RU2079150C1 - Moving objects path tracking device - Google Patents

Abstract

FIELD: radio engineering, can be used in ship handling radio-engineering systems. SUBSTANCE: the device uses a video signal quantization and gating unit, internal storage, computer, control panel, synchronizing and control unit and a path parameters storage unit connected to the first interface trunk, and an extrapolation unit, speed correction unit, coordinate transducer, speed transducer, time generating unit connected to the second interface trunk. The control panel through an interface unit is coupled to the computer and connected to the output of the video signal generating unit. The device provides for automatic generating unit. The device provides for automatic tracking of a great number of moving objects. Semi-automatic tracking functional monitoring of the device and training of the operator by simulation of paths and radar situation close to the actual one are also provided. EFFECT: improved design. 6 dwg

Description

 The invention relates to radio engineering and can be used in radio systems for automatically tracking the trajectories of moving objects, for example, in navigation systems.

 Known radar tracking system of moving objects / 1 /, which contains a tracking circuit of moving objects, consisting of a gating unit, a device for selection and recognition in azimuth, a device for selection and recognition in range and a computer. In the tracking loop, the object is selected using a tracking strobe formed in the area of the proposed location of the object. The mismatch between the estimated and measured position of the tracked object, based on the processing of the echo signals, is used to adjust the subsequent position of the strobe.

 The disadvantages of the considered system are its inability to accompany objects located on the same bearing, as well as the inability to simulate control trajectories with specified parameters of the objects in order to control the quality of tracking objects and training operators.

 There is also a device for tracking the trajectory of moving objects, information about which is given in the book. Kuzmin S.Z. "Fundamentals of the theory of digital processing of radar information", M. Sov. Radio, 1974, p. 284 307.

 The device comprises a gating and quantization block, a tracking block, a tracking strobe forming block, an extrapolation block, a computer, the first and second inputs of the gating and quantization block are the first and second inputs of the moving objects tracking device, the third input of the gating and quantization block is connected to the first output block for the formation of tracking gates, and the output of the block for gating and quantization is connected to the first input of the tracking block, the second input of which is connected to the output of the calculator, and the first output is connected to the input of the calculator, the first and second outputs of the extrapolation unit are connected to the first and second inputs of the block for forming the tracking gates, and the third, fourth, fifth and sixth inputs of the block for forming the tracking gates are the third, fourth, fifth and sixth inputs of the device tracking the trajectory of moving objects.

 This device has the same disadvantages as the first analogue.

 There is also known a device for automatically selecting a moving target, the details of which are given in the description of Japanese application N 63-41035 MKI G 01 S 7/22, 13/66, 1988. which contains a memory block for storing the initial data on the moving targets being tracked, a target selector, which, after the end of operations to change the location of one target, automatically selects the next target in ascending order of time elapsed after the change of location, a working indicator that allows you to specify an automatically selected target and the ability to indicating a manually selected target, an operational tracking unit that performs calculations related to information about the automatically selected and selected Anna manually goal.

 The device allows you to simultaneously monitor several objects using the image of the radar situation on the indicator, and also automatically indicates to the operator the target whose location should change. Based on the image of the radar situation, information about the location of each target from the indicator is entered into the operational tracking unit, which quickly tracks the trajectories of each target.

 The disadvantage of the third analogue is the lack of the ability to simulate, against the background of the real radar situation, the control path of the object with the given parameters, which make it possible to control both the accuracy of tracking moving objects and provide training for the operator and evaluate the quality of his work.

 Closest to the proposed device is a device for tracking the trajectory of moving objects, information about which is given in the description to av. testimonial. N 1116844, MKI G 01 S 13/00, 1982

 The device selected as a prototype contains a gating and quantization unit connected by one of the inputs to the output of the radar receiver, a clock input to the indicator output, and a third input to the output of the tracking strobe forming unit. The inputs of the strobe forming unit are connected to the outputs of the extrapolation unit, the information inputs of which are coordinated with the coordinates and parameters of the object’s movement (range, bearing, heading and speed) with the corresponding outputs of the switch, whose inputs are connected to the calculator through the interface unit. In addition, the device includes a feature analysis unit, connected by two outputs to the corresponding inputs of the said switch, and nine inputs to the corresponding outputs of the interface unit, a sign formation flag of the intersection of tracking gates, connected by two inputs and an output to the corresponding outputs and input of the interface unit, the formation unit a sign of a pass and a block for generating signs of primary input and the absence of motion parameters connected by outputs and inputs to the corresponding inputs and outputs of the block with conjugation.

 The prototype device operates as follows.

 Video signals from the radar receiver and clock pulses from the indicator are fed to the first and second inputs of the gating and quantization unit, the third input of which receives the tracking strobe.

 The gated video signal is quantized into two levels in amplitude, sampled in time, and transmitted as a binary code through the interface unit to the computer.

The calculator, in accordance with the selected criterion, detects the elevation and determines the coordinates and parameters of the object’s motion in the polar coordinate system from it. This data is fed to the extrapolation unit through the interface unit and the switch. In the extrapolator, the input data is first converted from the polar system to the Cartesian, and then the extrapolated coordinate values are calculated, which are used to form the identification gate for marking the next survey. The calculation of extrapolated coordinate values is carried out according to
X _tse X _cism + V _tsoh • T _o
Y _tse Y _cism + V _toy • T _o ,
where X _cism , Y _{cism are} current coordinates of the center of the strobe in the Cartesian system,
V _tsoh , V _tso components of the velocity vector of the object in the same coordinate system,
T _about the radar survey period.

 The values calculated in the Cartesian coordinate system are converted again to the polar system and the extrapolated location of the tracking gate to the next radar survey is formed from them. The formed strobe is issued to the gating and quantization block.

 If during tracking the trajectories of the observed objects intersect, a sign of intersection of the trajectories is formed in the device and its priority is determined for each mark in accordance with the algorithm laid down.

 For further support, the object whose priority is higher is selected, the second object is excluded from the maintenance.

 If the followed objects have the same priorities, then the preference is given to the object located at a shorter range.

 The disadvantages of the known device are visible from the principle of tracking trajectories laid down in it.

 Firstly, in the event of a situation when crossing escort gates, one of the marks from objects from escort is excluded, which is unacceptable especially in areas of intensive navigation.

 Secondly, the device performs a double transformation of coordinates, first from the polar coordinate system to Cartesian, then the inverse transformation, and due to the presence of transcendental functions sin, cos, arctg, this task is quite complicated and requires well-known hardware costs.

 Thirdly, in the prototype device in the process of tracking is not provided continuous monitoring of the correctness of its functioning.

 In addition, the device does not have the ability, using standard equipment, to simulate the trajectories of objects, which does not allow using it as an operator simulator.

 These technical disadvantages are significantly reduced in the proposed device.

 The essence of the invention lies in the fact that in the device for tracking trajectories of moving objects, containing a quantization and gating block, the first input of which is an input of video signals, an extraction unit and a computer connected by one of the outputs to the information input of the tracking unit, a random access memory device, a parameter memory unit are introduced trajectories, speed correction block, coordinate sensor, correction signal generation block, time interval measurement block, synchronization and control block a control panel, wherein the input / output of random access memory via the first interface line is connected to the inputs / outputs of a quantization and gating unit, a calculator, a control panel, a synchronization and control unit, and to the first input / output of a path parameter memory unit, the second input / output of which through the second interface highway connected to the input-output of the coordinate sensor, extraction unit, speed correction unit, speed sensor, unit for measuring time intervals and block forming video signals, the second output of which is connected to the fifth input of the control panel, and its second input is connected to the second input of the control panel, which is simultaneously the first input of the trajectory tracking device, and with the third input of the calculator, the first and second inputs of which are the second and third inputs of the device, respectively trajectory tracking, the first output of the video signal generation unit is connected to the first control input of the synchronization and control unit, to the output synchronization and control bus to The control inputs of the correction signal generation block, coordinate sensor, extrapolation block, speed correction block, speed sensor, time interval measuring block, trajectory parameter memory block, and the fourth input of the control panel, the third input of which is connected to the output of the quantization and gating block, are connected the first input and control output are connected respectively to the information output and control input of the interface unit, the signal output of the control panel is connected to the signal input of the unit in generation of correction signals, the first and second outputs of which are connected to the first and second inputs of the coordinate sensor, the third and fourth inputs of which are connected to the first and second outputs of the extraction unit, the third output of which is connected to the signal input of the speed correction unit, and its familiar output is connected to the sign the inputs of the speed correction block connected by the first and second outputs to the first and second inputs of the speed sensor, and the time interval measurement block connected to the second control input of the sync block zonization and control, the third control input of which is connected to the output of the trajectory parameters memory block, and its output of temporary discrimination pulses is connected to the simultaneous input of the quantization and gating block.

 By introducing into the device of the memory block the parameters of the trajectories associated with the first input-output via the first interface highway with a calculator, random access memory and quantization and gating unit, and through the second interface highway with a coordinate sensor, extrapolation unit, speed correction unit and speed sensor, it is provided : firstly, not physical strobes of tracking objects are formed, but mathematical, which eliminates the loss of one of the objects when crossing their tracks ektorii; secondly, in the proposed device, only a single coordinate transformation is carried out and it is performed only to display primary and secondary radar information on the indicator of the circular overview of the operator’s panel, and since measurements are made on the indicator of the exact coordinates of the panel, to which the bearing range is displayed in rectangular coordinates in enlarged scale part of the radar panorama without coordinate conversion, the measurement accuracy and, accordingly, tracking is not reduced due to and coordinate transformation procedures.

 The introduction of a control panel containing the above indicators and the associated block for generating correction signals and a block for generating video signals provides, if necessary, manual correction of extrapolated coordinates, which increases the reliability of the device.

 In addition, thanks to the introduction of new blocks from the relationship between themselves and with known blocks, not only the extrapolation of the trajectories of the movement of real objects is ensured, but at the same time, the artificially created control trajectory is maintained, which allows continuous monitoring of the correct functioning of the device as a whole.

 In addition, when using standard equipment, the formation of simulated trajectories is also provided, which allows the device to be used as a simulator.

 In FIG. 1 is a structural diagram of the device, FIG. 2 is a diagram of a block for generating coordinate correction signals, FIG. 3 is a diagram of a coordinate extrapolation unit, FIG. 4 is a diagram of a motion speed correction unit, in FIG. 5 is a diagram of a coordinate sensor, in FIG. 6 are timing diagrams explaining the procedure for generating synchronization signals and controlling the units of the device.

 In FIG. 1, the following notation is adopted: 1 quantization and gating block, 2 parameter memory block, 3 correction signal generation block, 4 random access memory (RAM), 5 synchronization and control block, 6 coordinate sensor, 7 calculator, 8 extrapolation block, 9 formation block video signals, 10 speed correction unit, 11 interface unit, 12 speed sensor, 13 control panel, 14 time interval measurement unit.

In accordance with FIG. 1, the device comprises a quantization and gating block 1, the first input of which is an input of video signals (V / C) of the device, a calculator 7, connected by one of the output to the information input of the pairing unit 11, a path parameter memory unit 2, a random access memory 4, input-output which, through the first interface highway, is connected with the I / O of block 1, the calculator 7, the control panel, the synchronization and control block 5 and with the first I / O of the block 2 of the path parameter memory, the second input-output of which first, through the second interface highway, it is connected to the inputs / outputs of the coordinate sensor 6, extrapolation unit 8, speed correction unit 10, speed sensor 12, time interval measurement unit 14, and video signal generation unit 9, the second input of which is connected to the fifth input of the control panel 13. The second input of block 9 is combined with the second input of the control panel 13, which is also the first input Φ _{a of the} trajectory tracking device, and with the third input of the calculator 7, the first and second outputs (K _c ) and (V _c ) of which are, respectively, the second and third inputs of the device. The first output of the video signal generating unit 9 is connected to the first control input of the synchronization and control unit 5, to the synchronization and control bus of which the control inputs and outputs of unit 3, sensor 6, extrapolation unit 8, speed correction unit 10, speed sensor 12, measurement unit 14 are connected time intervals, block 2 of the memory of the parameters of the trajectories, block 9 of the formation of video signals and the fourth input of the remote control 13, the third input of which is connected to the output of block 1 of quantization and gating. The first input and control output of the remote control 13 are connected, respectively, to the information output and the control input of the pairing unit 11. The signal output (U _d , U _c ) of the remote control 13 is connected to the signal input of block 3, the first and second outputs (+ F, -F) of which are connected to the first and second inputs of the coordinate sensor 6, the third and fourth inputs of which are connected to the first and second the outputs (+ V, -V) of the extrapolation unit 8, the third output (VIR / VIP) of which is connected to the signal input of the correction unit 10, and its sign output is connected to the sign inputs of the block 10 connected to the first and second outputs + ΔV, -ΔV to the first and second inputs of the speed sensor 12, and the block 14 measuring time intervals, connect outputted to the second control input of block 5, the third control input of which is connected to the output of block 2, and its output of temporary discrimination pulses is connected to the simultaneous input (IED) of the quantization and gating block 1.

 The device operates as follows.

First, we consider its operation in the extrapolation mode of trajectories. The synchronization of the blocks, the sequence and procedure for processing the coordinates and parameters of the movement of objects is illustrated by the time diagrams shown in FIG. 6, where are indicated:
80 switching pulses (PC ₀ , PC ₁ ) of extrapolarized coordinates (range and bearing),
81 pulses of data recording (ZD ₀ , ZD ₁ ), respectively, in range and bearing,
82 strobe pulses, within which the range and bearing are extrapolated alternately, as well as their correction (VK coordinate selection pulse),
83 strobe of coordinate extrapolation (SEC), strobe of coordinate correction (SK), also strobe of SI, within which simulated trajectories are formed in operator training mode. The strobe SI is formed by eliminating the strobe correction SC.

 84.85 strobes of manual range correction and bearing by signals from the operator’s console.

86.87 pulses, which are alternately read and output to the indicators of the operator’s console video signals recorded in the storage devices of the video signal generation unit,
88 pulses, during the formation of which the current angular position of the antenna Φ _{a is} compared with the direction to the mark and the location indicator is entered in the memory unit 2 if the difference (Φ _a -Φ _o ) is less than or equal to half the width of the antenna pattern,
89 pulses, during the formation of which the simulated trajectories (IT) are checked for fulfillment of the conditions for its extrapolation, namely, if the difference (Φ _a -Φ _o ) is more than half the width of the antenna pattern and there is a sign of location.

These pulses are generated in the synchronization and control unit 5, which also gives pulses of the clock frequency f _t (not shown in the diagram).

 Consider the operation of the device in the mode of tracking trajectories.

Consider the operation of the device in the mode of tracking trajectories. Video signals (in s) corresponding to marks from the observed objects, as well as time sampling pulses received in / s together with zero-range pulses are fed to the inputs of quantization and gating block 1. Block 1 contains two quantization channels. In the first channel, each video signal is quantized into 2 ^p levels and, in the form of a set of p-sequence codes characterizing the intensity of the quantized I / O, is recorded in one of two blocks of intermediate memory, made, for example, as a set of p-registers. The recording of quantized video signals is organized in such a way that if codes are recorded in one of the blocks, then they are read from the other and entered into the random access memory (RAM) connected to it, i.e. memory blocks work alternately. Intensity codes from the RAM of block 1 are written into the corresponding memory blocks of the control and indication panel 13, where they are converted from the polar coordinate system to Cartesian using the coordinate transformer connected to them and, using raster scan clock pulses from the synchronizer, they are written into panoramic RAM and then read from it, summarized with secondary radar information taken from the calculator 7 using the pairing unit 11, are converted by means of a digital-to-analog converter into an analog form and They are produced on a raster video indicator.

The displayed information is used by the operator for manual range and bearing correction, for which purpose, range correction signals I _d and bearing U _y are generated in block 3 for generating correction signals, according to which in block 3 the corresponding number-pulse codes + F-F are generated that are given to the sensor 6 coordinates .

 In the second channel of block 1, the video signals are quantized binary and in the form of sequential codes are alternately recorded in either one or another block of the intermediate register memory. The procedure for writing and reading information from memory blocks is the same as in the first channel, with the only difference being that information from the register memory is written to random access memory 4 (RAM 4).

The RAM memory is selected for reasons of storing information on the entire range within an angle ΔΦ ₁ greater than the width of the antenna pattern, the value of which is also consistent with the speed of the calculator 7. To store information with a minimum amount of memory within the circular view, write and read information from RAM 4 to the calculator 7 is performed cyclically, i.e. information on the new mark is immediately entered into the release cells.

The information entered into the calculator 7 from block 4 is analyzed, the minimum D _{min n.o.} and the maximum D _{max n.o.} values of the distance to the new elevation (BUT), the beginning Φ _n.n. and the end Φ _{kn.o of the} angular position of the new elevation are determined forward values of the range D _{sr n.o.} and bearing Φ _sr.s.n. , as well as its radial and angular lengths ΔD _n.o. and ΔΦ _n.o. and the new mark form is written in the selected area of its own RAM.

In addition to this information, the calculator 7 receives information about the current angular position of the antenna Φ _a (from the angle sensor), as well as data about the course K _c and the speed of the carrier V _c .

In the RAM of the calculator 7 there are additionally three more areas into which, respectively, are entered during operation:
array of trajectories M _st
an array of tied trajectories M _zt ,
an array of starting points of new trajectories M _NT ,
In this case, the calculator 7 performs the following operations:
if there is an unprocessed new marks in the first area of the RAM of the computer, they are placed in an array of trajectories M _st ,
placement of new marks that did not fall into any of the gates of the followed trajectories, into the array of tied trajectories M _zt ,
placement of new marks that did not fall into any of the gates of the bound trajectories, in the array of starting points of the new trajectories M _nt ,
placing tied trajectories into an array of tied trajectories M _zt for each new mark that fell into the primary capture gate of the starting point of a new trajectory (NT),
placing new marks that did not fall into any of the gates of the initial capture of new trajectories (NT), as the starting points of new trajectories, resetting unconfirmed starting points.

 If the trajectories of the second new mark accompanied by “SG” and tied to “ST” get into the gates, that new mark is placed that is closer to the center of the strobe, and the other continues one of the above placement paths.

If there is no data on the new elevations in the first RAM array, the calculator 7 performs: checking the array of tracking trajectories "SG" for identifying tracking trajectories that require processing in the current review cycle and their processing; checking the array of trajectories "ZT" to identify detected trajectories, processing them and placing the detected trajectories in the array of trajectories M _st , resetting unconfirmed tied trajectories; checking for new marks in the first RAM area (data area for new marks received from device RAM 4) and repeating the processing cycle.

 Data on the parameters of the trajectories to be followed are recorded in block 2 of the memory of the parameters of the trajectories, which according to the corresponding signals outputs this data to the blocks that perform the extrapolation of coordinates.

 As shown in the time diagrams (see 83, Fig. 6), coordinate extrapolation is carried out within the coordinate extrapolation gate (SEC), while the range is processed in the first half of the strobe and the bearing is processed in the second half (see 82, Fig. 6).

 Consider the process of extrapolating coordinates. As mentioned above, in block 2 the parameters of the trajectories of objects are stored.

Updating the data in block 2 is carried out with an extrapolation period T _e much shorter than the review period T _review .

When extrapolating the range according to the signals of PC ₀ (see 80, 82, Fig.6) from block 2 are read:
Φ _{from the} current value of the bearing of the processed mark, which is recorded in block 9 of the formation of video signals,
V _{r the} value of the radial velocity recorded in block 8 extrapolation,
V _Φ is the angular velocity value recorded in the speed correction unit 10 and the speed sensor 12,
D _{from the} value of the range to the processed elevation, which is recorded in the sensor 6 coordinates and in block 10 of the speed correction,
T _t and T _{review the} values of the current time and the time of the review, recorded in block 14 measuring time intervals.

 In addition, on the synchronization and control bus, clock pulses and clock pulses are supplied to these blocks.

 In block 8 of the extrapolation pulses are generated, the repetition rate of which is proportional to the rate of change of distance to the object (VIR - the magnitude of the change in distance to the object). VIR pulses are used to change the range value stored in block 6 and determine the instantaneous value of the angular velocity in block 10.

где коэффициент К_мд определяется по выражению

Здесь обозначены:
T_э длительность цикла экстраполяции,
ΔD цена младшего разряда шкалы дальности,
ΔV_r цена младшего разряда радиальной скорости,
Δ_i-1 остаток от деления выражения (1), полученный в предыдущем цикле экстраполяции, хранящейся в блоке 2 памяти.The moment of appearance of the pulses at the outputs of the extrapolation unit 8, the operation of which will be discussed below, determines the frequency of the repetition of clock pulses in accordance with the expression:

where the coefficient K _MD is determined by the expression

Indicated here:
T _{e the} duration of the extrapolation cycle,
ΔD the price of the least significant range scale,
ΔV _{r the} low-order price of the radial velocity,
Δ _{i-1 the} remainder of the division of the expression (1) obtained in the previous extrapolation cycle stored in the memory unit 2.

 These residuals are taken into account to obtain a given accuracy of trajectory tracking.

 The VIR pulses, taking into account the sign, are allocated to the sensor 6 to correct the range value recorded in it and to block 10 to generate speed correction pulses.

 The generation of VIR pulses in block 8 extrapolation is as follows.

The clock pulses f _t received through the synchronization bus from block 5 are output to the input of the And 33 element and then to the input of the demultiplexer 34, which, depending on the signal of the speed sign, gives them either to the addition input or to the subtraction input of the reverse counter 35, in which according to the corresponding signal from the control bus, the speed code V _r (when extrapolating the range) or speed V _Φ (when extrapolating the bearing) is recorded. The counting of pulses f _t in the PC _h 35 ends at the moment of establishing a zero code in the counter, which is fixed by a zero decoder 36.

. В делителе 37, в котором по соответствующему сигналу управления записан код остатка от предыдущего деления, число-импульсный код делится на коэффициент K_мд (или K_му). При соответствующем масштабировании эти коэффициенты могут быть одинаковы.As a result, the number-pulse code, the number of pulses in which is proportional to the speed module

. In the divider 37, in which the remainder of the previous division is recorded by the corresponding control signal, the number-pulse code is divided by the coefficient K _md (or K _mu ). With appropriate scaling, these coefficients may be the same.

The quotient of dividing the number-pulse code from the divider 37 is output to block 10, and through the multiplexer 40 and demultiplexer 38, the pulses of the divided burst are given, depending on the sign of the change in speed, to one of the inputs of block 6 to correct the value of the coordinate stored in it. The remainder of the division of D _i through block 39 via the data bus returns to block 2.

определяется величина изменения мгновенной угловой скорости.In block 10, the correction of speed by VIR signals from block 8, as well as by the values of D _i , V _Φ and the remainder of the previous calculation by the expression entered into it from block 2

the magnitude of the change in instantaneous angular velocity is determined.

In the expression (2) are indicated:
D _i range value recorded from block 2,
V _{Φ is the} value of the angular velocity,
d _{i-1 is the} value of the remainder of the division in expression (2) obtained in the previous extrapolation cycle.

The pulses from block 10, depending on the sign, are fed to the corresponding input of the sensor 12 to correct the speed value V _Φ recorded in it.

 The generation of these correction pulses in block 10 is as follows.

The signal switches the coordinate of PC ₀ (see 80, Fig. 6) to the reverse counter 42 (P.Ch) from block 10 (see Fig. 4) from block 2, the speed code V _{Φ is} written, the remainder code d is written to counter 43 _i-1 obtained in the previous extrapolation cycle, and in the register 45 range code D _i . VIR pulses are supplied from extrapolation unit 8. Upon receipt of the VIR pulse, the trigger 55 is triggered, according to the signal from which the clock pulses f _t through the And 58 element arrive at the demultiplexer 41, which, depending on the signal at the sign input, outputs them to the addition or subtraction input of the reverse counter 42. The pulses f _t code in the counter 42 is written off to zero, which is fixed by the zero code decoder 50. As a result, for each pulse of the VIR generated no more than once per extrapolation cycle, a packet of pulses f _t with the number of pulses portion of the angular velocity V _Φ . The burst of pulses from the demultiplexer 64 will go to the counter 43, which contains the remainder code d / Д _i / 2 (see expression 2), and in the second half of the strobe of the SEC on the divider 46, in which the remainder of the division by coefficient is written
K _ar / 2 ^{m + k}
The outputs of the bits of the counter 43 are connected to the first group of inputs of the comparator 51, the second group of inputs of which are connected to the outputs of the multiplexer 69, from the outputs of which a code is proportional to the value of D / 2. At the moment of achieving equality of comparative codes, the output of the comparator 51 by means of a single pulse generator (GOI) 52 will be sent to the counter 43 to zero it and to the demultiplexer 67 for outputting it to one of the outputs -ΔV or + ΔV depending on the sign signal at the output of the element 66 , exclusive or.

 Thus, expression (2) is realized.

 The remainder of the division of expression (2), remaining in the counter 43, through the main transmitter HH (MP) is introduced into the highway and then entered into the memory unit 2.

According to the signals "+ ΔV" or "-ΔV" in the sensor 12, the speed V _Φ recorded in it is corrected, the code of which is then also entered into the memory unit 2 via the trunk.

 Consider the process of extrapolating the range in the sensor 6 (see Fig. 5) in the strobe SEC.

At the signal of PC _{0, the} range code D _{i is} entered into the revision counter 74 from the memory unit 2.

From the extrapolation unit 8, one of the inputs of the AND 69 or 70 elements receives a pulse "+ V" or "-V", from the outputs of which they are fed either to the input "+" or to the input "-" of the counter 74, changing the value recorded in it range code D _i , which after changing through the main transmitter 77 (IPC) is entered into the trunk, and from it into the memory unit 2.

Before entering into the memory block 2 the values of the current time T _t and the review time T _overview from block 14, their value in each gate of the SEC increases by one. After range extrapolation in the second half of the SEC extrapolation gate (see 82, 83, Fig. 6), bearing P. is extrapolated. Bearing extrapolation is performed similarly to range extrapolation using also blocks with the only difference being that switching signal _{1 is} switched _on (see 80 , Fig. 6) the following codes are read and written into the corresponding blocks from the memory unit 2:
v _{from the} code of the bearing of the processed mark recorded in the coordinate sensor 6,
V _r the radial velocity code recorded in the speed sensor 12,
V _{Φ is} the angular velocity code recorded in the extrapolation unit 8 and in the correction unit 10,
D _from the range code to the mark recorded in the correction unit 10.

полученные в предыдущем цикле экстраполяции пеленга.In addition, the remainders are recorded in blocks 8, 10 of block 2

obtained in the previous bearing extrapolation cycle.

где коэффициент k_мΦ определяется по выражению

где T_э длительность цикла экстраполяции,
Dv цена младшего разряда шкалы пеленга,
DV_Φ цена младшего разряда угловой скорости,

остаток от деления выражения (3), полученный в предыдущем цикле экстраполяции пеленга.The generation of pulses whose frequency is proportional to the angular velocity of the object (VIP the magnitude of the bearing change in block 8 is carried out similarly to the generation of VIR pulses), with the only difference being that the VIP pulses are formed in accordance with the expression

where the coefficient k _mΦ is determined by the expression

where T _{e the} duration of the extrapolation cycle,
Dv the price of the lowest digit of the bearing scale,
DV _Φ low-order price of the angular velocity,

the remainder of the division of expression (3) obtained in the previous bearing extrapolation cycle.

The VIP pulses from block 8, in accordance with the sign, go to the corresponding input of the coordinate sensor 6 to correct the bearing value recorded in it and to block 10 to generate correction pulses of the radial velocity code V _r recorded in the sensor 12.

где значение коэффициента К_ar определяется из выражения

Коэффициент К_ar в выражении 4 разделен на два сомножителя. Это сделано для достижения наибольшей равномерности (временной) формирования импульсов, пропорциональных значению Q_r.The generation of speed correction pulses in block 10 is carried out according to

where the value of the coefficient K _ar is determined from the expression

The coefficient K _ar in expression 4 is divided into two factors. This is done to achieve the greatest uniformity (temporal) formation of pulses proportional to the value of Q _r .

In the expression for determining the coefficient K _{ar are} indicated:
Δ VIP price of one pulse of a temporary change in bearing,
ΔV _{r the} low-order price of the radial velocity,
ΔD the price of the least significant range.

A burst of pulses proportional to the code V _Φ from the demultiplexer 64 (DM _k ) is fed to a divider 46, which contains the code of the remainder of the division by the coefficient K _ar / 2 ^{m + k} . One of the outputs of the divider 46 through the multiplexer 57 / M _k /, controlled by the coefficient code K generated by the control circuit 53, is connected to the input "+" of the reverse counter 61, which determines how many bursts of pulses corresponding to the value of the code D / 2 ^k should be received from element 63 to the counter divider 48, in which the remainder of dividing by 2 ^m in the previous extrapolation cycle is recorded.

The use of the coefficient K in the numerator and denominator of expression (4) allows us to reduce the time for calculating the value of Q _r with increasing range values within specified limits. This takes into account the fact that with increasing range decreases the value of the angular velocity.

 The number of bursts of pulses is formed as follows.

и которая поступает на делитель на 2^m, выполненный на счетчике 48, имеющем два выхода, один из которых используется при работе в стробе экстраполяции СЭК, а другой в стробе имитации СИ (см. фиг. 4). Импульсы пачки с выхода мультиплексора 54 через элемент ИЛИ 68 подаются на вход "+" датчика 12 для коррекции записанного в нем кода радиальной скорости V_r, т.к. Q_r всегда положительна (a_Σ=V $\genfrac{}{}{0ex}{}{\text{2}}{\text{Φ}}$ •D). Процедура экстраполяции значений дальности и пеленга, а также коррекция значений скорости V_r и V_Φ повторяется в стробах СЭК в пределах обзора T_обз. В устройстве может производиться также и ручная коррекция координат по сигналам с пульта 13 управления.The value of the first factor of expression 4 is written to the reversible counter 61. Through the AND 63 element, pulses f _t are received at the input of the counter 65, changing its contents. The code from the counter 65 is fed to the inputs of the comparator 59, to the second inputs of which a code is supplied from the multiplexer 56 controlled by the code "K" from the circuit 53, therefore, a code proportional to the value of D / 2 ^k is removed from the outputs of the multiplexer 56. At the moment of achieving equality of codes at the inputs of the comparator 59, the generator 60 generates a pulse zeroing the counter 65 and decreasing the code value in the reverse counter 61 by one. The operation ends when the counter 61 reaches the zero code. As a result, the pulse train is removed from the output of the And 63 element, the number of pulses in which is proportional to the value

and which is fed to a 2 ^m divider made on the counter 48, which has two outputs, one of which is used when working in the SEC extrapolation strobe, and the other in the SI simulation strobe (see Fig. 4). The pulses of the packet from the output of the multiplexer 54 through the OR element 68 are fed to the input "+" of the sensor 12 for the correction of the radial velocity code V _r written in it, because Q _{r is} always positive (a _Σ = V $\genfrac{}{}{0ex}{}{\text{2}}{\text{Φ}}$ • D). The procedure of extrapolating the values of the range and bearing, as well as the correction of the values of the velocity V _r and V _{Φ, is} repeated in the gates of the SEC within the review T _review . The device can also be used for manual correction of coordinates by signals from the remote control 13.

 The operator, using the radar situation displayed on the indicator of the remote control 13 and the range and bearing sighting devices, makes the combination of the latter with a mark from the selected target. It is carried out as follows.

 Depending on the magnitude of the required movement of the corresponding sight, the operator selects the speed of its movement by deviating the two-coordinate handle to control the speed of movement of the sights, bringing the sights to the offset with the mark of the target, first by the circular view indicator and then finally by the indicator of exact coordinates.

At the same time, from the control panel 13, voltages U _d and u _Φ proportional to the deviation of the control handle are output to block 3.

 In block 3, pulses are formed from these signals, the repetition rate of which is proportional to the magnitude of the incoming voltage.

 Manual correction of coordinates is performed in the correction strobe (see SK, Fig. 6), while range correction is carried out in the range correction strobe (see SKD, 84, Fig.6), and bearing correction in the bearing correction strobe (see SKP, 85, Fig.6).

 These gates are generated in the synchronization unit 5 and transmitted via the control bus. The generation of correction signals "+ F" and "-F" is carried out in block 3 as follows (see figure 2).

When entering the block 3 of the strobe SKD or SKP, the capacitor of the charge-discharge circuit 28 is charged, and also allows the calculation of clock pulses F _t counter 18 and the divider 32.

The voltage from the chargeable capacitor is supplied to the first inputs of the corresponding threshold device 15, 20, 23, 29, the second inputs of which are supplied with voltage ± U _d or ± u _Φ, respectively, depending on the coordinate and sign of the correction signal. At the moment of achieving equality of voltage from the capacitor and one of the correction voltages, the pulse is taken from the output of the corresponding threshold device, which, through the OR element 19/26 /, goes to the stop input of the counter 18 or divider 32. The division ratio of the divider 32 is set by the multiplexer 25, depending on which is set to remote control 13 scale range. This ensures the constancy of the screen speed of moving the rangefinder at a constant price of the least significant bit in the sensor 6 on all scales.

During the strobe UPC pulses f _t are fed to the counter 18.

The pulses from the output of the multiplexer 25 and the counter 18 are supplied to the elements And 24, 30 and 16, 24, respectively, which open to transmit pulses depending on the sign of the signals U _d and u _Φ . The pulses from the open AND element through the OR element 17 or the OR element 31 are fed to the outputs "+ F" or "-F" of block 3 and then to the sensor 6. At element 22, the pulses from the counter 18 and multiplexer 25 are summed by the OR element 22 and without characters are issued in block 5 to fix the fact of coordinate correction. As mentioned above, to ensure constant monitoring of the functioning of the device, a control trajectory is formed in it, which is accompanied along with the real ones.

 The formation of the control trajectory (CT) is performed according to the law of reciprocating motion.

The initial data of the control path are recorded in the read-only memory (ROM) of block 2. When the device is turned on, data from the ROM of block 2 is entered into RAM 2 and processed in the extrapolation mode as described above. When the speed V _r reaches zero (V _r = O) in the RAM of block 2, the data of the control path are re-entered. Once per review, when the current angular position of the antenna (Φ _a ) coincides with the direction to the object (Φ _o ), the data of all trajectories that are followed, including the control one, are transmitted to calculator 7. According to the control trajectory, detection, tracking is performed in calculator 7 , as well as calculating the course, speed and range of the shortest approximation. These data are compared with control values and, based on the results of the comparison, a conclusion is drawn about the correct functioning of the blocks associated with the process of extrapolation of coordinates. When setting the number of the mark on the object on the remote control 13 equal to the number of the control trajectory (N _kt = 0), the symbol, number and velocity vector of the control mark are displayed on the circular viewing indicator (IKO) of the remote control 13, and the form displays in another alphanumeric indicator of the remote data, the comparison of which allows us to conclude that the device is functioning correctly.

Block 14 changes the time intervals used in the mode of semi-automatic tracking of trajectories. This mode is used when interference or a weak mark from the subject occurs. In this case, the operator on the remote control sets the device into semi-automatic tracking mode and makes a mark on the indicator by sight, by pressing the "Measurement" button. At the end of the sighting, the "Measurement" command from the remote control 13 is transmitted through the calculator 7 to the synchronization and control unit 5. This command records the time value from the moment Φ _a = Φ _visas (time of sighting) by the "Measurement" command in the corresponding cell of memory block 2, i.e. on the first command "Measurement", the countdown starts from the moment the location of the target. After the time required to establish the fact of visible movement of the mark on the indicator due to the movement of the object, the operator re-sight the selected mark. On the second and subsequent commands "Measurement" from the block 2 of the memory in the calculator 7 is issued a form of time intervals, namely:
ΔT _μ time interval multiple of the review period between two adjacent sights and
T _{visas are the} time of sight.

In order for ΔT _μ to be a multiple of the review time T _review and to determine the time T _visas in block 14, there are two time counters, one for fixing the current time T _t and the other for measuring the review time T _review . With each extrapolation gate, the contents of the counters increases by one. The time counter T _t starts the calculation by the Measurement command from the value of T _visas and when the angles are equal Φ _a = Φ _o / Φ _{a the} current angular position of the antenna, Φ _{o the} current direction to the selected object, its value is written into the cell ΔT _m block 2 , which in this case will be a multiple of time T _review .

The counter T _obz in this case is reset and starts counting the time of the next review. Values ΔT _mk and T _visas are transmitted in the calculator 7, starting from the second sighting of this mark.

и текущих значений координат:
D_т D_{виз i} + V_r•T_виз,
П_т= П_визi+ V_Φ•T_виз,
которые передает в блок 2, и далее осуществляется экстраполяция координат описанным выше способом.Calculator 7, having received the form ΔT _mk and T _visas , calculates the components of the speed V _r and V _Φ according to the expressions:

and current coordinate values:
D _t D _{visas i} + V _r • T _visas ,
P _t = P _visi + V _Φ • T _visas ,
which transfers to block 2, and then the coordinates are extrapolated as described above.

 When the secondary symbol of the target arriving at the remote control 13 from the interface unit 11 (adapter) deviates from the primary radar mark, the operator re-sight this mark and thereby refine the motion parameters of the mark.

In block 14, a time decoder for reaching the shortest approximation distance T _{kr is} connected to the current time counter T _t , with which the observance of the condition T _t T _kr at V _rkt 0 is _monitored . _If this condition is met, the hardware of the device is working.

To organize the transfer of data to the calculator 7 in the memory unit 2 provides a buffer memory (BZU), which is recorded:
control (CT) forms, followed by (CT) and simulated (IT) paths when the condition (Φ _a -Φ _o ) is fulfilled, is greater than or equal to half the width of the antenna patterns and the presence of a location indicator, which is removed in the same cycle;
the visor form and the time interval form, while the time interval form is recorded during the correction strobe (SC), starting from the second Measurement command for the selected target.

 Recording of the visor form is made during part of the correction gates in the event that the fact of changing the coordinates of the visor was recorded.

 In those cycles of the correction strobe into which the visor form is recorded, the contents of the unit 2 are checked for its contents and if the information is stored in the unit, then it is transferred to the calculator 7.

 In addition to the mode of automatic extrapolation of coordinates and semi-automatic tracking of trajectories, the device provides a mode of comprehensive control of the device and a mode of operator training. In the integrated control mode, the control radar panorama is simulated and the results of tracking simulated trajectories (tracking errors) are displayed on the alphanumeric display of the remote control 13.

 In the operator’s training mode, the radar situation is simulated as close as possible to the real one (noises, noises, reflections from the coast, islands, etc.), and the further operation of the device does not differ from the main mode.

 The difference between the integrated control mode and the operator training mode is that in the first case in the RAM of block 2, information about the motion paths is recorded from the ROM of block 2, and in the second case, the formation of the trajectories is carried out according to the information recorded in the ROM of the calculator 7.

 The extrapolation of the trajectories in the modes of integrated control and training of the operator is as follows.

 During the strobe of extrapolation of the SEC, after the information is returned to the RAM of block 2 according to the RF signals (see 81, Fig. 6), the contents of the RAM area allocated for simulating trajectories (IT) are checked for trajectories requiring extrapolation (see 89, Fig. . 6).

 The simulated trajectories are extrapolated once per review by the “END OF LOCATION” signal by replacing the correction strobe (SC) with a simulation strobe (SI).

 Forms of simulated trajectories, differing by a large number from the form of accompanying trajectories (CT), are transferred to calculator 7, which uses them as forms of new marks. In block 9, the organization of the formation of the primary "P" -digit digital video signal for its subsequent playback on the indicator of the remote control 13.

 This is as follows.

Block 9 of the formation of video signals contains two high-speed storage devices (BZU ₁ , BZU ₂ ) for a range scan.

BZU ₁ and BZU ₂ works alternately as follows.

In the interval from PC ₁ to ZD ₀ (see Fig. 6), a digital video signal is recorded in one of the mentioned BZUs, after which in the interval from ZD ₀ pulse to the next pulse of PC _{1 a} video signal is read out, and at the same time, another BZU is cleared using noise, after which a video signal is recorded in a cleaned CCD, then vice versa (see 86, 87, Fig. 6), video signals are recorded in the CCD of block 9 in the interval between pulses of PC ₁ and ZD ₀ immediately after reading information from the RAM of the block 2 (see 89, Fig. 6).

где Φ_a текущее угловое положение антенны,
Φ_ДНА угловая ширина диаграммы направленности антенны.After reading the value of the angular position of the center of the point Φ _{ct of the} simulated trajectory, one of the conditions is checked:

where Φ _{a is the} current angular position of the antenna,
Φ _BOTTOM angular width of the antenna pattern.

Moreover, if the first condition is fulfilled, then the range to the center of the point D _{ct is read} and its distance in range ΔD _it , whose values are scaled to screen values in accordance with the range scale used, the extrapolated range value D _{eit is checked} and if it is less than the number of screen discrete simulated trajectory within the scale range, the value of D _EIT is used as a write address to the corresponding code block BLT 9 video, the video code is formed from the difference to yes (Φ _a -Φ _qm) in such a way that when (Φ _a ≥Φ _qm) is taken inverse difference code, and when (Φ _a <Φ _ct) of the line, and then subtracted from the received code value is more significant bits of the code D _EIT, t .e. the amplitude of the video signal is maximum at (Φ _a = Φ _ct ) (i.e., when it coincides with the axis of the antenna pattern) and decreases both with increasing relative distance to the simulated point, and with increasing deviation from the axis of the radiation pattern within its width.

 This ensures the reconstruction of marks from objects on the indicator that are close to real.

If ΔD _emit = 0, then the video signal is recorded in only one range discrete, if ΔD _emit ≠ 0, then video signals are also recorded in neighboring range discretes by successively decreasing D _emit and ΔD _emit until ΔD _emit = 0, after which make the transition to checking the next simulated trajectory.

 The technical result from the use of the proposed device is that it does not limit the number of followed marks located on one bearing.

 The extrapolation of the trajectories in the polar coordinate system is based on the correction of the radial and angular components of the speed of the objects in accordance with the law of uniform and rectilinear motion, and simple arithmetic operations of addition, subtraction, multiplication and division are used to calculate the extrapolated coordinates, which positively affects tracking accuracy.

 The implementation of the device autonomous integrated control mode provides an assessment of the correct functioning of the elements of the device with a maximum load of information close to real.

 In this case, the control results are displayed on the indicator of the control panel.

 The presence of the external load mode of the memory unit 2 with the source data allows the proposed device to be used as a simulator in which a radar situation is created that is close to real. These advantages characterize the proposed device as having a wider functionality.

 The above description and drawings make it possible, using the existing element base and technology, to make the proposed device in production without special difficulties, which characterizes it as industrially applicable.

 Currently being made prototypes of the proposed device.

Claims (1)

 A device for tracking the trajectory of moving objects, containing a quantization and gating unit, the first input of which is an input of video signals, an extrapolation unit and a computer connected by one of the outputs to the information input of the interface unit, characterized in that random access memory, a path parameter memory unit, are inserted into it, speed correction unit, speed sensor, coordinate sensor, correction signal generation unit, time interval measurement unit, synchronization and control unit and pool t control, while the input-output of random access memory through the first interface line is connected to the input-output of the quantization and gating block, a computer, control panel, synchronization and control unit and to the first input-output of the path parameter memory unit, the second input-output of which through the second interface highway connected to the input-output of the coordinate sensor, extrapolation unit, speed correction unit, speed sensor, unit for measuring time intervals and block forming video signals, the second output of which is connected to the fifth input of the control panel, and its second input is connected to the second input of the control panel, which is simultaneously the first input of the trajectory tracking device, and with the third input of the computer, the first and second inputs of which are the second and third inputs of the device, respectively trajectory tracking, the first output of the video signal generation unit is connected to the first control input of the synchronization and control unit, to the synchronization and control bus of which the control inputs and outputs of the correction signal generation unit, the coordinate sensor, the extrapolation unit, the speed correction unit, the speed sensor, the time interval measurement unit, the path parameter memory unit, the video signal generation unit, and the fourth input of the control panel, the third input of which is connected to the output of the quantization unit, are connected and gating, and its first input and control output is connected respectively to the information output and control input of the interface unit, the signal output of the control panel with it is single with the signal input of the correction signal generation block, the first and second outputs of which are connected to the first and second inputs of the coordinate sensor, the fourth inputs of which are connected to the first and second outputs of the extrapolation block, the third output of which is connected to the signal input of the speed correction block, and its sign output connected to the sign inputs of the speed correction unit, connected by the first and second outputs to the first and second inputs of the speed sensor, and the time interval measurement unit, connected by the output to the second control input of the synchronization and control unit, the third control input of which is connected to the output of the path parameter memory unit, and its output of time sampling pulses is connected to the input of the quantization and gating block of the same name.

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