RU2292562C2 - Arrangement for measuring an angle of encounter of an active radar with a concentrated air target - Google Patents

Abstract

FIELD: the invention refers to short-range radiolocation and may be used in systems of autonomous control of motion of interactive objects for measuring on limited distances of an angle of encounter with a concentrated air target with the aid of an active radar located on a flying vehicle.

SUBSTANCE: peculiarity of the proposed arrangement is in that that it uses one generator of a continuous radio frequency whose part of the signal irradiates by the omnidirectional antenna the surface of the concentrated air target located in the forward hemisphere of the aircraft and by this the approach speed is estimated by a Doppler frequency. The other part of the signal of the generator is formed in the shape of short impulses directed by the same antenna onto the same forward hemisphere of the flying vehicle. With the help of these signals a distance to the observed object is defined.. The data about current distances to the concentrated object of observation and about speeds of approach in the shape of Doppler's frequencies are entered simultaneously on a calculating arrangement in two fixed discrete moments of time. According to these data the angle of encounter of the active radar with the concentrated air target is calculated.

EFFECT: increases accuracy of measuring.

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Description

The invention relates to short-range radar and can be used in autonomous control systems for the movement of interacting objects for measuring at limited distances the angle of a concentrated air target using an active radar located on an aircraft.

Such devices for measuring the angle of contact of an active radar with a concentrated air target are used, for example, to assess the mutual angle of meeting when two planes approach each other when refueling one of them; when managing a meeting of space objects for the purpose of docking, emergency assistance, controlling the mechanism of the object itself to achieve the ultimate goal - bringing docking devices into working condition, for starting brake engines, issuing commands to the telemetry system and in many other cases [1]. A feature of the proposed device is that it uses a single continuous radio frequency generator, part of the signal that irradiates the surface of a concentrated air target located in the front hemisphere of the plane with a weakly directed antenna and, thereby, the approach speed is estimated by the Doppler frequency. Another part of the generator radio signal is formed in the form of short pulses sent by the same antenna and into the same front hemisphere of the aircraft. These signals determine the distance to the observed object. At two fixed discrete time instants, the data on the computing device simultaneously receives information on the current ranges to the concentrated object of observation and the approach speeds in the form of Doppler frequencies. Based on these data, the angle of contact of the active radar with a concentrated air target is calculated.

One of the existing devices for measuring the angle of the aircraft with a concentrated air target is based on measuring the difference in the arrival time of the reflected radar signal to three spaced apart directional antennas and it is determined which of the four quadrants (front, rear, right or left) contains the controlled aircraft . A similar system for determining the angle of the aircraft is used, for example, in the YG-1081 system [2]. Such a device has a number of significant drawbacks, which primarily include: the complexity of practical implementation, due to the need for separation of four antenna systems; The smallness of the measured values of the signal arrival time difference imposes stringent requirements on the signal transmission path from the antenna to the measuring device with respect to the incursion of time delays and fixing the reference level. Secondly, such a device has low accuracy of the measured angular parameters, since knowledge of the quadrant in which the second aircraft is located is insufficient for an accurate estimate of the angle of meeting of two objects.

Other devices are known for measuring the angle of the aircraft with a concentrated air target, which are based on scanning the target with a highly directional antenna system [3, 4]. The main disadvantage of all these and other similar devices is the need for highly directional, and, therefore, complex antenna systems, which practically does not allow them to be implemented in the construction of autonomous devices of a limited volume, which perform the functions of controlling the movement of interacting objects at limited distances.

The closest device for measuring the angle of contact of an active radar with a concentrated aerial target for technical construction is the construction described in [5]. Such a device contains: a generator, a circulator, a transceiver antenna, a mixer, a Doppler frequency filter, a speed recorder. However, it is only possible when signals are reflected from a distributed (e.g., earth) surface, since the approach angles are determined from the isofrequency Doppler frequency lines formed by reflected radar signals from an extended (earth) surface.

The technical result of the proposed device for measuring the angle of contact of an active radar with a concentrated air target is to increase the accuracy of measuring the angle of meeting of an active radar with a concentrated air target and the simplicity of the technical implementation of measurements in limited volumes of autonomous devices for controlling the movement of interacting objects at limited distances.

The technical result of the device is achieved by the fact that a modulator, a first power amplifier, a second power amplifier, an adder, a frequency converter, a detector, a range recorder, a clock generator are introduced into a device containing a generator, a circulator, a transceiver antenna, a mixer, a Doppler frequency filter, a speed recorder , first register, second register, third register, fourth register, impulse counter, logical element “NAND”, logical element “NOT”, calculator.

When measuring the angle of contact of an active radar with a concentrated air target at limited distances, it is assumed that, due to the short analysis (measurement) time, the values of the active radar speed V _arl and the concentrated air target V _c are constant, so the relative speed "Active radar target" V _arl-ts will also be a constant value, which we denote

V = V _arl-ts = const.

An exemplary condition for a meeting of an active radar with a concentrated air target in a rectangular coordinate system X, O, Y is shown in Fig. 1. The movement of the observed object relative to the position of the radar is straightforward, for example, along the trajectory of the battery (Fig. 1).

The operation of the proposed device is as follows. At the set initial time of the first reference, for example, t _{1 the} position of the radar is at point O, the target is at point C (t ₁ ) at a distance R ₁ from the position of the radar. By the time of the second reference, for example, t _{2 the} target with a constant speed V will move relative to the position of the radar to the point C (t ₂ ), located from the radar at a distance of R ₂ . At the point C (t ₁ ) the radial component of the velocity V will be V _r1 , and at the point C (t ₂ ) this component will become the value V _r2 . Since at a constant speed V, the radial components of this speed are related to the angle α formed by the radius vector of the radar position R and the direction of the target velocity vector V, then from figure 1 it follows

because V = const, then

In view of the sine theorem

we have

Marking

from formula (2) we obtain

From (1) it follows

Replace cos ² α = 1-sin ² α

Then, taking into account formulas (1) - (4), we obtain

Given formula (3), we obtain

Since the radial component of the velocity can be determined through the Doppler frequency according to the formula [1]:

then the desired meeting angle of the active radar with a concentrated air target α _{1 will be} presented in the final form:

where R ₁ - the value of the first range to the observed object,

R ₂ - the value of the second range to the observed object,

F _∂1 is the first Doppler frequency,

F _∂2 is the second Doppler frequency.

Structural electrical diagram of a device for measuring the angle of contact of an active radar with a concentrated air target is presented in figure 2.

A device for measuring a meeting angle of an aircraft with a concentrated air target comprises a generator 1, a modulator 2, a first power amplifier 3, an adder 4, a circulator 5, a transceiver antenna 6, a second power amplifier 7, a mixer 8, a Doppler frequency filter 9, a frequency converter 10, detector 11, speed recorder 12, range recorder 13, clock 14, first register 15, second register 16, third register 17, fourth register 18, pulse counter 19, logical element “NAND” 20, logical element “NOT” 21 calculating Itel 22, and the output of the generator 1 is connected to the inputs of the modulator 2, the second power amplifier 7, mixer 8, the output of the modulator 2 is connected to the input of the first power amplifier 3, the output of which is connected to the first input of the adder 4, the second input of which is connected to the output of the second power amplifier 7, the output of the adder 4 is connected to the input of the circulator 5, from which the signal is fed to the transceiver antenna 6, the output of the circulator 5 is connected to the first signal input of the mixer 8, the third input of which is connected to the output of the first power amplifier 3, the output of the mixer 8 is connected to the inputs of the Doppler frequency filter 9 and the frequency converter 10, the output of the Doppler frequency filter 9 is connected to the signal input of the speed recorder 12, the output of the frequency converter 10 is connected to the input of the detector 11, the output of which is connected to the first input of the range recorder 13, the output of which connected to the information inputs of the first 15 and second 16 registers, the output of the speed recorder 12 is connected to the information inputs of the third 17 and fourth 18 registers, the output of the clock generator 14 is connected to the branching inputs of the speed recorder 12, the range recorder 13 and the counting input of the pulse counter 19. The first bit output of the pulse meter 19 is connected to the first input of the AND-NOT logic element 20, with the first input of recording permission of the second register 16 and the first input of recording permission of the third register 17, the second bit output of the pulse counter 19 is connected to the second input of the AND-NOT logic element 20, with the first input of the write permission of the first register 15 and the first input of the write permission of the fourth register 18, the output is of the second AND-NOT element 20 is connected to the second inputs for reading permission of the first 15, second 16, third 17, fourth 18 registers and the input of the logic element “NOT” 21, the output of which is connected to the reset input of the pulse counter 19, and the information outputs of the first 15 , second 16, third 17 and fourth registers 18 are respectively connected to the first, second, third and fourth inputs of the computer 22, the output of which is proportional to the angle of the active radar with a focused air target.

The generator 1 generates a continuous signal, which is converted into pulses in the modulator 2, which are then amplified in the first power amplifier 3 and fed to the first input of the adder 4, from the output of which the pulse signal is emitted by a weakly directed transceiver antenna 6 through the circulator 5. From the generator 1, a continuous signal is received also to the second power amplifier 7, from the output of which the signal enters the second input of the adder 4, from the output of which a continuous signal is also emitted by a weakly directed transceiver 6 through the circulator 5. The signal reflected from the observed object (target) enters through the transceiver antenna 6 and circulator 5 to the signal input 1 of the mixer 8. At the first heterodyne input 2 of the mixer 8, the signal comes from the output of the generator 1, and to the second heterodyne input 3 of the mixer 8, a signal is output from the power amplifier 3. The output signal of mixer 8 is supplied to a Doppler filter 9, and from there it goes to the data input speed recorder 12, the output of which a signal proportional to the Doppler frequency F _∂, post flushes the information input of the third register 17 and the data input of the fourth register 18. For measurements in the first discrete time point t _1, the clock generator 14 is determined, first information signal on the current Doppler frequency F _∂1 only appears at the output of the third register 17, and then , at a second time t ₂ defined by the same clock generator 14, an information signal of the second current Doppler frequency F _∂2 only appears at the output of the fourth register 18. in the mixer output signal 8 is also fed to transform frequency fir 10, where the converted signal is supplied through detector 11 to the information input range recorder 13, the output of which a signal proportional to the range R, is fed to the data input of the first register 15 and the data input of the second register 16.

During measurements, at the first discrete time instant t ₁ determined by the clock 14, an information signal about the first current range to the observed object R ₁ appears only at the output of the first register 15, and then, at the second time instant t ₂ determined by the same clock 14, information about the second signal current to the observed object distance R ₂ only appears at the output of the fourth register 18. Simultaneous measurement at discrete times and Doppler frequency ranges, respectively, F _∂1, R ₁ and F _∂2, R ₂ impl This means that from the clock generator 14 a discrete signal is supplied to the control inputs of the speed recorder 12, range recorder 13 and the counting input of the pulse counter 19. Then the signal from the first bit output of the pulse counter 19 is fed to the first input of the recording permission of the second register 16 and to the first input write permissions of the third register 17. The signal from the second bit output of the pulse counter 19 is fed to the first input of the write enable of the first register 15 and to the first input of the write enable of the fourth register 18. Signal Al from the first bit output of the pulse counter 19 is fed to the first input of the AND-HE logic element 20, and the signal from the second bit output of the pulse counter 19 is fed to the second input of the AND-NOT logic element 20. From the output of the AND gate NOT ”20 the signal is fed to the input of the logic element“ NOT ”21 and the second inputs of reading permission of the first register 15, second register 16, third register 17 and fourth register 18. The output of the logical element“ NOT ”21 is connected to the reset input of the pulse counter 19. Information outputs of the first Registers 15, second register 16, third register 17 fourth register 18 are connected respectively to the first, second, third and fourth inputs of the calculator 22, whose output signal is proportional to the angle of the meeting with the concentrated active radar aerial target.

As elements, standard microcircuits can be used, for example:

speed recorder 12, range recorder 13 - type 572PV3 [6],

the first 15, second 16, third 17 and fourth 18 registers - type 133IR1 [7],

the logical element "AND-NOT" 20 - type 133LA15 [7],

the logical element "NOT" 21 - type 133LN1 [7],

a calculator (processor) 22 - type 68ННС12 [8, p. 58].

The proposed device for measuring the angle of contact of an active radar with a concentrated air target differs from the known simplicity of the technical implementation of measurements in limited volumes of autonomous devices for controlling the movement of interacting objects at limited distances.

Literature

1. Kogan I.M. Near radar (theoretical basis). M .: Sov. radio. 1973. 272 p.

2. The proximity indicator of aircraft YG-1054 in publications:

1) The with band pulse beacon ranging system. - "Aircraft Engineering", 1972, v. 44, No. 2.

2) System for collision avoidance thought - avionic observation of intruder danger (AVOID). "Information paper for seventh ICAO air Navigation conference." Montreal, Canada, 5-29 April, 1972.

3) Parkinson R.E. The case for time-frequency collision avoidance. - “ICAO Bull.”, 1973, v. 28, No. 11.

3. Radar devices (theory and construction principles). Vasin V.V., Vlasov O.V., Grigorin-Ryabov V.V., Dudnik P.I., Stepanov B.M., M .: Sov. Radio, 1970, 680 p.

4. Kolchinsky V.E., Mandurovsky I.A., Konstantinovsky M.I. Autonomous Doppler devices and aircraft navigation systems. M .: Sov. Radio, 1975, 432 p.

5. Patent RU 2111506 C, MKI G 01 S 13/00 A device for remote measurement of the reflective properties of complex objects in the microwave range of radio waves. Auth. Bagel V.A., Zhmurov V.A., Kapkin A.P., Krainev V.R., Seleznev B.C., Troitsky V.D.

6. Integrated circuits: Integrated circuits for analog-to-digital conversion and multimedia. Issue 1 - M .: DODEKA, 1996, 384 p.

7. Avanesyan G.R., Levshin V.P. Integrated circuits TTL, TTLSH: Reference. - M.: Mechanical Engineering, 1993 .-- 256 p.

8. Shagurin I., Beletsky V. Microcontrollers, integrated processors, and hybrid DSPs from Freescale Semiconductor (SPS-Motorola) // Electronic Components, No. 7, 2004.

Claims (1)

A device for measuring a meeting angle of an aircraft with a concentrated air target, comprising a generator, a circulator, a transceiver antenna, a mixer, a Doppler frequency filter, a speed recorder, characterized in that a modulator, a first power amplifier, a second power amplifier, an adder, a frequency converter are inserted into it, detector, range recorder, clock, first register, second register, third register, fourth register, pulse counter, logical element “NAND”, logical element “NOT”, a calculator, wherein the output of the generator is connected to the inputs of the modulator, the second power amplifier, mixer, the output of the modulator is connected to the input of the first power amplifier, the output of which is connected to the first input of the adder, the second input of which is connected to the output of the second power amplifier, the output of the adder is connected to the input of the circulator, from which the signal enters the transceiver antenna, the output of the circulator is connected to the first signal input of the mixer, the third input of which is connected to the output of the first power amplifier, the output of the mixture The amplifier is connected to the inputs of the Doppler frequency filter and the frequency converter, the output of the Doppler frequency filter is connected to the signal input of the speed recorder, the output of the frequency converter is connected to the input of the detector, the output of which is connected to the first input of the range recorder, the output of which is connected to the information inputs of the first and second registers, the output of the speed recorder is connected to the information inputs of the third and fourth registers, the output of the clock generator is connected to the control inputs of the register speed, range recorder and counting input of the pulse counter, the first bit output of the pulse meter is connected to the first input of the AND-NOT logic element, with the first input of recording permission of the second register and the first input of recording permission of the third register, the second bit output of the pulse counter is connected to by the second input of the AND-NOT logical element, with the first input of the first register write permission and the first input of the fourth register write permission, the output of the AND-NOT logical element is connected to the second inputs permissions to read the first, second, third, fourth registers and the input of the logic element "NOT", the output of which is connected to the reset input of the pulse counter, and the information outputs of the first, second, third and fourth registers are respectively connected to the first, second, third and fourth inputs of the calculator at the output of which the signal is proportional to the angle of the active radar with a concentrated air target.

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