RU2168154C1 - Sighting-and-navigation complex - Google Patents

Abstract

FIELD: aviation instrumentation engineering; on-board aircraft equipment used for navigation and target designation. SUBSTANCE: proposed complex includes inertial satellite system connected with target designation system. Complex is additionally provided with difference unit, delay unit, error detector unit, parametric function shaping unit and information optimal; processing unit. These units compensate for error in determination of navigational parameters of aircraft and target designation parameters. EFFECT: enhanced operational accuracy of complex and consequently enhanced combat efficiency of aircraft equipment with such complexes. 1 dwg

Description

 The invention relates to the field of aviation instrumentation, in particular to on-board equipment, providing navigation of aircraft and target designation for a given purpose.

 Of the known analogues cited, for example, in the book [1] edited by Kharisov V. A., Perov A. I., Boldin V. A. GLONASS Global Satellite Radio Navigation System, Moscow, IPPR, 1998; in the book [2] Babich OA "Information Processing in Navigation Complexes", Moscow, Mechanical Engineering, 1991, the closest is the sighting and navigation complex, the description of which is given in [2], on pages 476-491. This complex contains serially connected inertial-satellite (interconnected satellite navigation system and inertial navigation system [2], p. 485) and target designation system (radar or optical-radar station [2], p. 485).

 In the inertial-satellite system, correction is made of slowly varying inertial data and the suppression of high-frequency noise data from navigation satellites. Based on the data on the angles of evolution of the aircraft and its own measurements (range to the target, target viewing angles), target designation coordinates are generated in the target designation system. Under the influence of special interference, in the rangefinder channel of the target designation system, a significant increase in the systematic error in range (range retraction) is possible and when operating from GPS navigation satellites in the mode of unauthorized access ([1], p. 256), systematic errors in coordinates can reach 200 m ([1] p. 264).

 The objective of the invention is to improve the accuracy of the complex.

 The technical result is achieved by the fact that in the sighting and navigation complex containing a series-connected inertial-satellite system and target designation system, an additional parametric function formation unit is introduced and, connected between the first output of the target designation system and the input of the inertial-satellite system, series-connected difference unit, delay unit, error allocation unit, optimal information processing unit, the second output of which is connected to the second input of the target designation system, in the second output of which is connected to the second input of the delay unit, the second output of which is connected to the input of the unit for generating parametric functions, the output of which is connected to the second input of the error extraction unit, and the second output of the inertial-satellite system is connected to the second input of the difference unit.

The drawing shows a block diagram of the proposed complex, containing:
1 - inertial-satellite system ASC; 2 - STS target designation system, 3 - BOOI information optimal processing unit, 4 - BR difference block, 5 - BFPF parametric function generation unit, 6 - BVP error detection unit, 7 - BZ delay unit.

 Communications between blocks are made, for example, in a standard serial code.

 Examples of the implementation of standard arithmetic devices (BR 4, BFPF 5, BVP 6, BZ 7) that perform the operations of summation, difference, multiplication, division, delay (temporary storage) of signals are given in the book [3] Presnukhina LN, Nesterova P .IN. "Digital Computers", Moscow, Higher School, 1981, p. 16.

 The system operates as follows.

где X₇, X₈, X₉ - систематические погрешности,

флюктуационные погрешности типа белого шума). В СЦУ 2 в соответствии с измеренными и поступившими параметрами формируются координаты цели относительно самолета в его осях ([2], стр. 227)
S₁=A₇cosA₈cosA₉, S₂=A₇sinA₈cosA₉, S₃=A₇sinA₉
и географические координаты цели относительно самолета
A_1Ц=S₁cosA₆sinA₄-S₂(cosA₅ sinA₆cosA₄-sinA₅sinA₄)+S₃ (cosA₅sinA₄+sinA₅sinA₆cosA₄),
A_2Ц=-S₁cosA₆sinA₄+S₂(cosA₅ cosA₄sinA₆+sinA₅cosA₄+S₃ (cosA₄cosA₅-sinA₅sinA₆sinA₄),
A_3Ц=S₁sinA₆+S₂cosA₅cosA₆- S₃sinA₅cosA₆.ASC 1 measures the geographical coordinates of the location of the aircraft A ₁ , A ₂ , A ₃ (with errors X ₁ , X ₂ , X ₃ close to systematic), which, as noted above, in a serial code from the second output of ASC 1 are fed to the second input BR 4, and the angles of evolution of the aircraft, course A ₄ , roll A ₅ , pitch A ₆ (with errors X ₄ , X ₅ , X ₆ close to systematic), which from the first output of ASC 1 are fed to the first input of SCS 2, which measures the range to the target A ₇ , and the viewing angles of the target A ₈ , A ₉ (respectively, with errors

where X ₇ , X ₈ , X ₉ - systematic errors,

fluctuation errors such as white noise). In SCS 2, in accordance with the measured and received parameters, the coordinates of the target are formed relative to the aircraft in its axes ([2], p. 227)
S ₁ = A ₇ cosA ₈ cosA ₉ , S ₂ = A ₇ sinA ₈ cosA ₉ , S ₃ = A ₇ sinA ₉
and geographical coordinates of the target relative to the aircraft
A _1C = S ₁ cosA ₆ sinA ₄ -S ₂ (cosA ₅ sinA ₆ cosA ₄ -sinA ₅ sinA ₄ ) + S ₃ (cosA ₅ sinA ₄ + sinA ₅ sinA ₆ cosA ₄ ),
A _2C = -S ₁ cosA ₆ sinA ₄ + S ₂ (cosA ₅ cosA ₄ sinA ₆ + sinA ₅ cosA ₄ + S ₃ (cosA ₄ cosA ₅ -sinA ₅ sinA ₆ sinA ₄ ),
A _3C = S ₁ sinA ₆ + S ₂ cosA ₅ cosA ₆ - S ₃ sinA ₅ cosA ₆ .

Signals S ₁ , S ₂ , S ₃ , sinA ₄ , cosA ₄ , sinA ₅ , cosA ₅ , sinA ₆ , cosA ₆ , A ₇ , sinA ₈ , cosA ₈ , sinA ₉ , cosA ₉ from the second output of SCU 2 are fed to the second Entry BZ 7.

где частные производные ([4], Боднер В.А. "Приборы первичной информации", Москва, Машиностроение, 1981, стр. 102)

При этом для случайных процессов типа белого шума

с дисперсиями C_к ² будет

тогда

этот сигнал с выхода БР 4 поступает на первый вход БЗ 7, выполняющий стандартную операцию задержки поступавших сигналов (временного запоминания) на малое время

или в общем виде

при этом τ = 0 при i = 1, 2, 3; τ = τ₁ при i = 4, 5, 6, τ = τ₂ при i = 7, 8, 9;
a₁₁=a₂₂=a₃₃=a₄₁=a₅₂=a₆₃= a₇₁=a₈₂=a₉₃=1;
a₁₂= a₁₃= a₂₁=a₂₃=a₃₁=a₃₂= a₄₂=a₄₃=a₅₁=a₅₃=а₆₁=a₆₂=a₇₂ =a₇₃=a₈₁=a₈₃=a₉₁= a₉₂=0:
Сигнал b_i(t-τ) с первого выхода БЗ 7 поступает на первый вход БВП 6.The signals A _1C , A _2C , A _3C from the first output of the control center 2 are fed to the first input of the BR 4. With the known, entered in BR 4 as reference signals before the flight (or in flight), the geographical coordinates of the target being located A ₁₀ , A ₂₀ , A ₃₀ in BR 4, on standard arithmetic operations of summation and difference, signals are formed at i = 1, 2, 3

where partial derivatives ([4], Bodner VA "Instruments of primary information", Moscow, Engineering, 1981, p. 102)

Moreover, for random processes such as white noise

with variances C _to ² will be

then

this signal from the output of the BR 4 is fed to the first input of the BR 7, performing the standard operation of delaying the incoming signals (temporary storage) for a short time

or in general terms

wherein τ = 0 for i = 1, 2, 3; τ = τ ₁ for i = 4, 5, 6, τ = τ ₂ for i = 7, 8, 9;
a ₁₁ = a ₂₂ = a ₃₃ = a ₄₁ = a ₅₂ = a ₆₃ = a ₇₁ = a ₈₂ = a ₉₃ = 1;
a ₁₂ = a ₁₃ = a ₂₁ = a ₂₃ = a ₃₁ = a ₃₂ = a ₄₂ = a ₄₃ = a ₅₁ = a ₅₃ = a ₆₁ = a ₆₂ = a ₇₂ = a ₇₃ = a ₈₁ = a ₈₃ = a ₉₁ = a ₉₂ = 0:
The signal b _i (t-τ) from the first output of the BZ 7 is supplied to the first input of the BWP 6.

со второго выхода БЗ 7 поступают на вход БФПФ 5, являющимся стандартным арифметическим устройством, в котором по поступившим сигналам на операциях умножения, суммирования, разности формируются параметрические функции
a₁₄(t-τ)-a₁₉(t-τ),
a₂₄(t-τ)-a₂₉(t-τ),...,
a₉₄(t-τ)-a₉₉(t-τ),
F $\genfrac{}{}{0ex}{}{\text{2}}{\text{i}}$ (t-τ)
которые с выхода БФПФ 5 поступают на второй вход БВП 6, являющийся стандартным арифметическим устройством, в котором на операциях умножения, суммирования, разности, деления формируются сигналы погрешностей

и функции f_к

,
где ([5] , Бронштейн И.Н., Семендяев К.А. "Справочник по математике", Москва, Наука, 1983 г. стр. 157-163, [6] Кузовков Н. Т., Салыев О.С. "Инерциальная навигация и оптимальная фильтрация", Москва, Машиностроение, 1982, Стр. 104-105) определитель системы

Здесь знак (-1)^Z(π) определяется числом Z(π) инверсий подстановки

сумма из 9! слагаемых, являющихся

- произведениями из девяти сомножителей каждое, содержащее по одному элементу из каждой строки и по одному элементу из каждого столбца, а

(здесь вместо a₁₁, ... , a₉₁ подставляются b₁, ... , b₉), ... ,

(здесь вместо a₁₉, ... , a₉₉ подставляются b₁, ... , b₉),

(здесь вместо a₁₁, ... , a₉₁ подставляется F₁ ², ... , F₉ ²),

(здесь вместо a₁₉, ... , a₉₉ подставляются F₁ ², ... , F₉ ²).Signals generated in KB 7

from the second output of the BR 7 enter the input BFPF 5, which is a standard arithmetic device, in which the parametric functions are formed by the received signals on the operations of multiplication, summation, difference
a ₁₄ (t-τ) -a ₁₉ (t-τ),
a ₂₄ (t-τ) -a ₂₉ (t-τ), ...,
a ₉₄ (t-τ) -a ₉₉ (t-τ),
F $\genfrac{}{}{0ex}{}{\text{2}}{\text{i}}$ (t-τ)
which from the output of BFPF 5 go to the second input of the BWP 6, which is a standard arithmetic device in which error signals are generated by the operations of multiplication, summation, difference, division

and functions f _to

,
where ([5], Bronstein I.N., Semendyaev K.A. "Handbook of Mathematics", Moscow, Nauka, 1983, pp. 157-163, [6] Kuzovkov N. T., Salyev OS "Inertial navigation and optimal filtering", Moscow, Engineering, 1982, pp. 104-105) determinant of the system

Here the sign (-1) ^{Z (π)} is determined by the number Z (π) of inversions of the permutation

amount of 9! terms that are

- products of nine factors each, containing one element from each row and one element from each column, and

(here instead of a ₁₁ , ..., a _{91 we} substitute b ₁ , ..., b ₉ ), ...,

(here, instead of a ₁₉ , ..., a _99, b ₁ , ..., b _{9 are} substituted),

(here instead of a ₁₁ , ..., a ₉₁ substitutes F ₁ ² , ..., F ₉ ² ),

(here, instead of a ₁₉ , ..., a _99, F ₁ ² , ..., F ₉ ^{2 are} substituted).

f_к (к=1, ... , 9) с выхода БВП 6 поступают на вход БООИ 3, содержащий девять оптимальных фильтров ([7] Сейдж Э., Мелс Д. "Теория оценивания и ее применение в связи и управлении". Москва, Связь, 1976, стр. 287-289) по каждому сигналу x_k выполняются операции:
- интегрирования ∫f_к(t)dt
- деления

- разности

- умножения

- интегрирования

где

оптимальные оценки погрешностей на фоне шумов с дисперсиями f $\genfrac{}{}{0ex}{}{\text{-}}{\text{к}}$ ¹.
Например, при f_к=1=const дисперсия погрешности
Dx_к= η_к= (t+Τ_o)^-1
где Τ $\genfrac{}{}{0ex}{}{\text{-}}{\text{o}}$ ¹ - начальное заданное значение дисперсии D_xк.Signals

f _k (k = 1, ..., 9) from the output of the BWP 6 go to the input of the BOOI 3 containing nine optimal filters ([7] Sage E., Mels D. "Estimation theory and its application in communication and control". Moscow, Svyaz, 1976, pp. 287-289) for each signal x _{k the} following operations are performed:
- integrations ∫f _to (t) dt
- divisions

- differences

- multiplications

- integration

Where

optimal error estimates against the background of noise with variances f $\genfrac{}{}{0ex}{}{\text{-}}{\text{to}}$ ¹ .
For example, when f _to = 1 = const the variance of the error
Dx _k = η _k = (t + Τ _o ) ^-1
where Τ $\genfrac{}{}{0ex}{}{\text{-}}{\text{o}}$ ¹ - the initial set value of the dispersion D _xк .

It is seen that over time D _xк ---> 0.

систематических составляющих

при
n_к= (t+Τ_o)^-1,

откуда следует, что с течением времени

т.е. оптимальная оценка стремится к действительному значению систематической погрешности X_к.Expected value

systematic components

at
n _k = (t + Τ _o ) ^-1 ,

whence it follows that over time

those. the optimal estimate tends to the actual value of the systematic error X _k .

и углов эволюций самолета

поступает на вход ИСС 1.From the first output of BOOI 3 signals of estimates of systematic errors of location coordinates

and angles of evolution of the aircraft

arrives at the input of ASC 1.

поступают на второй вход СЦУ 2, в котором осуществляется коррекция параметров при к=7, 8, 9.From the second output of BOOI 3, signals of estimates of the systematic components of the range to the chain and target angles of sight

arrive at the second input of the SCS 2, in which the parameters are corrected at k = 7, 8, 9.

где с течением времени (t+T_o)^-1→ 0,

т.е. коррекция осуществляется с точностью флюктуационных составляющих погрешности.

where over time (t + T _o ) ^-1 → 0,

those. the correction is carried out with the accuracy of the fluctuation components of the error.

(к=1-6) осуществляется коррекция параметров

откуда следует, что с течением времена

т.е. откорректированные значения параметров

стремятся к действительным значениям A_к, что свидетельствует о достижении технического результата.In ASC 1 according to the received signals

(k = 1-6) parameters are corrected

whence it follows that over time

those. adjusted parameter values

tend to the actual values of A _to , which indicates the achievement of a technical result.

 The outputs of the system are the first and second outputs of the ISS 1 and SCS 2, the signals from which are fed to the on-board interacting display and control systems.

Claims (1)

 An aiming and navigation system comprising a series-connected inertial-satellite system and a target designation system, characterized in that it further includes a unit for generating parametric functions and connected between the first output of the target designation system and the input of the inertial-satellite system, series-connected difference block, a delay unit, an error allocation unit and an optimal information processing unit, the second output of which is connected to the second input of the target designation system, the second output of which The swarm is connected to the second input of the delay unit, the second output of which is connected to the input of the unit for generating parametric functions, the output of which is connected to the second input of the error extraction unit, and the second input of the inertial-satellite system is connected to the second input of the difference unit.