RU59806U1 - COORDINATE METER FOR MOBILE OBJECTS - Google Patents

Abstract

The proposed device relates to the field of measurement technology and can be used to determine the location of moving objects. The coordinate meter contains two radios, a track sensor, a magnetic compass, a gyrocompass, three coordinate calculators, a weighted average coordinate calculator, a control unit and an indicator. To increase the reliability of determining coordinates, a sequentially connected control panel, a fourth coordinate calculator and a key, the output of which is connected to the fifth input of the weighted average coordinate calculator, a series-connected busole and a data input unit, the output of which is connected to the second input of the fourth coordinate calculator, are additionally introduced into the meter, while The second key input is the device input. A higher reliability of determining the coordinates of a moving object by the proposed device, in comparison with the prototype, is ensured, in the absence of reference signals from ground-based and satellite systems, by an autonomous channel using the coordinates of the moving object determined in the manual mode using a compass and other as a reference point newly entered blocks.

Description

The proposed device relates to the field of measurement technology and can be used to determine the location of moving objects (ON).

The "Coordinate measuring device for moving objects" is known according to the utility model certificate of the Russian Federation No. 8115 of 1998, in which the location of objects is based on measuring coordinates using sensors. However, this device has a low accuracy of measuring navigation parameters.

Also known is the "Method for determining the location of moving objects and a device for its implementation" according to the patent for invention of the Russian Federation No. 2202102 of 2003, in which to improve the accuracy of measurements in the calibration cycle, correction factors are determined, and then in the work cycle the location of the object is corrected. The disadvantage of this method and device is its complexity.

The closest in technical essence to the proposed device is the "Coordinate meter for moving objects" according to the patent for utility model of the Russian Federation No. 36738 (published March 20, 2004 in Bull. No. 8) and adopted for the prototype.

The functional diagram of the prototype device is presented in figure 1, where the following notation:

1, 2 - radios;

3 - track sensor;

4 - magnetic compass;

5 - gyrocompass;

6, 7, 8 - coordinate calculators;

9 - calculator weighted average coordinates (ICS);

10 - control unit;

11 - indicator

The prototype device comprises: a radio receiver I connected in series, a coordinate calculator 6, an SVK9 calculator and an indicator II, a radio receiver 2 in series and a coordinate calculator 7, the output of which is connected to a second input of an SVK9 calculator, a path sensor 3 connected in series and a coordinate calculator 8, the output of which connected to the third input of the SVK9 calculator, a magnetic compass 4 and a gyrocompass 5, the outputs of which are connected respectively to the second and third inputs of the coordinate calculator 8, control unit 10, output cat cerned is connected to a fourth input of the calculator SVK9, the second output of the calculator SVK9 connected to fourth input coordinate calculator 8.

The prototype device operates as follows. At the initial moment, the radios 1, 2 receive, using antennas, radio signals from the reference stations of the ground-based long-range navigation system (such as "Laurent-C") and satellite navigation systems (such as "Glonas"), respectively. After processing, the received signals from the outputs of receivers 1, 2 are fed digitally to the corresponding coordinate calculators 6, 7, which are microprocessors, where the geographical coordinates of the software are calculated from them. The obtained coordinate values in the form of a digital signal are then fed from calculators 6, 7 to the calculator SVK9, which is

microprocessor, where two independent sources of coordinates are determined using the control signals from the control unit 10, the weighted average value of geographical coordinates. Then this value of the geographic coordinates of the software is entered from the SVK9 calculator into the calculator 8, to use them as a reference point when the calculator determines 8 software coordinates according to the data from the path sensor 3 (accelerometer), magnetic compass 4 and gyrocompass 5 (heading sensors), which are autonomous coordinate system. From this moment, the path sensor 3, the magnetic compass 4 and the gyrocompass 5 begin to track the path and the software course relative to the initial coordinate settings (reference points) of the calculator 8, while the coordinate calculator 8 first calculates the polar coordinates of the software, and then recalculates them into geographical ones.

Then these coordinates from calculator 8 go to the SVK9 calculator, where, together with the geographical coordinates from calculators 6, 7, they are used to determine the weighted average geographical coordinates of software from three independent coordinate sources (from terrestrial, satellite, and autonomous systems).

The geographical coordinates of the software thus obtained in the SVK9 calculator are then transmitted to indicator II for visual display.

However, the prototype device has the disadvantage of low reliability of determining the coordinates of the software.

G to increase the reliability of determining the coordinates of the software in a device containing two radios, a track sensor, a magnetic compass, a gyrocompass, three coordinate calculators,

the weighted average coordinate calculator, the control unit and the indicator additionally introduced the control panel, compass, the fourth coordinate calculator, data input unit and key, while the output of the control panel is connected to the first input of the fourth coordinate calculator, the output of which is connected to the first input of the key, the bus output is connected to the input of the data input unit, the output of which is connected to the second input of the fourth coordinate calculator, the key output is connected to the fifth input of the weighted average coordinate calculator, the second key input i input device.

Functional diagram of the proposed device is presented in figure 2, for which the following notation:

1, 2 - radios;

3 - track sensor;

4 - magnetic compass;

5 - gyrocompass;

6 - control panel;

7 - compass;

8, 9, 10, 11 - coordinate calculators;

12 - data input unit;

13 - key;

14 - calculator weighted average coordinates (CBK);

15 - control unit;

16 - indicator.

The proposed device contains a series-connected radio 1, a coordinate calculator 8, a CBK14 calculator and an indicator 16, a radio receiver 2 and a coordinate calculator 9 connected in series, the output of which is connected to

the second input of the CBK14 calculator, the path sensor 3 and the coordinate calculator 10 connected in series, the output of which is connected to the third input of the CBK14 calculator, the magnetic compass 4 and gyrocompass 5 whose outputs are connected to the second and third inputs of the coordinate calculator 10, the control unit 15, the output of which is connected to the fourth input of the CBK14 calculator, the second output of the CBK14 calculator is connected to the fourth input of the coordinate calculator 10, the control panel 6, the coordinate calculator II and the key 13, the output of which with one with a fifth input calculator CBK14, sequentially included compass 7 and data input unit 12, whose output is connected to the second input coordinates calculator 11, the second input key 13 is an input device.

The proposed device operates in automatic and manual modes.

In automatic mode, the operation of the proposed device is as follows. The control input of key 13 receives a logical “I” signal and opens it, so block II is disconnected from block 14. At the initial moment, the radios 1, 2 receive radio signals from the reference stations of the ground-based long-range navigation system (of the “Laurent- C ") and satellite navigation systems (such as" Glonas "), respectively. After processing, the received signals from the outputs of receivers 1, 2 are digitally transmitted to the corresponding coordinate calculators 8, 9, which are microprocessors, where the geographical coordinates of the software are calculated from them. The resulting coordinate values

in the form of a digital signal, they are then fed from calculators 8, 9 to the CBK14 calculator, which is a microprocessor, where the average weighted value of geographical coordinates is determined by two independent sources of coordinates using control signals from block 15. Then this value of the geographic coordinates of the software is entered from the calculator CBK14 into the calculator 10 to use them as a reference point when the calculator determines 10 coordinates of the software according to the data from the path sensor 3 (accelerometer), magnetic compass 4 and gyrocompass 5 (heading sensors), which are autonomous coordinate system. From this moment, the path sensor 3, the magnetic compass 4 and the gyrocompass 5 begin to track the path and the software course relative to the initial coordinate settings (reference points) of the calculator 10, while the coordinate calculator 10 first calculates the polar coordinates of the software, and then recalculates them into geographical ones.

Then these coordinates from calculator 10 go to the calculator CBK14, where, together with the geographical coordinates from calculators 8, 9, they are used to determine the weighted average geographical coordinates of software from three independent coordinate sources (from terrestrial, satellite, and autonomous systems).

The geographical coordinates of the software thus obtained in the CBK14 calculator are then passed to indicator 16 for visual display.

In manual mode, the operation of the proposed device is as follows. There are no signals from radios 1, 2. The control input of the key 13 receives the level

logic “0” and closes it, so block II is connected to block 14. The operator dials on the control panel 6 the coordinates of three previously known stationary objects (for example, tall chimneys, single buildings, trees, etc.) located nearby from software, and enters them into coordinate calculator II, which is a microprocessor. These coordinates of the stationary objects are then used to form a reference point when calculating the coordinates of the software. Next, the operator alternately draws a buoysol 7 at each of these three stationary objects and determines the azimuths of the software relative to them, which are then entered using the block 12 in digital form into the coordinate calculator II, Coordinate calculator II calculates the polar coordinates of the software from them using the coordinates of fixed objects, which are then converted into geographical coordinates. These software coordinates then come from calculator II through key 13, the CBK14 calculator to coordinate calculator 10 to use them as a reference point when calculating 10 software coordinates by the calculator according to data from the path sensor 3 (accelerometer), magnetic compass 4 and gyrocompass 5 (heading sensors ), which are an autonomous coordinate determination system. From this moment, the path sensor 3, the magnetic compass 4 and the gyrocompass 5 begin to track the path and the software course relative to the initial coordinate settings (reference point) of the calculator 10, while the calculator 10 itself first calculates the polar coordinates of the software, and then recalculates them into geographical ones. Then, these software coordinates from the calculator 10 enter through the block 14 to the indicator 16 for visual display.

The proposed device is implemented on the basis of blocks and microcircuits known from the technical literature.

The technical efficiency of the proposed device, in comparison with the prototype, lies in the fact that it has a higher reliability of determining the coordinates. This is explained by the following.

In the prototype device, in the absence of reference signals from terrestrial and satellite systems (for example, because of their malfunction, routine maintenance, etc.), it is impossible to determine the software coordinates, because There is no reference point for the operation of the autonomous channel.

In the proposed device, in the absence of reference signals from terrestrial and satellite systems, the coordinates of the software can be determined by an autonomous channel, using the coordinates of the software determined in manual mode using the compass 7 and blocks 6, 11, 12, 13 as a reference point.

Claims (1)

A coordinate meter for moving objects, comprising a first radio receiver connected in series, a first coordinate calculator, a weighted average coordinate calculator and an indicator, a second radio receiver and a second coordinate calculator in series, the output of which is connected to a second input of a weighted average coordinate calculator, a path sensor and a third coordinate calculator connected in series, the output of which is connected to the third input of the weighted average coordinates calculator, a magnetic compass and a gyrocompass, the outputs of which are connected respectively to the second and third inputs of the third coordinate calculator, a control unit whose output is connected to the fourth input of the average coordinate calculator, while the second output of the average coordinate calculator is connected to the fourth input of the third coordinate calculator, characterized in that it is additionally introduced in series connected control panel, fourth coordinate calculator and key, the output of which is connected to the fifth input of the average weighted computer calculator INAT serially connected compass and a data input, the output of which is connected to the second input of the fourth coordinate calculator, wherein the second input is a key input device.