control system and use it for environmental monitoring of water bodies and the earth’s surface, for example, the territory of reserves, which characterizes the utility model as industrially applicable.

Sources of information

1. Water quality monitoring system. GRE Rev. -1988, 26.- S. 14-20

2. System for monitoring surface waters. Fukuchi Mitsuo, Hottori Hitoshi. - Proc. NIPR Symp. Polar Biol. -1987, 1.- S. 47-55.

3. Certificate of the Russian Federation No. 301 for a utility model. IPC B 63 V 38/00 - Publication 04.25.95

4. RF patent for ПМ №31557, IPC В 63 В 35/00. 2003. (prototype)

Claims (6)

1. An environmental control system comprising an unmanned aerial vehicle and a mobile ground control panel connected by a communication channel, an unmanned aerial vehicle contains an on-board flight control system, a navigation system, an on-board digital computer, an on-board transceiver, a storage device, a surface viewing complex, and a mobile control panel ground transceiver, remote control panel for unmanned aerial vehicle, information display device, wherein the output of the navigation system is connected to the inputs of the on-board flight control system, on-board digital computer, on-board transceiver, the on-board flight control system is connected to the on-board digital computer and on-board transceiver that is connected to the on-board digital computer, are also connected to the on-board digital computer a storage device and a complex of a surface survey, in a mobile control panel, are connected to a ground-based transceiver remote control panel for unmanned aerial vehicle and information display device. 2. The system according to claim 1, characterized in that the unmanned aerial vehicle further comprises a water sampling system connected to the on-board digital computer. 3. The system according to claim 1, characterized in that the complex of the surface survey contains a radar station. 4. The system according to claim 1, characterized in that the complex of the surface survey contains a laser locator. 5. The system according to claim 1, characterized in that the surface review complex comprises a television surface review system. 6. The environmental monitoring system according to claim 1, characterized in that the surface review complex comprises a thermal imaging surface review system.