RU2058011C1 - On-board complex of correctable roll-stabilized flying vehicle provided with tv homing head - Google Patents

Abstract

FIELD: aeronautical engineering. SUBSTANCE: on-board complex consists of standard and new units for realization of the following procedures: storage of present TV signal in field of processing as standard signal, separation in this field of processing of significant contrast reference points, correlation processing of present and standard TV signals, forming of discriminator characteristic according to the results of correlation processing; determination (with the aid of this characteristic) of angular displacement of TV image of target relative to standard image; shaping of control signals for three-axis gyro stabilizer on which TV camera is mounted; these control signals return optical axis of TV camera to center of target selected by operator; determination of value of difference in scaling between present TV image and standard image, re-recording (in case value of difference in scaling exceeds preset threshold value) of present TV image of target as a new standard. On-board complex enhances efficiency of correctable flying vehicles, extends zones and conditions for drop of these vehicles; enhanced accuracy of homing of flying vehicles at slightly distinguishable and indistinguishable targets and noise immunity of flying vehicle to jamming. EFFECT: enhanced efficiency. 2 dwg

Description

The invention can be used in aeronautical engineering for delivering payload from an airplane to the ground with increased accuracy E _quo = 4.7 m, to eliminate any obstacles and congestion in extreme situations, during natural disasters, as well as to destroy solid obstacles and structures such as reinforced concrete shelters of aircraft (RCU), runways (runways), hangars, etc. in a wide range of conditions of use.

 Known avionics complexes of roll-stabilized correctable aircraft with television homing heads, containing a television camera mounted on a triaxial gyrostabilizer, including a light-signal converter with a video amplifier, a scan unit and a synchronization unit, as well as an electronic information processing unit, an automation and communication unit carrier, including four amplifiers, two adders, two integrators and two switches, as well as a coordinate conversion unit, a power source and a car helot comprising three stabilizing unit coupled to the steering transmission of pitch, yaw, roll, wherein the outputs of the first and second integrators automation unit and communication with the carrier are respectively connected to first and second inputs and gyrostabilizer triaxial coordinate conversion unit.

In the well-known airborne complexes of corrected aircraft, a contrast law of information signal processing is implemented, in which precise guidance of the device is possible only if the target is a local object that has a contrast with respect to the background surrounding the object [1]
Closest to the invention of the known is the airborne complex of the corrected aircraft bomb (CAB) France SAMP-400 [2] This CAB is selected as a prototype.

 Roll-stabilized SAMP-400 contains a television camera, a television signal synchronization and processing unit, a gyro stabilizer, a gyro stabilizer control unit, an automation and communication unit with a carrier, a switching device, a coordinate conversion unit, an autopilot with steering gear and rudders, and a power supply.

 The SAMP-400 airborne complex, which is a prototype, provides a hit accuracy of ≈ 7 m, but has a number of drawbacks that reduce the efficiency of the KAB and limit the zone of discharge of the KAB and the conditions for its use.

 SAMB-400 KAB is dropped from a carrier aircraft onto a target from a rather narrow, limited area, the initial conditions of which in terms of KAB range, speed, and planning angle correspond to a bomb falling into the target during an almost ballistic flight. This is because the SAMP-400 is made on the basis of the already existing unguided high-explosive bomb. The contrast method of forming a discriminatory characteristic in the SAMP-400 airborne system makes it impossible to bomb on non-contrast targets, the position of which is set relative to contrasting landmarks.

 In the event that the target is extended (Bridge, Runway), the target locality conditions are not met, then during the SAMP-400 homing process, the capture point may “slip” along the extended contrast boundary and, as a result, disrupt the target’s auto tracking mode.

 Finally, the contrast method of target auto-tracking does not allow to obtain high noise immunity of the onboard complex of the KAB in the conditions of organized interference associated with a change in the brightness characteristics of the target and the background surrounding the target.

 The objective of the invention is to increase the efficiency of the CAB, expand the zone and conditions for resetting the CAB, increase the accuracy of homing the CAB for low-contrast and non-contrast targets, increase the noise immunity of the CAB to organized interference.

 This is achieved by the fact that the proposed KAB airborne complex, after combining by the pilot (or navigator) the optical axis of the homing television head, remembers the current television signal as a reference signal in the processing field, selects the available contrasts in this processing field, and performs correlation processing of the current and reference television signals, forms a discriminatory characteristic based on the results of correlation processing, determines with the help of this characteristic the angular displacement of the current television The images relative to a reference, using the contour fulfills autotracking target angular error signals of the angular displacement of the current television image relative to a reference, determines the magnitude razmasshtabirovaniya between the current television picture and a reference at a certain value razmasshtabirovaniya overwrites the current television image as a new reference.

 In FIG. 1 shows a functional diagram of the onboard complex KAB prototype SAMP-400; in FIG. 2 is a functional diagram of the proposed airborne complex.

The on-board complex of the prototype SAMP-400 contains (Fig. 1):
a television camera 1, consisting of a transmitting tube and an optical system 1.1, scan units 1.2 and synchronization 1.3;
a video signal processing unit 2, including a signal shaper 2.1 and comparators 2.2;
calculator 3;
strobe generator 4;
gyro stabilizer control unit 5;
gyro stabilizer 6;
automation and communication unit with carrier 7;
coordinate converter 8;
autopilot 9 with steering gear 10;
power source 11.

 The television camera of the on-board complex of the prototype forms a television image of the target and the area surrounding the target.

 The optical system of the television camera and the transmitting tube 1.1 are located on the gyrostabilizer 6, which allows the optical system to be oriented in space, search for the target, and stabilize the angular position required for auto tracking of the target.

 Scanner 1.2 and synchronization 1.3 allows you to create a television raster for the television indicator of the carrier aircraft to search for a target, its detection and capture.

 The video signal processing unit 2 is designed to convert the video signal coming from the transmitting tube into a signal that ensures stable operation of the comparison circuits (comparators 2.2 with the signal from the strobe generator 4.

 The calculator 3 determines the "center of gravity" of the distribution of the contrasts of the image of the target relative to the center of the television raster. In the calculator, a discriminatory characteristic is formed, identification of discrepancies for auto tracking of the target.

 The formation of a discriminatory characteristic is based on the contrast method of processing the video signal within a fairly narrow electronic "window".

 The strobe generator 4 produces signals that determine the size of the electronic "window" and their binding to the center of the television raster.

 The gyro stabilizer control unit 5 is necessary for power amplification of the control signals from the transmitter 3.

 The automation and communication unit with the carrier 7 is used for switching and matching signals and commands between the carrier aircraft and the on-board complex of the corrected aircraft.

 Coordinate converter 8 is designed to coordinate control signals when switching from a "plus" -shaped coordinate system of a television camera to an "X" -shaped coordinate system of the control aerodynamic rudders of an aircraft.

 The autopilot 9 and steering gear 10 provide control of the aircraft’s movement along the trajectory and stabilization of the aircraft along the trajectory and stabilization of the aircraft around the center of mass depending on changes in the angular velocity of the line of sight of the target and the readings of the vibration sensors of the aircraft.

 The on-board complex of a corrected aircraft with a television homing head, selected as a prototype, has a number of fundamental disadvantages.

 This complex is not able to provide homing of the aircraft for non-contrast or low-contrast (less than 0.15) targets. When working with similar goals, the direction-finding characteristic of the calculator 3 is not able to form.

 When approaching the target due to a significant increase in image scale, the contrast characteristics of the target change significantly. The contrast point of the target (at a great distance) turns into a detailed picture. This can lead to a shift in the aiming point and an increase in miss.

 When working with extended targets, where there is no contrast gradient in one of the coordinates, the given on-board complex may interrupt the target auto-tracking process.

 The prototype has low noise immunity with respect to organized optical interference, causing a change in the brightness characteristics of the target.

 The proposed airborne complex of a correctable aircraft with a television homing head is shown in FIG. 2.

The device contains (Fig. 2):
1 television camera with a transmitting television tube, an optical system, scan units and synchronization;
2 analog-to-digital converter;
3 block storage devices, consisting of enlarger television elements 3.1, the storage device of the current image 3.2, the storage device of the reference image 3.3;
4 correlation discriminator, consisting of two code-voltage converters 4.1; 4.2. two band-pass filters 4.3; 4.4, two adjustable amplifiers 4.5; 4.6; two CR filters of differentiating type 4.7; 4.8; two multipliers 4.9; 4.10; two RC filters of integrating type 4.11; 4.12. threshold device 4.13; analog-to-digital converter with double integration 4.14; integrator 4.15; two digital-to-analog converters 4.16; 4.17; five registers 4.18; 4.19; 4.21; 4.22; 4; 24. the adder 4.23. shaper of difference 4.20, decoder 4.25, five pulse counters 4.26; 4.27; 4.28; 4.29; 4.31; logical circuit U (4,30).

5 gyrostabilizer;
6 automation and communication unit with a carrier, consisting of two integrators 6.1; 6.2, two adders 6.3; 6.4. six amplifiers 6.5; 6.6; 6.7; 6.8; 6.9; 6.10 logic OR 6.11, two threshold devices 6.12; 6.13. two logic circuits U 6.14; 6.15;
7 coordinate transformation unit;
8 on-board automation unit, consisting of an amplifier 8.1. six logical circuits U (8.2; 8.4; 8.5; 8.6; 8.7; 8.12, limiter 8.3; three logical circuits NOT (8.8; 8.9; 8.10, logical OR OR 8.11.

9 a power source consisting of a threshold device 9.1, a logic circuit U 9.2; turbogenerator 9.3; rectifier power supply 9.4;
10 low pass filter;
11 autopilot, consisting of an autopilot control unit 11.1, a motion control and stabilization unit of the aircraft 11.2; wherein the control unit of the autopilot 11.1 includes three logic circuits U 11.1.1; 11.1.2; 11.1.4. a secondary power source 11.1.3, a time relay 11.1.5, and the motion control and stabilization unit of the aircraft 11.2 includes an arrestor of the gyroscopic sensor 11.2.1, the gyroscopic sensor 11.2.2. block stabilization of the roll channel 11.2.3, a motion control and stabilization unit of the first channel of the aircraft 11.2.4, a motion control and stabilization unit of the second channel of the aircraft 11.2.5;
12 steering gear, consisting of four adders 12.1; 12.2; 12.3; 12.4; four amplifiers 12.5; 12.6; 12.7; 12.8. four steering gears 12.9; 12.10; 12.11; 12.12.

The proposed device operates in two modes:
work under the carrier; autonomous flight mode.

In the first mode, when entering the target area from the carrier, the Attack command is sent to the device (A _sn ).

According to this command, the gyro stabilizer 5 is snapped along the axes of pitch and course. The communication circuits of the gyrostabilizer 5 are connected through 6.1; 6.3, 6.7; 6.2, 6.4, 6.8 and the contacts of the first switch K1.1, K1.2 to the sighting and navigation complex of the carrier (PRNA) for angular tracking the position of the optical axis of the sight of the carrier on target signals ω _y ; ω _z produced by the BCVM PRNA.

After detecting the target and aiming by the pilot (navigator), the command “Target” (Ts _s-n ) is sent to the device, along which the gyrostabilizer 5 is snapped along the roll axis. At the same time, an image of the target formed by the television camera 1 of the device is received on the airplane television screen. At the same time, through 6.9, 6.10 and contacts K _3.1 , K _{3.2 of the} third switch, input 6.3, 6.4 receives signals from the manual operator control (joystick) ρ _y , ρ _z .

Forcing the signals ρ _y , ρ _{z to} precess the gyrostabilizer 5 with the television camera 1, the operator combines the electronic crosshair (EP) in the center of the television raster with the chosen target. By combining the EA with the target, the operator releases the joystick. At the same time, a command is formed in 6.14, which transfers the television camera 1 to the target auto-tracking mode. In this case, the target designation chains ω _y ω _z and manual correction ρ _y , ρ _z open (contacts K _1.1 , K _1.2 , K _3.1 , K _3.2 ).

Closed through the contacts K _2.1 , K _{2.2 of the} second switch is the target auto-tracking circuit, which includes chains of blocks 1, 2, 3, 4, 5, 6.

 The target image formed by the television camera 1 in the form of an analog electric video signal is fed to the input of an analog-to-digital converter (ADC) 2. A digital signal is generated at the output of the ADC 2. This "digital" television image of the target is prepared in sufficient detail for logical digital processing. To reduce the array of processed numbers, the "digital" image from output 2 is enlarged in the enlarger of the television elements 3.1. Then, from output 3.1, the “enlarged” image of the target filtered from small details is fed to the storage device of the current (3.2) and reference 3.3 images. This “enlarged” digital image of the target is fed with a frequency of 50 Hz (with a frequency of television fields, lasting 20 ms) Two television fields form a television frame whose frequency is 25 Hz. Thus, in 3.2, the current digital image of the target is overwritten and stored every 20 ms.

 The reference digital image of the target, with which the current digital image of the target is to be compared, is overwritten in the memory device 3.3 only with the arrival of the “Overwrite” command generated in the correlation discriminator 4. The correlation discriminator 4 must determine whether the optical axis of the television camera 1 has shifted from the target in the corners pitch and course, as well as how much the scale of the current image of the target (by reducing the distance to the target) has changed compared to the recorded (at some fixed distance) e coupon image of this target.

 For this, from both storage devices 3.2, 3.3. synchronously read the stored signals. These signals are fed to the inputs of the correlation discriminator 4.1, 4.2. In each half-frame (television field), the magnitude of the shifts Δ Z and Δ Y between the reference and current images along two coordinates Z. Y.

 These detected shifts of the current image relative to the reference image in the form of electrical signals proportional to the shift values, through digital-to-analog converters 4.16, 4.17, are sent to the automation unit 6 and then processed by the gyrostabilizer 5, which combines the center of the television raster with the target chosen by the operator.

 The angular contour of auto tracking, implemented by devices 1, 2, 3, 4, 5, 6, works stably only if the scale of the current television image of the target does not differ from the scale of the reference television image of the target by more than 10.15%. For this, in the correlation discriminator 4 the mismatch of the scale of the current and reference images of the target is also performed. Upon reaching the specified threshold value of the scale mismatch in the correlation discriminator, the "Overwrite" command is generated, in which the current target image is recorded in 3.3 as the next reference target image.

 In the analog-to-digital Converter 2 is the quantization of the video signal in time and level. From the output of the ADC 2, the signal goes to the enlarger of the television standards 3.1. The need for an enlarger of television elements is due to the fact that quantization of the video signal into 2 forms a very large array of numbers, the memorization of which is not feasible due to unacceptable weight and size indicators. Therefore, in the enlargement unit of elements 3.1, a television image of the target is formed from "enlarged elements" that organize a 32x32 element matrix, which is stored in the memory of the current and reference image 3.2, 3.3.

 The reading of information starts simultaneously from the buffer memory (3.2) and the reference memory (3.3), starting from the cells corresponding to the image elements in the middle of the raster to the cells corresponding to the image elements in the left (right) part of the raster, respectively, the upper (lower) part of the raster.

 At the outputs of the code-voltage converters 4.1 and 4.2, a line-by-line analog signal of the current and reference image is formed for each half of the original image (left, right and upper lower parts of the raster).

 These analog signals are filtered in bandpass filters 4.3, 4.4.

 Given the variety of possible scenes against which the target is located, a significant range of changes in the contrasts of the target and the landmarks surrounding the target, adjustable amplifiers 4.5, 4.6 are included in the correlation discriminator in series with bandpass filters 4.3, 4.4.

 The automatic slope control system includes a multiplier 4.9, two CR filters with the same time constants 4.7, 4.8, an integrator 4.15, the output of which is connected to adjustable amplifiers 4.5, 4.6.

 The signal from the output of the multiplier 4.9 is fed to the filter of the integrating type 4.12 and, when the specified threshold formed by the threshold device 4.13 is exceeded, it generates the Logical Capture command, which transfers the target auto-tracking mode using logic circuit 6.14.

 The multiplier 4.10, the analog-to-digital converter with double integration 4.14, the decoder 4.25, the registers 4.21, 4.18, 4.19 and the difference shaper 4.20 synthesize the discriminative characteristics of the shift (angle control) in the direction of the Z and Y coordinates.

 At the same time, it is assumed that when the current television image of the target and significant landmarks are offset relative to the reference, for example, at the heading, the indicated offset relative to the reference occurs in one direction for both the left and right parts of the processed raster.

 With a shift in pitch, a shift of the target and significant landmarks relative to the standard both for the upper and lower parts of the processed raster occurs.

Revealed angular displacement as a difference of codes Z _N = Z $\genfrac{}{}{0ex}{}{\text{l}}{\text{N}}$ -Z $\genfrac{}{}{0ex}{}{\text{P}}{\text{N}}$ Y _N = Z _N B -Y $\genfrac{}{}{0ex}{}{\text{N}}{\text{N}}$ through digital-to-analog converters 4.16, 4.17, amplifiers 6.5, 6.6, adders 6.3, 6.4 and integrators 6.1, 6.2. act on the gyrostabilizer 5, forcing it to precess through the channels of the course, pitch, processing the error signal and combining the current television image of the target and the terrain surrounding it with the memorized reference image.

 When you change the scale of the television image of the area associated with the reduction of the distance to the target, significant landmarks in the processed part of the raster are simultaneously shifted to the outer side of the raster both in the left and in the right (lower upper) half of the raster.

 The discriminatory characteristic in scale in the direction of the Z coordinate is calculated as the sum of codes for the left and right parts of the image, and in the direction of the Y coordinate as the sum for the upper and lower parts of the image.

M (Z) _N = Z $\genfrac{}{}{0ex}{}{\text{P}}{\text{N}}$ + Z $\genfrac{}{}{0ex}{}{\text{P}}{\text{N}}$
M (Y) _N = Y $\genfrac{}{}{0ex}{}{\text{in}}{\text{N}}$ + Y $\genfrac{}{}{0ex}{}{\text{n}}{\text{N}}$
If the codes M (Z) and M (Y) exceed the threshold values for different scaling of the current and reference images, a command is generated to overwrite the reference.

 The discriminatory characteristic on the scale is formed by the adder 4.23, the decoder 4.25, registers 4.24, 4.22.

The integrators 6.1 and 6.2 form the output signals Uω _y , U ω _z in a plus-shaped coordinate system (in the coordinate system of the target of the light-signal converter TGSN).

 These signals in the coordinate converter 7 are converted into a "kis" shaped coordinate system of a controlled aircraft, in which its bearing surfaces and four aerodynamic steering wheels are located, controlled by steering mechanisms 12.9, 12.10, 12.11, 12.12.

Signal conversion is carried out according to the formulas usual for aircraft of this class
U _ΩI λ ₁ (U ω _z cos γ U ω _y sin γ)
U _ΩII λ ₂ (U ω _y cos γ -U ω _y sin γ), where γ is the angle of relative roll turn,
λ ₁ , λ ₂ proportionality coefficients.

The signals U _ΩI U _{ΩII controlling the} motion of the center of mass of the aircraft through the low-pass filter 10, smoothing the pulsations, are fed to the first and second channels of the autopilot of the aircraft 11.2.4, 11.2.5 through the contacts of the time relay 11.1.5 (Cl 1.1, Cl 1.2) . A delay in aiming the aircraft at the target for 2.5 seconds is necessary to ensure the safety of the carrier. For 2.5 s, the controlled aircraft will move away from the carrier to a safe distance and will not hit in the process of aiming at the target along the carrier. The control of the aerodynamic rudders is carried out using a steering gear consisting of four adders 12.1-12.4, four amplifiers 12.5-12.8 and four steering mechanisms 12.9-12.12.

 The automation and communication unit with the carrier 6 provides target designation in automatic and steering control and auto tracking of the target.

On command "Attack", filed by the pilot (navigator), TGSN processes signals ω _y , ω _z aircraft onboard complex.

In this case, the signals ω _y , ω _z come through amplifiers 6.7, 6.8, contacts K 1.1, K 1.2, adders 6.3, 6.4 and amplifiers 6.1, 6.2 to the gyro-stabilizer TGSN 5. The optical axis of the video camera 1 monitor the optical axis of the television sight of the aircraft- carrier.

After the “Target” command, also given by the pilot (navigator), arrives through the amplifiers 6.9.6.10, the device begins to receive signals ρ _y , ρ _{z of the} joystick (pilot manual control unit), which correct the axis of sight of the TGSN, summing up in adders 6.3, 6.4 with signals ω _y , ω _z .

After manual adjustment, the operator releases the joystick. The signals ρ _y , ρ _{z are} reduced to a noise level (below the threshold level determined by 6.12, 6.13).

 The logic of work 6.11 and 6.14 generates by releasing the joystick, if there is a signal at the output 4.13, a command that transfers the TSS from the target designation mode to the target auto tracking mode. This auto tracking mode is maintained during autonomous flight of the aircraft.

 The on-board automation unit (BBA) 8 implements switching and coordination of commands and signals providing a sequence diagram of the operation of the corrected aircraft. Functionally, the on-board automation unit includes an amplifier 8.1, six “AND” logic circuits (8.2, 8.4, 8.7, 8.12), a 8.3 limiter, three “NOT” logic circuits (8.8–8.10), and an “OR” logic circuit (8.11).

 Block 8 generates a ready signal for the power supply 9, a ready signal for the autopilot, a command for uncaring the gyro angle sensor of the autopilot roll, a ready signal for the BBA, the command "Reset", a command to stabilize the control channels to detach the BSR, and a guidance enable command.

 The reset time of the aircraft is determined by the sighting navigation complex (PRNK) of the carrier aircraft. 2.5 s before the estimated time, the “Preparation” command, amplified by 8.1, comes to the device from the PRNA. According to this command, through 8.2, 8.3, the on-board power supply of device 9 starts. As a similar power source, the device is equipped with a TGIP turbogenerator power source.

 After entering the TGIP mode, it gives a ready signal. By the readiness of the TGIP and the on-board automation unit from 8.4, the readiness signal of the corrected aircraft is issued to the aircraft carrier. Aircraft weapon control system issues a command to reset the device upon receipt of a ready signal.

 This ends the mode of operation of the device under the carrier and begins the autonomous flight mode of the aircraft.

 When the apparatus is separated from the carrier using autopilot 11, the apparatus is stabilized along the roll, pitch and yaw (course) channels. After a delay time of 2.5 s has elapsed in autopilot 11, a command is issued in 11.1.5 to resolve the guidance of the center of mass of the device on the target.

Homing is carried out by the method of proportional approach, in which U _ΩI U _ΩII are equal to zero on the "falling" path.

U

обеспечивающие слежение за целью по строкам и кодам в пределах достаточно узких границ относительно центра растра.To ensure the speed of the tracking circuit of the TGSN (especially when separated from the carrier when the device is subject to the strongest external disturbances, including the pusher), an electronic circuit is implemented in the correlation discriminator in addition to the tracking loop closed through the gyrostabilizer. The electronic target tracking circuit includes 4.26, 4.27, 4.28, 4.29, 4.30, 4.31. U signals are formed in it

U

providing tracking of the target by lines and codes within fairly narrow boundaries relative to the center of the raster.

 The proposed device provided high accuracy homing KAB equal to 3.5 m for a wide class of targets, including those with a fairly low contrast of 0.15.

 High homing accuracy is realized in conditions of a significant spread in altitudes and speeds of the KAB discharge, as well as illumination of targets in the range of 100.100000 l.

Claims (1)

 ON-BASED COMPLEX OF A CORRECTED AIRCRAFT STABILIZED ON A ROLL WITH A SELF-Homing TV HEAD, containing a television camera mounted on a three-axis gyrostabilizer, including a light-signal converter with a video amplifier, a four-way amplifier and a communication unit and a scan unit two adders, two integrators and two switches, as well as a coordinate conversion unit, a power source and an autopilot, including three stabilization units, are connected with steering gears of pitch, yaw, and roll, while the outputs of the first and second integrators of the automation and communication unit with the carrier are connected respectively to the first and second inputs of the triaxial gyrostabilizer and the coordinate conversion unit, characterized in that a correlation discriminator is introduced into it, including serially connected the first code-voltage converter, the first band-pass filter, the first amplifier with a self-regulating gain, the first RC filter, the first multiplication circuit, the second RC filter threshold device, a second code-voltage converter connected in series, a second band-pass filter, a second amplifier with a self-regulating gain, a third RC filter, a fourth RC filter in series, a second multiplication circuit, an analog-to-digital converter, a second register, an adder, a first register and a first digital-to-analog converter, a fifth register connected in series, a subtraction circuit and a fourth register, a first pulse counter connected in series, a logic element AND and a third counter-decoder, a third register and a second digital-to-analog converter, an integrator and a second counter connected in series with an analog-to-digital converter and a storage unit including an enlargement circuit for television elements, a current image storage device and a reference image storage device, an on-board automation unit including four logical elements U, the first logical element is NOT and sequentially connected the second logical element is NOT, a logical element OR and the fifth logical element AND, the fifth and sixth amplifiers, two threshold circuits, two logical elements AND, a logical element OR and a third switch are introduced into the automation and communication unit with a medium, and three logical elements U, a time relay and a switch are introduced into the autopilot the output of the television camera is connected to the input of an analog-to-digital converter, the output of which is connected to the input of the enlargement unit of the television image, the output of which is connected to the input of the storage device of the current image and the first input the other device of the reference image, the second input of which is connected to the first output of the fourth register, the second output of which is connected to the input of the scanner unit of the television camera, the output of the storage device of the current image is connected to the first input of the first converter code voltage, the second input of which is connected to the fourth output of the decoder, the first the integrator input and the second input of the converter code voltage, the first input of which is connected to the output of the storage device of the reference image, in the course of the first multiplication circuit is connected to the second input of the integrator, the output of which is connected to the second input of the first and second amplifiers with a self-regulating gain, the output of the second adjustable amplifier is connected to the input of the fourth RC filter, the output of the first RC filter is connected to the second input of the second multiplication circuit, the output of the third RC filter is connected to the second input of the first multiplication circuit, the output of the analog-to-digital converter of the correlation discriminator is connected to the first input of the fifth register, the output of which is connected n with the second inputs of the adder and the subtraction circuit, the first input of which is connected to the output of the second register, the second input of the third register is connected to the output of the adder, the second input of the first register is connected to the second output of the decoder, the third output of which is connected to the second input of the fourth register, the fifth and sixth the outputs of the decoder are connected to the second inputs of the second and fifth registers, respectively, and the seventh output of the decoder is connected to the second input of the analog-to-digital converter of the correlation discriminator, the output of the first register is connected to the first input of the first pulse counter, the second input of which is connected to the second input of the second pulse counter and the first output of the synchronization unit of the television camera, the second output of which is connected to the third input of the first pulse counter, and the third output is connected to the third input of the second pulse counter, output which is connected to the first gate input of the video amplifier of the television camera, the output of the first pulse counter is connected to the second input of the logic element And and the second gate input m of a video camera amplifier, the output of the correlation discriminator threshold device is connected to the first inputs of the first and second logic elements AND of the automation and communication unit with the carrier, the outputs of the first and second digital-to-analog converters are connected to the inputs of the third and fourth amplifiers of the automation and communication unit, the outputs of which respectively, through the first and second keys of the second switch are connected to the first inputs of the first and second adders, respectively, the outputs of which connected to the inputs of the first and second integrators respectively, the outputs of which are connected respectively to the first and second inputs of the gyrostabilizer and the coordinate conversion unit, the first and second outputs of which are connected to the corresponding inputs of the low-pass filter, the first and second outputs of which are connected respectively through the first and second switch keys autopilot with inputs of the second and third blocks of stabilization of the autopilot, the outputs of the first and second amplifiers of the automation unit and communication with the carrier are connected to responsibly, through the first and second keys of the first switch with second inputs of the first and second adders, respectively, the third inputs of which are connected to the inputs of the first and second threshold circuits, respectively, and through the first and second keys of the third switch with the outputs of the fifth and sixth amplifiers, respectively, the outputs of the first and second threshold circuits of the automation and communication unit with the carrier are connected to the corresponding inputs of the OR logic element, the output of which is connected to the second input of the first logical element ment And, whose output is connected to the control inputs of the first, second and third switches, the second input of the second logic element AND of the automation and communication unit is connected to the output of the third logic element And of the on-board automation unit, the first input of which is connected to the second output of the power source and the first the input of the first logical element NOT and the second input of the fifth logical element AND of the on-board automation unit, the output of which is connected to the input of the time relay, the first output of which is connected to the second input of the logic gate AND of the on-board automation unit, and the second output of the time relay with the control input of the autopilot switch, the output of the second logic gate AND of the automation and communication unit with the carrier is connected to the first inputs of the first and second logic elements AND of the on-board automation unit, the second inputs of which are connected to the outputs respectively, the first and second logical elements AND autopilot, the second inputs of which are connected to the first input of the third logical element And and the output of the secondary power source, the input of which It is connected to the third output of the power supply, the first output of which is connected to the first input of the fourth logic element AND of the on-board automation unit, the output of which is connected to the second input of the first logic element AND of the autopilot, the output of the first logic element NOT of the on-board automation unit is connected to the second input of the OR logic element , the output of the second logic element AND of the on-board automation unit is connected to the first input of the second logic element And of the autopilot, the output of which is connected to the input of the first block of bilizirovaniya autopilot, the output of which is connected to the first input of the third logical element AND autopilot.

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