WO2008153438A1

WO2008153438A1 - Method for determining a distance between a spacecraft and stations

Info

Publication number: WO2008153438A1
Application number: PCT/RU2008/000121
Authority: WO
Inventors: Viktor Leonidovich Sorokin
Original assignee: Viktor Leonidovich Sorokin
Priority date: 2008-03-03
Filing date: 2008-03-03
Publication date: 2008-12-18

Abstract

The invention generally relates to space navigation and geodesy. The inventive method consists in emitting and retransmitting original and ending radio signals between a spacecraft (SC), a base station and additional (auxiliary) stations, in additionally retransmitting the ending radio signal from the SC to the base station and in receiving said signal at said station. The radio communication by the ending signal of the SC with one or more additional stations is carried out by retransmitting the original signal from the SC to the additional station, by receiving the original signal at the additional station, by converting it into an ending signal and by receiving said ending signal at the SC. The distance between the SC and the base station is determined by means of the interval between the time of reception of the original radio signal and the time of the reception of the ending radio signal at the base station. The inventive method also consists in measuring the Doppler shift of the carrier frequency of the ending signal received at the base station with respect to the carrier frequency of the original signal emitted from the same station. The distance between the SC and the additional station is determined taking into account said Doppler shift. The aim of said invention is to reduce the time for determining the distance between the SC and the stations and to increase the accuracy of determination of said distances.

Description

METHOD FOR DETERMINING DISTANCES BETWEEN SPACE VEHICLE AND

STATIONS

Technical field

The present invention relates to the field of space navigation and geodesy, and more specifically to methods for measuring distances between a spacecraft and stations.

The present invention can be used for navigational reference spacecraft in relation to tracking stations, which can be stationary, mobile, ground, space, etc.

In addition, the present invention with the greatest success can be used to determine the location of the above stations, including, as indicated, ground stations.

Also, the present invention can be used for mutual navigation reference of spacecraft used in global positioning systems of objects (GPS, Gallileo, GLONASS, etc.), with the aim of clarifying the orbits of these spacecraft, their relative position and thereby increasing positioning accuracy defined objects.

Currently, much attention is paid to solving the problems of geodesy and geophysics, such as, for example, earthquake prediction, determining the “movements” of the Earth's lithospheric plates, determining the parameters of its rotation, and so on. In this regard, space technology is finding increasing use, in particular, spacecraft used to determine the location of stations at a given time by determining the distances from stations to these spacecraft. At the same time, high demands are placed on the time limit for determining the distances between the spacecraft and stations and to improve the accuracy of measuring these distances.

State of the art

A known method of measuring the distances between the spacecraft and the stations (V.N. Baranov, B.G. Boyko, I.I.Krasnorylov and other "Space Geodesy" was published in 1986, Nedra Publishing House, Moscow, pp. 86-92 ), consisting in the fact that the laser signal is emitted from the main station in the direction to the spacecraft, it is reflected using the corner reflector mounted on the spacecraft in the direction of the station, it is received at the station, the time interval between the moments of radiation and signal reception is measured and it determines the melting between the spacecraft and the stations.

1 SUBSTITUTE SHEET (RULE 26) A known method of measuring the distances between the spacecraft and the stations (V.N. Baranov, B.G. Boyko, I.I.Krasnorylov and other "Space Geodesy" was published in 1986, Nedra Publishing House, Moscow, pp. 93-94 ), by radiating the primary radio signal from the main station towards the spacecraft, receiving the primary radio signal from the spacecraft, relaying the primary radio signal from the spacecraft toward the main station, receiving the primary radio signal at the main station, the radio signal of the spacecraft from at least one additional station, measuring the moments of emission and reception of the primary radio signals at the main station, measuring the time interval by which the distance between the spacecraft and the main station is judged, and measuring the time interval by which the distance between the spacecraft is judged apparatus and additional station. According to this method, radio communication between the spacecraft and the additional station is carried out by radiation of the final radio signal from the additional station in the direction to the spacecraft, receiving the final radio signal on the spacecraft, relaying it in the direction to the additional station, receiving the final radio signal at the additional station, and determining the distances between the space apparatus and, respectively, the primary and secondary stations on the measured time interval between the moments of radiation and receiving radio signals is carried out by measuring the time interval between the moments of radiation and receiving the final radio signal at an additional station.

However, in this method, the implementation of direct radio communication between the spacecraft and the additional station leads to the fact that the measurement of time intervals between the moments of emission and reception of radio signals is carried out at each of the main and additional stations separately and sequentially, which leads to an increase in the time to determine the distances between the spacecraft and stations.

In addition, in this method, measuring time intervals between the moments of emission and reception of radio signals at each of the primary and secondary stations can separately correspond to the location of the spacecraft at different points in the orbit, which reduces the accuracy of determining the distances between the spacecraft and the stations.

SUBSTITUTE SHEET (RULE 26) SUMMARY OF THE INVENTION

The aim of the present invention is to develop a method for determining the distances between the spacecraft and the stations, which reduces the time to determine the distances between the spacecraft and the stations.

In addition, the aim of the present invention is to improve the accuracy of determining the distance between the spacecraft and the stations.

The goals are achieved by the fact that in the method for determining the distances between the spacecraft and the stations emit a primary radio signal from the main station in the direction to the spacecraft, receive the primary radio signal in the spacecraft, relay the primary radio signal from the spacecraft in the direction to the main station, receive the primary radio signal to the main station, relay the primary radio signal from the spacecraft to the additional station, receive the primary radio signal to station, convert it to the final radio signal by relaying to the spacecraft, receive the final radio signal to the spacecraft, relay the final radio signal from the spacecraft to the main station, receive it at the main station, measure the moments of radiation and reception of the primary radio signal at the main station , make a judgment about the distance between the spacecraft and the main station according to the following ratio: l, = (c / 2) (trtb), where I] is the distance between the spacecraft ohms and the primary station; c is the propagation velocity of radio waves; tj is the moment of reception of the primary radio signal at the main station; to is the moment of emission of the primary radio signal from the base station, the time interval between the time of reception of the primary radio signal and the moment of reception of the final radio signal at the base station is measured, the Doppler frequency shift of the carrier of the final radio signal received at the base station is measured relative to the carrier frequency of the primary radio signal emitted from the base station and the judgment is performed on the distance between the spacecraft and the additional station on the following relationship: l ₂ = (c / 2) (t2-t,) / (l + N), where I ₂ - distance ezhdu spacecraft and the additional station; t ₂ - the moment of reception of the final radio signal at the main station;

SUBSTITUTE SHEET (RULE 26) N is the Doppler frequency shift of the carrier of the final radio signal received at the base station, relative to the frequency of the carrier of the primary radio signal emitted from the main station.

Tasks to be solved by means of the invention The invention was based on the task of developing a method for determining the distances between a spacecraft and stations having such additional operations, radio communication between the spacecraft and an additional station would be carried out in such a way, and the measurement of time intervals by which the distance was judged between the spacecraft and the primary and secondary stations, it was carried out between such moments that the measurement of time intervals between the moments of radiation reception and reception of radio signals from the primary and secondary stations would be carried out simultaneously and instantly and would correspond to the location of the spacecraft at the same point in the orbit.

Problem Solving Method

This is achieved by the fact that in the method of determining the distances between the spacecraft and the stations by emitting the primary radio signal from the main station in the direction to the spacecraft, receiving the primary radio signal in the spacecraft, relaying the primary radio signal from the spacecraft in the direction to the main station, receiving the primary radio signal to the main station, performing radio communications with the final radio signal of the spacecraft from at least one additional station, measuring the moment in the emission and reception, respectively, of primary radio signals at the main station, measuring the time interval by which the distance between the spacecraft and the main station is judged, measuring the time interval by which the distance between the spacecraft and the auxiliary station is judged, according to the invention, is additionally relayed the final radio signal from the spacecraft in the direction of the main station and receive it at the main station, and radio communication with the final radio signal of the spacecraft with at least one additional station carries out the relay of the primary radio signal from the spacecraft to the additional station, receiving the primary radio signal at the additional station, converting it to the final radio signal by relaying in the direction to the spacecraft and receiving the final radio signal on the spacecraft, and as a time interval, according judged by the distance between the spacecraft and the main station, measure the interval

SUBSTITUTE SHEET (RULE 26) between the moment of radiation and the moment of reception of the primary radio signal at the main station, and the distance (li) between the spacecraft and the main station is judged by the ratio:

I ₁ = (c / 2) (t _r to), where c is the propagation velocity of radio waves; ti is the moment of reception of the primary radio signal at the main station; t0 is the moment of emission of the primary radio signal from the main station, as the time interval by which the distance between the spacecraft and the auxiliary station is judged, the interval between the time of reception of the primary radio signal and the moment of reception of the final radio signal at the main station is measured, while the Doppler frequency shift is additionally measured the carrier of the final radio signal received at the main station, relative to the frequency of the carrier of the primary radio signal emitted from the main station, and about the distance (I ₂ ) between do spacecraft and additional station are judged by the ratio:

-2 = (c / 2) (t ₂ - tiУ (l + N), where t ₂ is the moment of reception of the final radio signal at the base station;

N is the Doppler frequency shift of the carrier of the final radio signal received at the base station, relative to the frequency of the carrier of the primary radio signal emitted from the main station.

It is advisable that in the method for determining the distance between the spacecraft and stations in the case of many additional stations, the measurement of the time interval between the moment of reception of the primary radio signal and the moment of reception of the final radio signal at the main station, by which the distance between the spacecraft and each of the many additional stations is judged, is carried out for the same primary radio signal emitted from the base station.

It is desirable that in the method for determining the distances between the spacecraft and stations in the case of determining the distances between the spacecraft and stations for at least three points of the spacecraft in orbit simultaneously with relaying the primary radio signal to additional stations, they would also relay it to at least one auxiliary the station, the location of which is to be determined, received the primary radio signal at this auxiliary station, converted it in horse the final radio signal in the direction of the spacecraft, the final radio signal in the spacecraft was received and relayed in the direction of the main station,

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SUBSTITUTE SHEET (RULE 26) received the final radio signal at the main station and measured the time interval and the Doppler frequency shift of the carrier of the final radio signal received at the main station relative to the carrier frequency of the primary radio signal emitted from the main station, and they judged the distance between the spacecraft in each of its locations at the corresponding points of an orbit and auxiliary station.

It is reasonable that in the method for determining the distances between the spacecraft and stations as the time interval by which the distance between the spacecraft in each of its locations in orbit and the indicated auxiliary station is judged, the interval between the moment of reception of the primary radio signal and the moment of reception of the final radio signal at the main station, and the distance (I ₄ ) between the spacecraft and the auxiliary station was judged by the ratio:

where t ₄ - the moment of reception of the final radio signal at the main station;

N ₂ - Doppler frequency shift of the carrier of the final radio signal received at the base station, relative to the carrier frequency of the primary radio signal emitted from the main station.

It is useful that in the method for determining the distances between the spacecraft and the stations, the indicated Doppler shifts (N, N ₂ ) of the carrier frequencies of the final radio signals should be determined from the relation:

N = (mfo - f ₂ ) / (2mf _o ),

N ₂ = (mf _o - f ₄ ) / (2mfo),

where t is the coefficient of frequency conversion of the carrier of the radio signal during its coherent relay on the spacecraft; fо - carrier frequency of the primary radio signal emitted from the main station; f _2j f ₄ - carrier frequencies of the final radio signals received at the base station.

The present invention allows to measure the time intervals between the moments of emission and reception of radio signals from the primary and secondary stations simultaneously and instantly, which reduces the time to determine the distances between the spacecraft and the stations.

In addition, the present invention provides the conformity of the measurement of time intervals between the moments of radiation and reception of radio signals with the main and o

SUBSTITUTE SHEET (RULE 26) additional stations to the location of the spacecraft at the same point in the orbit, which increases the accuracy of determining the distance between the spacecraft and the stations.

DETAILED DESCRIPTION OF THE INVENTION

The method for determining the distances between the spacecraft and the stations is that they emit the primary radio signal from the main station in the direction to the spacecraft and receive it on the spacecraft, then they relay the primary radio signal from the spacecraft in the direction to the main station and receive it at the main station. Next, the primary radio signal is relayed from the spacecraft in the direction to at least one additional station, it is received at the additional station, and the primary radio signal is converted into the final radio signal by relaying towards the spacecraft. After that, the final radio signal is received on the spacecraft, the final radio signal is relayed from the spacecraft towards the main station and received at the main station, then the time interval between the moments of radiation and reception of the primary radio signals at the main station is measured and a judgment is made on the distance between the spacecraft and the main station in the following ratio: li = (c / 2) (t, -to), where Ii is the distance between the spacecraft and the main station; C is the propagation velocity of radio waves; t] is the moment of reception of the primary radio signal at the base station; tо - the moment of radiation of the primary radio signal from the main station; and finally, the time interval between the time of reception of the primary radio signal and the time of reception of the final radio signal at the base station is measured, the Doppler frequency shift of the carrier of the final radio signal received at the base station is measured relative to the frequency of the carrier of the primary radio signal emitted from the base station, and a distance judgment is made between the spacecraft and the additional station in the following ratio:

I ₂ = (s / 2) C t ₂ - Io) / (1 + N), where I ₂ is the distance between the spacecraft and the additional station; t ₂ - the moment of reception of the final radio signal at the main station; N is the Doppler frequency shift of the carrier of the final radio signal received on

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SUBSTITUTE SHEET (RULE 26) the base station, relative to the carrier frequency of the primary radio signal emitted from the base station.

According to the patented method for determining the distances between the spacecraft and the stations in the case of many additional stations for determining the location of the spacecraft, the time interval between the moment of receiving the primary radio signal and the moment of receiving the final radio signal at the main station is measured, by which the distance between the spacecraft and each of the many additional stations, carry out for the same primary radio signal emitted from the main station.

In the case of determining the distances between the spacecraft and the stations for at least three points of location of the spacecraft in orbit by the patented method for determining the distances between the spacecraft and the stations simultaneously with relaying, the primary radio signal to additional stations additionally relay it to at least one auxiliary station, receive the primary radio signal at the auxiliary station and convert it into the final radio signal by relaying in the direction to the braid mical apparatus. Then, the final radio signal is received on the spacecraft, it is relayed in the direction to the main station, and the final radio signal is received on the main station. After that, the time interval and the Doppler frequency shift of the carrier of the final radio signal received at the main station are measured relative to the carrier frequency of the primary radio signal emitted from the main station, and the distance between the spacecraft at each of its locations (locations) at the corresponding points of the orbit is judged and an auxiliary station.

According to the patented method for determining the distances between the spacecraft and the stations, the measurement of the time interval by which the distance between the spacecraft at each of its locations at the corresponding points of the orbit and the auxiliary station is judged is carried out by measuring the time interval between the moment of receiving the primary radio signal and the moment of receiving the final radio signal on the main station and carry out a judgment on the distance between the spacecraft and the auxiliary station according to the following relation s: lz = (c / 2) (t ₃ -t,) / (l + N,), where I ₃ is the distance between the spacecraft and the auxiliary station; tz - the moment of reception of the final radio signal at the main station.

SUBSTITUTE SHEET (RULE 26) According to the patented method for determining the distances between the spacecraft and the stations, the Doppler frequency shift of the carrier of the final radio signal received at the main station relative to the carrier frequency of the primary radio signal emitted from the main station is determined from the following relation:

N, = (mf _o - f ₃ ) / (2mft),

Where t is the coefficient of frequency conversion of the carrier of the radio signal during its coherent relay on the spacecraft; fо - carrier frequency of the primary radio signal emitted from the main station; fз - carrier frequency of the final radio signal received at the base station. Brief Description of the Drawings

Other objectives and advantages of the present invention will be shown below when considering the description of examples of its specific implementation with reference to the accompanying drawings, in which: Fig. 1 depicts a structural diagram of a known geodetic system that implements a patented method for determining the distances between a spacecraft and stations; figure 2 - depicts a structural diagram of a known geodetic system that implements the patented method for determining the distances between the spacecraft and stations, figure 1 for determining the location of the spacecraft according to the invention; fig.Z - depicts a structural diagram of a known geodetic system that implements the patented method for determining the distances between the spacecraft and stations, Fig.Z for determining the location of the auxiliary station located in the area of high seismicity, according to the invention; figure 4 - depicts a structural diagram of a known geodetic system that implements the patented method for determining the distances between the spacecraft and stations, according to figure 3 for three points of location of the spacecraft in orbit, according to the invention.

DETAILED DESCRIPTION OF THE INVENTION

The method is implemented on the well-known geodetic system (V.N. Baranov, E.G. Boyko, IIKrasnorylov and other "Space Geodesy", § 18, "Radio-ranging observations of the satellite", Moscow, Nedra, 1986, p.93 -94).

The known geodetic system contains the main 1 (Fig. 1) and an additional 2 stations, each of which has a corresponding antenna 3.4. In orbit 5, conditionally

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SUBSTITUTE SHEET (RULE 26) the dotted line indicates the movement of the spacecraft 6 having the antenna 7 through its points 8 (Bi) and 9 (B ₂ ). Along the path 15, conventionally shown by the dotted line, the movement of the additional station 2 through its points 16 (Di) and 17 (D ₂ ) is indicated. The figure 1 is also given conventionally designated radio signals. The primary radio signal 10 emitted from the main station 1, located at point A, in the direction of the spacecraft 6, the primary radio signal 11, relayed from the spacecraft 6 in the direction of the main station 1 and the primary radio signal 12, relayed from the spacecraft 6 in the direction of additional station 2. The final radio signal 13, relayed from the additional station 2 in the direction of the spacecraft 6, and the final radio signal 14, relayed from the spacecraft 6 in the direction of the main Turkey 1.

The primary radio signals 10, 11, 12 are determined when the spacecraft 6 is located at point 8 (Bi) of orbit 5.

The final radio signals 13 and 14 are determined, respectively, when the spacecraft 6 is located at point 9 (B ₂ ) of orbit 5 and additional station 2 at point 17 (D ₂ ) of trajectory 15.

According to another embodiment, the known geodetic system that implements a method for determining the distances between the spacecraft and the stations is similar to the geodetic system of FIG. The difference lies in the fact that it contains another additional station 18 (Fig. 2).

Orbit 5 has another point 19 (Vz) located between its points 8 (B ₁ ) and 9 (B ₂ ).

The figure 2. additionally given conventionally designated radio signals. The primary radio signal 20, relayed from the spacecraft 6, located at point 8 (Bi) of orbit 5, in the direction of the second additional station 18 and received by it when it is at point 21 (E ₂ ). The final radio signal 23 relayed from the second auxiliary station 18 in the direction to the spacecraft 6, and the final radio signal 24 relayed from the spacecraft 6 in the direction to the main station 1. The final radio signals 23, 24 are determined when the second additional station 18 is in position 21 ( E ₂ ) and spacecraft 6 at point 19 (B ₃ ) of orbit 5.

In another embodiment, the known geodetic system that implements a method for determining the distance between the spacecraft and the stations; similar to the geodetic system of figure 2. The difference is that it contains

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SUBSTITUTE SHEET (RULE 26) auxiliary station 26 located at point F (FIG. 3). Orbit 5 has another point 27 (B ₄ ) located between its points 19 (B ₃ ) and 9 (B ₂ ).

The figure 3 additionally given conventionally designated radio signals. The primary radio signal 28, relayed from the spacecraft 6, located at point 8 (B]) of the orbit 5, in the direction of the auxiliary station 26. The final radio signal 29, relayed from the auxiliary station 26 in the direction of the spacecraft 6, and the final radio signal 30, relayed from the spacecraft 6 in the direction of the main station 1. The final radio signals 29 and 30 are determined when the spacecraft 6 is at point 27 (B ₄ ) of orbit 5. To simplify the drawing, an additional station 18 and auxiliary station 26 They are shown motionless.

According to the last embodiment (Fig. 4), the known geodetic system that implements the method for determining the distances between the spacecraft and the stations is similar to the geodetic system of Fig. Z. The difference is that the orbit 5 has two more points 31 (B ₅ ) and 32 (B ₆ ).

A geodetic system that implements a method for determining the distances between the spacecraft 6 (Fig. 1) and the main 1 and additional 2 stations, works as follows.

At the main station 1 (A), the primary radio signal 10 is formed and radiated using an antenna 3 in the direction of the spacecraft 6 moving in orbit 5. This radio signal 10 is received by the antenna 6 of the spacecraft 6, located at point 8 (Bi) of orbit 5, and coherently relay in the direction of the main 1 and additional 2 stations, respectively, with the primary signals 11 and 12. In this case, the additional station 2 is located at point 16 (Di) of the trajectory 15. Then, the primary radio signal 11 is received at the main station 1. The primary radio signal 12 is received hydrochloric 4 additional station 2, move from the point 16 (Di) to the point 17 (D ₂₎ of the trajectory 15, coherently convert it into the final radio 13 relaying toward the spacecraft 6 and take the final RF signal 13 to the spacecraft 6 which for this time will move from point 8 (B]) to point 9 (B ₂ ) of orbit 5.

The moment t0 of radiation of the primary radio signal 10 from the main station 1 is measured, the time ti of reception of the primary radio signal 11 at the main station 1 is measured, and the time interval (ti - 1 ₀ ) determined by these moments to and tj is measured. Then, from the measured interval (ti - tо) of time, the distance Ii between the space

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SUBSTITUTE SHEET (RULE 26) The spacecraft 6, located at point 8 (Bj) of orbit 5, and the main station 1 from the following relation.

I ₁ = (c / 2) (t, -to), where c is the propagation velocity of radio waves.

To determine the distance I ₂ between the spacecraft 6 and the auxiliary station 2, the final radio signal 14 is relayed from the spacecraft 6, located at point 9 (B ₂ ) of the orbit 5, in the direction of the main station 1. The final radio signal 14 is received at the main station 1 and measured moment t _{2 of} its reception. After that, the time interval (t ₂ -ti) is determined, determined by the time ti measured previously and the time t ₂ .. In addition, the Doppler shift N of the frequency f _{2 of the} carrier of the final radio signal 14 is measured relative to the frequency f of the carrier of the primary radio signal 10 emitted from the main station 1.

From the measured time interval (t ₂ -tj) and the Doppler shift N of frequency f _{2 of the} final radio signal 14, the distance I ₂ between the spacecraft 6, located at point 8 (Bi) of orbit 5, and additional station 2 is determined from the following relation: l ₂ = (c / 2) (t ₂ -ti) / (l + N), where N = (mf _o -f ₂ ) / 2mfo, where t is the frequency conversion coefficient of the carrier of the radio signal during its coherent relay on the spacecraft 6.

The found values of the distances 1] and I ₂ correspond to the location of the spacecraft 6 at point 8 (Bi) of the orbit 5, that is, the time T of receiving the primary radio signal 10 on the spacecraft 6, determined from the known relation:

T = (ti + to) / 2

Let us consider in more detail the relationships illustrating the implementation of the proposed method.

The distance ABi from the main station 1 to the spacecraft 6 and the distance BiDj from the additional station 2 to the spacecraft 6 (Fig. 1) correspond to the moment T (where T = (t o + 1 ₁ ) / 2) of the reception and relay of the radio signal 10 on the spacecraft 6 at point 8 (Bi), with additional station 2 at point 16 (Di). AB, = (t, - to) c / 2 (1)

AB, + B] D ₂ + D ₂ B ₂ + B ₂ A = (t ₂ - to) c (2)

Express the distance B ₂ A

B ₂ A = ABi + V _ab (BiD ₂ + D ₂ B ₂ ) / c (3)

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SUBSTITUTE SHEET (RULE 26) Where V _{a b - the} rate of change of distance between the spacecraft 6 and the main station 2;

Express the distance B ₂ D ₂

B ₂ D ₂ = BiD ₂ + V _bd (B, D ₂ / c) + V ₄ (B ₂ D ₂ / c)

Or B ₂ D ₂ [1-VVc] = [B, D ₂ + V _bd (BiD ₂ / c)], i.e.

B ₂ D ₂ = [BID ₂ H-VM (B ₁ IVO)] / [lV ₄ / s] (4)

Where V _bd - the rate of change of distance between the spacecraft b and additional station 2;

V ₄ - the speed of the spacecraft 6 in the direction of DB;

Express

B ₁ D ₂ = B ₁ D ₁ HV ₃ (B ₁ D ₂ Zc)

Or B ₁ D ₂ [1-V s / s] = B ₁ D ₁ , i.e.

B ₁ D ₂ = B ₁ D ₁ Z [I- V ₃ Zc] (5)

V ₃ - the speed of the additional station 2 in the direction of BD;

From (l), (2) and (3)

(t ₂ - t _o ) c = AB ₁ + B ₁ D ₂ + D ₂ B ₂ + ABlH-V _a13 (B ₁ D ₂ H- D ₂ B ₂ ) Zc (6)

Where can I get from (1)

B ₁ D ₂ + D ₂ B ₂ = ((t ₂ -t ₀ ) c- 2AB ₁ ) Z (l + cV _ab (t ₁ -t ₀ ) Z2c) = с ((t ₂ -t ₀ ) - ( trtоМl + V _а ъZс)) =

(l + V _ab Zc) (7)

Further, taking into account (4) and (5), we obtain as a result of transformations

B ₁ D ₂ + D ₂ B ₂ = [B ₁ D ₁ Z [1- V ₃ Zc]] + [B ₁ D ₁ Z [1- V ₃ Zc]] [I + V _bd Zc)] Z [1- V ₄ Zc]] (8)

Opening the brackets and transforming (8) we get

B ₁ D ₂ + D ₂ B ₂ = B ₁ D ₁ [(l + V ₃ Zc) + (l + (V _bd Zc) (l + V ₃ Zc)) (l + V ₄ Zc)] =

B ₁ D ₁ [1+ V ₃ Zc + 1 + V ₄ Zc + V _bd (l + V ₃ Zc) (l + V ₄ Zc) Zc] =

B ₁ D ₁ [2+ 2V _bd Zc + [(VM / c) (V ₃ Zc + V ₄ Zc + (V ₃ Zc) (V ₄ Zc))]] =

B ₁ D ₁ [2+ 2V _bd Zc + [(VM / c) (V _bd Zc + (V ₃ Zc) (V ₄ Zc))]] (9)

Insofar as

[(VM / c) (V _bd Zc + (V ₃ ZcX V ₄ Zc))] <7.3 * 10 ^"10 we get from (9)

B ₁ D ₂ + D ₂ B ₂ s B ₁ D ₁ [2 + V _bd Zc + V _bd Zc] = 2B ₁ D ₁ [1+ V _bd Zc] (10)

We finally obtain from (7) and (10)

B ₁ D ₂ + D ₂ B ₂ = 2B ₁ D ₁ [1+ V _bd Zc] = c (t ₂ - t,) Z (l + V _ab Zc) and then

B ₁ D ₁ = c (t ₂ - t,) Z2 [(l + V _ab Zc) (l + V _bd Zc)] = c (t ₂ - t, Y2 [l + V _ab / c + V _bd Zc + ( V _ab Zc) (V _bd Zc)] (11)

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SUBSTITUTE SHEET (RULE 26) Or considering that (V _ab / c) (V _bd / c) <7.3 * 10 ^" '° (12)

BiD ₁ S [c (t ₂ - tθ / (l + V _ab / c + V _bd / c)] / 2 (13)

We express the speeds V _ab and V _bd through the Doppler frequency shifts of the carrier signals fi and f ₂ for the final radio signals 11 and 14, respectively, relative to the carrier frequency fo of the primary radio signal 10.

and then, taking into account (12)

V _ab / c + V _bd / c ≤ (f _o -f ₂ ) / 2f _o

After the transformations, we obtain from (13)

B ₁ D ₁ = [c (t ₂ - t ₁ ) / (l + (f _o -f ₂ ) / 2fo)] / 2 (14)

Given that the primary signal 10 emitted from station 1, when receiving and relaying on the spacecraft 6, is coherently relayed with a transform coefficient m, and the final signal when receiving and relaying on additional station 2 is coherently relay with a transform coefficient 1 / m, finally we express relation (13) as follows:

B ₁ D ₁ = [c (t ₂ - t,) / (l + (f ₀ -f ₂ ) / 2fo)] / 2 = (ClI) (X ₂ - tO / (l + N), where (15)

N = (mfo-f ₂ ) / (2mf _o ) (16)

Thus, from the measured values of the parameters of the radio signals, it is possible to determine the synchronous distances AB ₁ and B ₁ Di corresponding to the location of the spacecraft b at point 8 (B ₁ ) and additional station 2 at point 16 (Di) at time T = (ti + t _o ) / 2 _.

Further, when passing the spacecraft 6 in the radio visibility zone of station 1 and additional station 2, after determining several or a number of synchronous distances ABi and BiDi for different times T, the trajectory of movement 5 of the spacecraft 6 relative to stations 1 and 2 is determined and the values of velocity components are specified V _ab , V _bd and distances ABi and B] D]. If necessary, knowing the trajectory of the additional station 2, determine the components of the speeds Vz and V ₄ . and finally specify the values of the distances ABi and BiDi ..

In the case where it is necessary to determine the location of the spacecraft 6, the known geodetic system of FIG. 2, which implements a method for determining the distances between the spacecraft and stations, works similarly to the described geodetic system of FIG. 1. The difference lies in the fact that simultaneously with the relay of the primary radio signal 10 from the spacecraft 6 located at point 8 (Bi) of the orbit

fourteen

SUBSTITUTE SHEET (RULE 26) 5, in the direction of the additional station 2, the primary radio signal 20 is relayed in the direction of the additional station 18. This radio signal 20 is received at the station 18 and converted into the final radio signal 23 by relaying to the spacecraft 6. On the spacecraft 6, located at point 19 (B ₃ ) the orbits 5 receive the final radio signal 23 and relay in the direction to the base station 1 with the final radio signal 24. Next, at the main station 1, the final radio signal 24 is received, the moment t _{3 of} receiving this radio signal is measured, and then They measure the time interval (t ₃ -ti), determined by the moment t _ls measured earlier, and the moment t ₃ .

In addition, the Doppler shift Nj of the frequency f _{3 of the} carrier of the final radio signal 24 is measured relative to the frequency f of the carrier of the primary radio signal 10 emitted from the base station 1.

From the measured time interval (tz - tj) and the Doppler shift Ni of frequency f _{3 of the} final radio signal 24, the distance I ₃ between the spacecraft 6, located at point 8 (Bi) of orbit 5, and the additional station 18, point 25 (Ei), is determined from of the following relation: lз = (c / 2) (t ₃ -ti) / (l + Ni), where (17)

Ni = (mfo-fz) / (2mf _o ) (18)

According to the found distance I ₃ and the previously determined distance Ii and I ₂ between the spacecraft 6, located at point 8 (Bj) of orbit 5, and respectively the main 1 and additional 2 stations, as well as the known locations of station 1-point A, station 2 - point 16 (Di) and station 18 - point 25 (Ei), in a known manner (V.N. Baranov, E.G. Boyko, I.I.Krasnorylov and other "Space Geodesy", 1986, Nedra, Moscow, p. 217) determine the location of the spacecraft 6 located at point 8 (Bi) of the orbit 5 at the time T of receiving the primary radio signal 10 on the space Arata 6 defined by the relation:

T = (t, + t _o ) / 2

In the case where the task of earthquake prediction is, it is necessary to quickly determine the location of the station, in this case the ground, located in the area of increased seismicity, that is, to determine the "movements" of the earth's crust at the location of this station. At the same time, the well-known geodetic system of FIG. 3.4, which implements a method for determining the distances between the spacecraft and stations, works similarly to the described geodetic system according to ph. 2. The difference is that the primary radio signal 10 received on the spacecraft 6, located at point 8 (Bi) of orbit 5, is simultaneously converted by relay to

fifteen

SUBSTITUTE SHEET (RULE 26) the primary radio signals 12, 13 in the direction of the additional stations 2, 18 and in the primary radio signal 28 in the direction of the auxiliary station 26.

The radio signal 28 is received at station 26 and converted into the final radio signal 29 by relaying towards the spacecraft 6.

On the spacecraft b, located at point 27 of orbit 5, the final radio signal 29 is received and relayed towards the main station 1 with the final radio signal 30.

Next, at the main station 1, the final radio signal 30 is received, the time U of receiving this radio signal is measured, and then the interval (t ₄ -t0 of the time determined by the time t _\ measured earlier and time t _{4 is} measured.

In addition, the Doppler shift N _{2 of the} frequency f _{4 of the} carrier of the final radio signal 30 is measured relative to the frequency f of the carrier of the primary radio signal 10 emitted from the base station 1.

From the measured time interval (Vti) and the Doppler shift N _{3 of the} frequency f _{4 of the} final radio signal 30, the distance I ₄ between the spacecraft 6 located at point 8 (Bi) of the orbit 5 and the auxiliary station 26 is determined from the following relation:

where N ₂ = (mfo-f ₄ ) / 2mf _o (20)

Next, similarly to the above, the locations of the spacecraft 6 are determined at points 31 (FIG. 4) and 32 of the orbit 5. For these points 31 and 32, the distance b and I ₆ between the spacecraft 6 and the auxiliary station 6 are determined respectively.

Now, knowing the locations of points 8, 31, 32 of orbit 5 and, accordingly, the distances I ₄ , 1 ₅ , and I ₆ between these points 8, 31, 32 and auxiliary station 26, the location of auxiliary station 26 is determined in a well-known manner.

When implementing the method (including the generation, transmission, conversion, reception and processing of radio signals, correction of atmospheric and other components of measurements), known hardware and software solutions used in global positioning systems GPS, GLONASS, Galileo, WAAS and etc. (see, for example: http://www.colorado.edu/geography/gcraft/notes/gps/gps_ftoc.html, http://euiOpa.eu.int/comm/dgs/energy_transport/galileo/documents/ technical_en.htm).

16 SUBSTITUTE SHEET (RULE 26) In determining distances, in addition to the Doppler frequency shift N, one can use other relationships containing information on the Doppler frequency shift of radiated and received radio signals, for example, Doppler counting for a certain time interval, the ratio of instantaneous frequency values, integral Doppler counting, etc. , equations (14) - (20).

The effectiveness of the invention

The present invention allows for synchronous measurements of distances between the spacecraft and stations, the number of which is unlimited, which can be achieved by implementing the "geometric" method for determining the location of the spacecraft in orbit, as well as building a geophysical network of stations in real time. This ensures increased accuracy and efficiency of the construction of the geophysical network, since it does not require preliminary accurate knowledge of the orbits of spacecraft to build it, since the determination of these orbits occurs immediately after receiving the measurement data.

As “reference” stations, the measurements of which determine the orbit of the spacecraft, stations used in seismically inactive areas can be used, and “moves” of stations installed in seismically dangerous areas can be determined taking into account the data obtained on the orbit of the spacecraft and the distances between spacecraft and these stations.

In addition, the present invention provides radiation, reception and processing of all radio signals at one station, which makes it possible to determine the location of the spacecraft at each current point in time, and also to determine the distance between the spacecraft and other stations at this station without the need for additional data collection and transmission .

Also, the present invention allows the use of rather simple radio engineering devices — repeaters, that implements the patented method of the geophysical system, which increases the reliability and mobility of this geophysical system, and also allows to automate its operation mode, which will make it possible to install autonomous stations in seismically dangerous inaccessible areas for determining “movement” these stations. It is known that before earthquake deformation of the earth's crust is observed, associated with the movement of lithospheric plates, and manifested in the displacements of points on the surface of the Earth (see, for example: Pevnev AK “Go to the practical forecast of earthquakes)) // Izv. PAEH Earth Sciences Section. 2001, no. 6, p. 83-92)

17

SUBSTITUTE SHEET (RULE 26) U2008 / 000Sh

As spacecraft it is possible to use artificial Earth satellites (AES) with the most optimal (in terms of station location geometry - AES) orbit parameters. In this case, knowledge of the exact parameters of the orbits of these satellites is not required, since the determination of these parameters can be made directly during the measurement process. It is possible to install repeaters on numerous satellites intended for monitoring the state of the Earth’s atmosphere and weather forecast for the implementation of the proposed method.

In addition, the present invention can be used in conjunction with space positioning systems for the mutual navigation navigation of spacecraft used in the global positioning system of objects (GPS, Gallileo, GLONASS, etc.), with the aim of clarifying the orbits of the spacecraft included in the system, their mutual position and increase, thereby, the accuracy of positioning of the defined objects (see for example: http: //www.glonass-center.ш/; http://www.igeb.gov/; http: //www.gallileolonass-center. ru /)

At the same time, on the satellite of navigation systems, the above-mentioned repeaters can be additionally installed, and the option of software reprogramming of the standard radio systems of these satellite to implement the proposed method can be considered.

In addition, the proposed method can be used for mutual synchronization and binding of various navigation systems (GPS, GPS, GLONASS, etc.) to each other with the aim of creating a global positioning system and thereby increasing the accuracy of determining the coordinates of objects using this system.

The creation of a unified network of autonomous stations in earthquake-prone areas can allow ongoing monitoring of the displacement of local points on the Earth's surface with reference to a single coordinate system and the identification of local dynamics and general patterns, considering the Earth as a whole as a physical body subjected to various types of loads of different nature.

It is also possible to use the proposed method for studying the movements of the earth's crust, for example, in places where pipelines lie, when designing and operating bridges, offshore platforms, etc. (see, for example: “Haychny project - geo-mathematics”, “Modern geodynamics and safety of objects in the underground space)), D. Sashurin, Institute of Mining, UralRAN, Yekaterinburg, 2000, http: //igd.uran. w /).

The list of positions and letters used in the description of the invention; 1 - main station;

eighteen

SUBSTITUTE SHEET (RULE 26) 2 - additional station;

3 - antenna station 1;

4 - antenna station 2;

5 - the orbit of the spacecraft;

6 - spacecraft;

7 - the antenna of the spacecraft;

8 - point (B]) of the orbit 5 of the spacecraft;

9 - point (B ₂ ) of the orbit 5 of the spacecraft;

10 - primary radio signal; 11- primary radio signal;

12 - primary radio signal

13 - the final radio signal;

14 - the final radio signal;

15 - the trajectory of the additional station;

16 - point (Di) of the trajectory of the additional station 2;

17 - point (D ₂ ) of the trajectory of additional station 2;

18 - auxiliary station;

19 - point (B ₃ ) of the orbit of the spacecraft 6; 20 - primary radio signal;

21 - point (E ₂ ) of the trajectory of the auxiliary station 18;

22 - the trajectory of the auxiliary station 18;

23 - the final radio signal;

24 - the final radio signal;

25 - point (Ei) of the trajectory of the auxiliary station 18;

26 - auxiliary station;

27 - point (B ₄ ) of the orbit 5 of the spacecraft;

28 - primary radio signal;

29 - the final radio signal;

30 - the final radio signal;

31 - point (Bs) of the orbit 5 of the spacecraft;

32 - point (B ₆ ) of the orbit 5 of the spacecraft;

Ii is the distance between the spacecraft 6 and the main station 1; to - the moment of radiation of the primary radio signal 10 from the main station 1; ti is the moment of reception of the final radio signal 11 at the main station 1;

19

SUBSTITUTE SHEET (RULE 26) 1 ₂ - the distance between the spacecraft 6 at the time of its location at point 8 (B]) of orbit 5 and additional station 2; t ₂ - the moment of reception of the final radio signal 14 at the main station 1;

N is the Doppler frequency shift f _{2 of the} carrier of the final radio signal 14 received at the base station 1, relative to the frequency f _{0 of the} carrier of the primary radio signal 10 emitted from the base station 1;

Ni is the Doppler frequency shift f _{3 of the} carrier of the final radio signal 24 received at the base station 1, relative to the frequency f of the carrier of the primary radio signal 10 emitted from the base station 1;

N ₂ - Doppler frequency shift f _{4 of the} carrier of the final radio signal 30 received at the main station 1, relative to the frequency f of the carrier of the primary radio signal 10 emitted from the main station 1;

1 ₃ - the distance between the spacecraft 6 at the time of its location at point 8 (Bi) of orbit 5 and additional station 18; t ₃ - the moment of reception of the final radio signal 24 at the main station 1; fо - carrier frequency of the primary radio signal 10 emitted from the base station 1; fi is the carrier frequency of the final radio signal 11 received at the base station 1; f ₂ - carrier frequency of the final radio signal 14 received at the base station 1; fz - carrier frequency of the final radio signal 24 received at the base station 1; f ₄ - carrier frequency of the final radio signal 30 received at the base station 1; m is the frequency conversion coefficient of the carrier of the radio signal during its coherent relay on the spacecraft 6;

1 / m is the frequency conversion coefficient of the carrier of the radio signal during its coherent relaying at stations 2, 18, 26;

U is the moment of reception of the final radio signal 30 at the main station 1;

1 ₄ - the distance between the spacecraft 6 at the time of its location at point 8 (B]) of orbit 5 and the auxiliary station 26;

Is is the distance between the spacecraft 6 at the time of its location at point 31 (B5) of orbit 5 and auxiliary station 26;

I ₆ - the distance between the spacecraft 6 at the time of its location at point 32 (B ₆ ) of orbit 5 and the auxiliary station 26.

twenty

SUBSTITUTE SHEET (RULE 26)

Claims

CLAIM

1. The method of determining the distances between the spacecraft and stations by emitting the primary radio signal from the main station in the direction to the spacecraft, receiving the primary radio signal in the spacecraft, relaying the primary radio signal from the spacecraft in the direction to the main station, receiving the primary radio signal in the main station, implementation radio communications with the final radio signal of the spacecraft from at least one additional station, measuring the moments of radiation and receiving primary radio signals at the main station, measuring the time interval by which the distance between the spacecraft and the main station is judged, measuring the time interval by which the distance between the spacecraft and the secondary station is judged, such as That is, they additionally relay the final radio signal from the spacecraft in the direction to the main station and receive it at the main station, and radio communication with the final radio signal of the spacecraft from at least one to The completing station carries out the relay of the primary radio signal from the spacecraft to the auxiliary station, receiving the primary radio signal at the auxiliary station, converting it to the final radio signal by relaying in the direction to the spacecraft, and receiving the final radio signal on the spacecraft, moreover, as a time interval for judging the distance between the spacecraft and the main station, measure the interval between the moment of radiation and the moment of reception of the primary signal to the primary station, and the distance (I]) between the spacecraft and the main station is judged by the relation:

I ₁ = (c / 2) (t _r tь), where c is the propagation velocity of radio waves; ti is the moment of reception of the primary radio signal at the main station; tо - the moment of emission of the primary radio signal from the main station, as the time interval by which the distance between the spacecraft and the auxiliary station is judged, the interval between the time of reception of the primary radio signal and the moment of reception of the final radio signal at the main station is measured, while the Doppler frequency shift is additionally measured the carrier of the final radio signal received at the base station, relative to the frequency of the carrier of the primary radio signal emitted from the base station, and about the distance (I ₂ ) between _two spacecraft and an additional station are judged by the ratio: l ₂ = (c / 2) (t ₂ - t0 / (l + N), 21

SUBSTITUTE SHEET (RULE 26) where t ₂ - the moment of reception of the final radio signal at the main station;

N is the Doppler frequency shift of the carrier of the final radio signal received at the base station, relative to the carrier frequency of the primary radio signal emitted from the main station.

2. The method according to claim 1, with the clue that in the case of a plurality of additional stations, measuring the time interval between the moment of receiving the primary radio signal and the moment of receiving the final radio signal at the base station the distance between the spacecraft and each of the many additional stations is carried out for the same primary radio signal emitted from the main station.

3. The method according to claim 1, with the exception that in the case of determining the distances between the spacecraft and stations for at least three points of location of the spacecraft in orbit simultaneously with the relay of the primary radio signal additional stations also relay it to at least one auxiliary station, the location of which is to be determined, receive the primary radio signal at this auxiliary station, convert it to the final radio signal by relaying in the direction to space The apparatus, receive the final radio signal on the spacecraft and relay it towards the main station, receive the final radio signal on the main station and measure the time interval and the Doppler frequency shift of the carrier of the final radio signal received at the main station, relative to the carrier frequency of the primary radio signal emitted from the main station, and they judge the distance between the spacecraft in each of its locations at the corresponding points of the orbit and the auxiliary station.

4. The method according to claim 3, with the exception that, as the time interval, according to which the distance between the spacecraft in each of its locations in orbit and the indicated auxiliary station is judged, measure the interval between the time of reception of the primary radio signal and the moment of reception of the final radio signal at the main station, and the distance (I ₄ ) between the spacecraft and the auxiliary station is judged by the ratio: l4 = (c / 2) (t4-ti) / (l + Nг ), where t ₄ is the moment of reception of the final radio signal at the main station;

22

SUBSTITUTE SHEET (RULE 26) N ₂ - Doppler frequency shift of the carrier of the final radio signal received at the base station, relative to the carrier frequency of the primary radio signal emitted from the main station.

5. The method according to claims 1 or 4, characterized in that said Doppler shifts (N, N ₂ ) of the carrier frequencies of the final radio signals are determined from the relations:

N = (mf _o -f ₂ ) / (2mfo), N ₂ = (mfo-f ₄ ) / (2mf _o ),

23

SUBSTITUTE SHEET (RULE 26)