RU2678371C2 - Mobile objects coordinates and axes position angles determining method by means of installed on objects and observation points atomic clocks - Google Patents

Abstract

FIELD: measurement technology.SUBSTANCE: invention relates to the field of the mobile objects (MO) coordinates determining, and can be used to the remote mobile objects coordinates determining in the absence of GNSS. Distances between the of mobile objects antennas and the observation points are determined as the product of the signals movement time and the radio waves propagation velocity. To determine the signals movement time at the mobile objects and at the observation points, additional units were installed, including atomic clocks (timers), range finders, altimeters and on-board instruments reading instrumentation, VHF transceivers, antennas, signal generation and encoding units, and other equipment. Signals movement time is defined as the difference between the mobile objects signals registration time by the observation points clocks and the signals sending time by the mobile objects clocks. Observation points (OP) are located on the ground or on the tethered balloons. Placed on the ground OP antennas coordinates are determined in advance; the OP on the balloons antennas coordinates are determined at the signals from the MO reception time. Sent by the mobile objects signals contain service information designed to identify their belonging and purpose. High-speed objects heading is determined by the several points on the flight trajectory straight portion position coordinates. Low-speed mobile objects axes angles are determined by located on the MO body at least two VHF antennas coordinates.EFFECT: technical result consists in increase in the coordinates determining accuracy.6 cl, 9 dwg

Description

The invention relates to the field of determining the coordinates of moving objects (PO) and can be used to determine the coordinates of remote moving objects in the absence of GNSS, to determine the corrections of coordinates and the heading of standard navigation systems, to determine the coordinates of targets observed from airborne reconnaissance vehicles, to determine the coordinates of the points of impact of shells during sighting remote targets, determining the coordinates of the position of shells on the entire flight path in the interest of improving the theory of external ballistics, increasing accuracy of the coordinate-time support of consumers of the information system of the coordinate-time support (ISSCWO) "Scorpio" and other tasks.

A known method for determining coordinates using GNSS. In this method, the coordinates are determined by the coordinates of the satellites and the distances from the receiver to four or more satellites in orbit of the earth. The coordinates of the satellites are regularly updated and transmitted to the receiver. The distance to the satellites is defined as the product of the propagation velocity of the radio waves by the time the radio signal travels from the satellite to the receiver. Having received signals from several satellites, the receiver searches for the intersection point of the corresponding circles and, if it does not find such a point, then the computer in the receiver begins to adjust the time by successive iterations until it reduces all measurements to one point. In addition to the navigation signals, the satellites transmit to the receiver service information, which contains an almanac containing data on the orbits and coordinates of the satellite and ephemeris (data containing important information about the operating status of the satellite, the current date and time).

This method of determining coordinates has high mobility and accuracy, but has significant drawbacks. The main disadvantage of the method of determining coordinates using GNSS is that the signal to the receiver under certain conditions may not reach or arrive, but with significant delays or distortions. Signal propagation is affected by tropospheric refraction, which is understood as the delay of radio signals in the neutral layers of the atmosphere of the stratosphere and troposphere. In the lower atmosphere, especially in the troposphere, weather conditions strongly influence the speed of propagation of radio waves. Many geophysical and meteorological factors require constant refinement of the orbital elements and correction factors of satellite clocks at the ground control point for transmission via communication channels to satellites. GNSS signals are subject to distortion due to large cloud cover, dense vegetation, interference resulting from magnetic storms, or interference from terrestrial radio sources. In the circumpolar regions of the Earth, accuracy worsens the low inclination of the orbits along which the satellites move.

Among the disadvantages of GNSS is the high probability of system failure due to malfunctions of satellites or SKDM points that arise as a result of actions by the warring party.

A known method for determining the coordinates of moving objects and a device for its implementation (see, for example, Gill I.L., Dalnov A.V., Kadnichansky S.A., Polishchuk Yu.V., Shteinshleiger V.B. Method for determining the coordinates of moving objects and device for its implementation, RU 2036431, 05.27.1995.). The described method is implemented using a device containing at least one signal radio transmitter installed on the corresponding moving object, at least three reference stations, each of which is made with a radio receiving part, a signal converting unit and a signal transmitting unit, a central station made with a signal receiving unit , a processing unit and a calculator, and a communication channel connecting a transmission unit of each of the reference stations to a signal receiving unit of a central station. The technical result in the invention RU 2036431 is achieved by the fact that a transmitter is installed on a moving object, periodically emitting measuring signals, which are received and processed by three or more reference stations. The reference stations transmit measurement signals to the central station via a communication channel. According to the results of processing the reference and measuring signals, the location of the object is determined. The method proposed by the invention RU 2036431, does not allow to determine the coordinates of objects located at a considerable distance and has low accuracy.

The aim of the invention is to develop a high-precision method for determining the coordinates and angles of the axes of objects moving in space in the conditions of GNSS failures.

The technical result of the invention is achieved by sending signals by moving objects containing time determined by the onboard clock, fixing the time of arrival of signals by the hours of observation points and coordinate calculations.

To determine the time of movement of signals with high accuracy at moving objects and at observation points, additional units are installed, including atomic clocks (timers), rangefinders, altimeters, readout devices for on-board devices, signal generation and coding units, VHF transceivers with antennas, antenna switches, power supplies and other equipment. VHF antennas of moving objects are located in planes having radio visibility with observation points when performing tasks for their intended purpose.

The time of movement of signals is defined as the difference in the time of registration of signals of moving objects by the hours of observation points and the time of sending signals recorded by the clock of moving objects. To simplify the implementation of the proposed method on small-sized software, instead of the clock, programmable timers are installed that have atomic frequency standards (atomic timers) as a clock source. In this case, the time of sending signals is defined as the sum of the start time of atomic timers and the time of sending signals by timers, which is determined by the signal number in the programs for sending signals stored in the memory of the on-board timer and atomic clock of the aircraft before firing. The start time of atomic timers is fixed at the moment of PC descent from the guide along the atomic clock of observation points located at firing positions.

The distances between the antennas of moving objects and observation points are defined as the product of the time of movement of the signals and the speed of propagation of radio waves.

The coordinates of moving objects are determined by solving the combined notch problem using the measured distances and antenna coordinates of at least two observation points using the cosine theorem.

Observation points are placed on the ground or on tethered balloons.

The position of the VHF VHF antennas is selected from the conditions of radio visibility of the trajectory of movement of moving objects and the conditions of the maximum possible distance from the intended trajectory of movement of PO. The PN equipment is additionally introduced with blocks for receiving, decoding, coding, sending incoming messages and a computing device for solving coordinates determination tasks. The coordinates of the PN antennas located on the ground are determined in advance, the coordinates of the PN antennas on balloons are determined at the time of receipt of signals from moving objects.

To increase the accuracy of measurements of the time of movement of signals, corrections are introduced into the temporary signals, taking into account for each VHF antenna the propagation delays of the signals due to the length of the connecting cable, switching time and signal generation. Before completing the tasks, the time scales of the clock of the moving objects and the time scales of the hours of the observation points are synchronized. When performing tasks, commands for sending signals by moving objects are automatically given in accordance with specified programs or operators.

For the convenience of decoding, the signals have a constant structure, providing for the same sequence of information placement, allocation of the same number of characters for each group, regardless of the task.

For automatic identification of the purpose and belonging of signals by the equipment of observation points, service information is included in their composition, including:

- the purpose of the signal (the established designation of the fact of determining the coordinates of the moving object, the identifier of the email address of the central observation point),

- signal consumer identification number,

- the height of the object, determined using an altimeter,

- amendment of the time scale of the clock of a moving object,

- serial number of the signal,

- antenna number,

- signal sending time recorded by the atomic clock of a moving object.

The service information of the signals of moving objects is formed and encoded by the equipment of additional blocks in advance. Upon receipt of commands for sending signals, the formation units record the time according to the atomic hours of moving objects, supplement the digital values of the exact time with service information and send signals. Observation points record the time of arrival of signals from moving objects according to their atomic clocks, form and send messages to the central observation points (CPS) through a closed data transmission segment (DSPD). Messages sent to the central observation point include identification numbers of the monitors, information contained in the signals of moving objects, the time of arrival of the software signals recorded by the atomic clock of the observation posts, corrections taking into account the propagation delays of the signals due to the length of the connecting cables between the VHF antennas and the atomic clock , and the central point of observation received messages are converted into a spreadsheet format, sorted by numbers of moving objects, signals and antennas. The sorted signals solve the problem of determining the coordinates of moving objects. The coordinates of the antennas of the observation points are determined by all available high-precision methods, including using differential GNSS corrections. A block diagram of the exchange of information between a moving object, ground observation points, and consumers is shown in the figure of FIG. one.

After the deployment and preparation for operation of the observation points, they verify the functioning of the coordinate determination system by sending signals from objects with radio visibility with which coordinates are determined with high accuracy and have the necessary additional equipment. Based on the received signals, observation points determine the coordinates. The coordinates of certain PNs are compared with the exact coordinates of the objects that sent the signals, identify and eliminate, if necessary, the causes of possible errors.

The ability to achieve the objectives of the invention:

To achieve the objectives of the invention it is necessary to provide: conditions for the radio visibility of moving objects with observation points, the ability to achieve the necessary accuracy in determining the coordinates and angles of the axes of moving objects, the ability to receive observation points of signals sent from remote moving objects, the ability to synchronize the time scales of atomic clocks of observation points and moving objects .

The range of radio visibility between moving objects and observation points (D _PV ) depends on the radius of the earth (R _З ), the heights of the antennas of moving objects (N _PO ) and the heights of the antennas of observation points (N _PN ). Radio visibility range is determined by the approximate formula:

The dependence of the radio visibility range on the heights of moving objects and observation points above the earth's surface is given in the table of FIG. 2.

The calculation results shown in the table show that at heights of the location of the antennas of moving objects 500 meters, the range of radio visibility from the aircraft exceeds 85 kilometers, while the heights of the objects are 1000 meters and 3000 meters, the range of their radio visibility exceeds 100 km and 200 km, respectively. With the heights of the antennas of observation points equal to 3000 m, the range of radio visibility of ground objects exceeds 190 km.

The ability to achieve the necessary accuracy in determining the coordinates and angles of the axes of objects of the proposed method.

The accuracy of determining the coordinates of moving objects depends on the accuracy of synchronization of the clock time scales, the accuracy of fixing the time of sending and receiving signals, the accuracy of determining the coordinates of the antennas of observation points and the accuracy of calculations.

To determine the time of movement of the signals using an atomic clock. The characteristics of affordable and promising compact atomic clocks are shown in the table of FIG. 3. To calculate the achieved accuracy of determining the time and distance using the characteristics of the atomic standard FE-5650A. The stability error (rms relative two-sample frequency deviation) for the FE-5650A is

The synchronization error of the atomic clock time scales using GNSS satellites is 3-5 nanoseconds. [2], [3]

The calculation takes the synchronization error of the time scales of atomic hours of observation points and moving objects equal to σ _{synchronization} = 5E-9.

The probable error in determining the time of movement of the signals is calculated by the formula:

For the accepted values of the characteristics of accuracy of atomic clock operation and synchronization of time scales, the mean square error of determining the time of movement of the signals is: σ _{t dw Signal} = 7.071124380E-09. This value is subsequently used to calculate the probable error in determining the distances between moving objects and observation points. The coordinates of moving objects are calculated by solving the combined notch problem over measured distances using the cosine theorem.

The method for determining the coordinates of moving objects with a combined notch from the measured distances using the cosine theorem is shown in the figure of FIG. 4. At points A, B, C and D, the antennas of observation points are shown; at point O, the antenna of a moving object. To simplify the picture, the heights of observation points are taken equal to 0.

The coordinates of the GSH antennas are determined with the greatest possible accuracy. The distances AO (BO, CO, DO) are defined as the product of the time the signals travel from the antenna of the moving object to the GS antennas and the propagation velocity of the radio waves. The software coordinates are determined from the triangle AOW.

By solving the inverse geodesic problem, the coordinates between points A and B determine the distance between the points:

and the directional angle from point A to point B

The value of the height of the moving object N ' _OB at the time of sending the signals is initially conventionally taken as the sum of the flight altitude determined using an altimeter (N _O ) and the height of the central observation point N _A. According to the Pythagorean formula, the horizontal components of the distances between a moving object (point O) and observation points (points A and B) are determined.

The cosine theorem determines the horizontal angle

Determine the directional angle from point A to point O '

The coordinates of a moving object are determined in a first approximation

Using the program "GIS" Operator "for power structures" on the obtained coordinates X ' _O , Y' _O , determine the height of the terrain point N ' _O. The height H ' _O and the flight height of the moving object H _O calculate the value of the height of the moving object above sea level at the time of sending signals

According to the height of the object, N _OB finally bring the distances of AO and VO to the horizon according to the formulas.

The cosine theorem determines the horizontal angle

Determine the directional angle from point (B) to point (O '')

Determine the coordinates of the object

To determine the coordinates of moving objects in the proposed method, two observation points that record the time of arrival of signals from a moving object are sufficient. Any of the triangles AOW, AOC, AOD, BOC, BOD, COD can be used to determine the coordinates. This helps to increase the reliability and accuracy of determining coordinates. When receiving signals of three or more PNs, the calculation of software coordinates can be performed using the trilateration formulas used in GLONASS.

Errors in determining the coordinates of objects are determined by circular errors in determining the coordinates of observation points (σ _r ) and errors in determining the distances between PN and PO (σ _d ). Given that the coordinates of PO are calculated by ground computers and the most accurate algorithms are implemented in the calculation of the values of trigonometric functions, the calculation errors are neglected . Coordinate determination errors are calculated by the formula:

Since the methods for determining the coordinates of all observation points are the same σ _r1 = σ _r2 , and the distances are determined using the same clock σ _d1 = σ _d2 , the refined formula for calculating the errors of determining coordinates is:

To determine the influence of the accuracy of determining the coordinates of observation points _(σri ) on the accuracy of determining the coordinates of moving objects in accordance with [4], take: σ _ri = 1 cm, σ _r2 = 10 cm, σ _r3 = 50 m. The initial data and calculation results are placed in table "Dependence of errors in determining the time of movement of radio waves, distances, coordinates and directional angles from the removal of moving objects and errors in determining the coordinates of the antennas of observation points (σ _r ) by the proposed method" Fig. 5. For calculations in the table, the distances between moving objects and observation points from 1000 to 300000 meters are accepted. The time of movement of signals from software to PN is defined as the quotient of dividing the tabular value of the distance by the propagation speed of radio waves. Errors of determining the time of movement of signals is defined as the product of the time of movement of signals and the value of the probable error calculated by formula 2. Errors of determining the distance between software and PN are defined as the product of the speed of propagation of radio waves by errors of determining the time of movement of signals. Errors in determining the coordinates of the software for the given characteristics of the accuracy of determining the coordinates of the PN antennas ₍ σ _ri ) and the time of movement of the signals are calculated by the formula 3.

Determination of the directional angles of the axes of moving objects.

There is a method of determining the course of moving objects using the inertial navigation system F175 of the English company CodaOctopus, using two GPS receivers. SINS F175 with a distance between two GPS receivers equal to two meters and a positioning error of 0.01 m determines the course of moving objects with an accuracy of σ = 0.1 °. [5]

By analogy with SINS F175, the angles of the axes of moving objects moving at low speeds (helicopters and UAVs) are determined using at least two antennas located on the software housing, which are alternately switched to the VHF output of the transmitters to send signals. The locations of the software antennas are selected from the condition of maximum mutual removal in planes, the visibility of which from the observation points when performing the task with this object is guaranteed.

The distances between the antennas and their position relative to the axes of the moving objects are determined in advance and taken into account when calculating at the central observation point. The directional angles of the software axes are calculated from the solution of the inverse geodesic problem by the coordinates of the antennas. Errors in determining the directional angles are calculated as the arcsine of the error in determining the coordinates divided by the distance between the antennas. The calculation results are shown in the table “Dependence of errors in determining the angles of position of the software axes on the accuracy of determining the coordinates and distances between the antennas of moving objects” Fig. 6. The table shows that the accuracy of determining the angle stated in the description of SINS F175 (0.1 °) with this method of calculation can be achieved only when the distance between the antennas is 8 meters.

To obtain higher accuracy in determining the angles of the axes, the method of calculations is used for the distances between the antennas of the software, the distances between the antennas of moving objects and observation points, and the horizontal angle using the sine theorem.

The scheme for determining the directional angles of the axes of objects is shown in the figure "Determining the directional angle of the axis of a moving object and the coordinates of the target by the coordinates of two antennas" Fig. 7.

At point A, the antenna of the central observation point is located. At points F (X _F , Y _F , H _F ) and E (X _E , Y _E , H _E ), the position of the projections of the software antennas on the horizontal plane passing through point A. The axis of the moving object is perpendicular to the line FE. To determine the coordinates of the position of the antennas, the operators include the process of reading the software height and time by the on-board atomic clock, the antenna switches sequentially switch the first and second antennas to the transmitter, the transmitter sends signals containing the read values of the on-board instrument readings, observation points receive signals, calculate the coordinates of the software antennas (X _F , Y _F , H _F ) and (X _E , Y _E , H _E ).

1. By solving the inverse geodesic problem, the directional angles to the points α _AF and α _{AE are} determined by the coordinates of the antenna of the central observation point A (X _A , Y _A , N _A ) and the coordinates of the antennas of the object.

2. Defines the horizontal angle

3. By the time the signal travels from point F to point A, determine the slant range by the formula

4. Bring the slant range to the horizon according to the formula

где EF - измеренное до начала движения расстояние между антеннами ПО.5. By the theorem of sines determine the horizontal angle

where EF is the distance between the software antennas measured before the start of movement.

6. Determine the directional angle

7. Determine the directional angle of the axis of the object

The pitch angle and roll of the axes of moving objects, if necessary, is determined by the position coordinates of the additional antennas in a similar way.

This method significantly reduces the effect of errors in determining the coordinates of the ST on the accuracy of determining the angles of position of moving objects in space. Directional angles of the longitudinal axes of moving objects moving at high speed are determined by solving the inverse geodesic problem according to the coordinates of several points of a rectilinear section of the trajectory in a certain proposed method.

Possibility of transmitting VHF signals over the considered distances.

It is known that VHF transmitters with a power of 50 watts are installed on GPS satellites. Such transmitter power allows for reliable reception of satellite signals by GNSS receivers at a distance of up to 20,000 km and above. It is known that to increase the communication range by 2 times, it is necessary either to increase the sensitivity of the receiver by 4 times, or to increase the transmitter power by 16 times. Based on this, for the transmission of signals from moving objects to observation points at a range of up to 200 kilometers, VHF transmitters with a power of up to 10 watts are selected. To increase the reliability of signal reception and the accuracy of measuring distances between moving objects and controllers, the sent signals are encoded with a pseudo-random code similar to the GNSS code.

The ability to synchronize the time scales of atomic clocks of observation points and moving objects with high accuracy.

It is known that the synchronization of time scales of GNSS satellites is carried out according to the results of navigation-time measurements conducted by ground stations. When measuring errors arise, the main sources of which according to [6] are:

1. Errors in determining the position and speed of satellites (Ephemeris - 25.1%),

2. Instability of local oscillators (Satellite clock - 6.7%),

3. The heterogeneity of the dielectric constant of the ionosphere (Ionosphere - 27.9%),

4. Refraction in the troposphere (Troposphere - 39.1%),

5. Hardware errors of measuring the pseudo range in the receiver (Receiver - 1.1%).

To ensure the synchronization of time scales of atomic clocks of software and monitors, the SCORO "Scorpion" introduces control points on balloons (KP _AE ). The flowchart of information exchange during reconciliation of the time scales of observation points and moving objects with the time scale of the ISKVO Scorpio through the control point on the balloon is shown in FIG. 8.

Рассчитываю время движения сигнала между антеннами аэростата и контрольных пунктов

как разницу времени регистрации сигнала по часам контрольных пунктов и времени отправки сигналов зафиксированного по часам аэростата. Определяют координаты аэростата и поправки шкал времени часов аэростата

по каждому контрольному пункту (КП_j) принявшему сигнал по формулеTo verify the time scales, the aerostat sends a signal containing the time recorded by the atomic clock of the aerostat (t _CPAE ) according to the specified program. ISKVO ground control points record the time of arrival of the balloon signal

I calculate the signal travel time between the aerostat antennas and the control points

as the difference in the time of signal registration by the hours of checkpoints and the time of sending signals recorded by the clock of the aerostat. The coordinates of the aerostat and the corrections of the time scales of the aerostat clock

for each control point (CP _j ) received a signal according to the formula

и уточненное значение времени отправки сигнала аэростатом по формуле

Based on the corrections of the time scales defined with respect to each control point of the ISKVO Scorpion, the average corrections are calculated

and the adjusted value of the time of sending the signal by the balloon according to the formula

The values of the coordinates and the specified time of sending the signal by balloon are transmitted to the Central consumer observation point, where, in the same way, the coordinates of the time scales of the clocks of ground observation points and moving objects are determined by the coordinates and time of sending the signal by balloon.

Since the signal paths between the ISKVO Scorpion control points, balloons and observation points do not pass through the ionosphere and troposphere, over 92% of GNSS time scale timing error sources do not affect the accuracy of the clock timeline synchronization in the proposed invention. Therefore, the accuracy of synchronization of the PN clock time scales achieved using the SCORPO Scorpio is higher than the accuracy of synchronization of GPS satellite clocks.

When using the proposed method for small-sized moving objects with programmable atomic timers, only the atomic clocks of observation points are synchronized.

For the implementation of the invention, standard control points equipped with an atomic clock and other equipment provided for by the invention are used. Messages are transmitted between monitors and control points of the ISKVO Scorpio through a closed data transmission segment.

Difference from already known solutions.

The proposed method differs from the GNSS method in that, directly when determining the coordinates and angles, it does not depend on the presence of satellite signals. The VHF motion paths of the signals of moving objects in the proposed method are much lower than the troposphere, and, therefore, the signals are not subject to tropospheric refraction and the influence of weather conditions on the speed of propagation of radio waves, which improves the accuracy of determining the coordinates. The accuracy of the proposed method does not depend on the geographical latitude of the place, the method is applicable in the circumpolar and polar regions of the Earth without restrictions.

The difference of this method is that the signals of moving objects contain identification data that allows you to determine the identity and purpose of the received signals. This circumstance makes it possible to use information received from third-party observation points (SPN) that are not involved in solving the designated problem, but received signals from moving objects and recorded the time of their arrival by their high-precision clocks. In this case, the higher-level controls determine the ownership of the signals received by the STS, reconcile the time scales of the CPN of the executor and SPN and send messages including the time of arrival of the software signals, corrections of the time scales and coordinates of the SPN to the executor. Messages received from SPNs removed in the plane perpendicular to the flight path of the object increase the accuracy of determining the coordinates of objects located at a great distance. The difference is that the flight altitude of the software is quite large, the duration of the signals of moving objects is small, and the VHF receivers of the observation points operate in the radio mode, which makes it difficult to detect and suppress signals of moving objects by the warring parties. The difference is that the coordinates and angles of the axes of moving objects are determined in points directly controlling the execution of the task by moving objects, which reduces the delay in making managerial decisions.

Analysis of the results of calculations shown in the table of FIG. 5 shows that the accuracy of determining the coordinates of the antennas of moving objects by the proposed method does not exceed 15 mm with the accuracy of determining the coordinates of the antennas of 10 mm and 15 cm with the accuracy of determining the coordinates of the antennas of 10 cm. Errors in determining the directional angles of the software axes are determined as the arcsine of dividing the error of determining the coordinates by the distance to the moving object. The calculation results are placed in the table of FIG. 5.

The error values for ranges of tens of kilometers are significantly less than the angular minute. Which significantly exceeds the accuracy of existing methods for determining the coordinates and angles of remote moving objects.

2. The method according to claim 1, characterized in that in order to determine the corrections of the standard navigation equipment (the values of the missile launch orientation in the direction), the moving objects send signals containing identification data, current time, coordinates, course and altitude read from the on-board equipment, observation points receive signals, calculate the coordinates of the points of sending signals and the course of objects.

A known method for determining the coordinates and course of an aircraft (BC) (see, for example, Lopatkin D.V., Ippolitov S.V., Zakharin A.V., Konotop V.I., Onchurov S.V. Method for determining coordinates, course and speed of the aircraft, RU 2506541, 02/10/14), based on the formation of coded laser radiation from ground laser landmarks in the direction of the aircraft (AC), the reception of laser radiation by three receivers installed on board the aircraft, the interpretation of the received signals and determining the course and coordinates of the aircraft, based on data on azimuthal angles radiation receivers and reference distances and angles between airborne radiation receivers. This method is complex, has insufficient accuracy and is limited in use geographically and weather conditions.

It is known that BINS-SP-2M strapdown inertial navigation systems are installed on modern combat aircraft in Russia. In the presence of GNSS signals in a hybrid operating mode, BINS-SP-2M provides software coordinates with a standard error of not more than 30 meters. In standalone mode, the error in determining coordinates using BINS-SP-2M after an hour of flight can be 1850 meters.

In order to improve the accuracy of the BINS-SP-2M operation in the absence of GNSS, coordinates and the course of moving objects during flight are determined and introduced. To determine corrections, high-speed moving objects in a straight section of the flight path send several signals containing identification data, current coordinates, the course determined by the navigation equipment and the time recorded by the onboard atomic clock. Monitors receive signals and calculate the coordinates and the software course at the time of sending signals.

Helicopters (UAVs and balloons) determine the coordinates and heading using two antennas installed on the software housing as previously described. Figure FIG. 7.

The coordinates and course corrections are defined as the difference between the values of moving objects read from the navigation equipment pointers before sending signals with the values calculated by the method proposed in the invention.

высоты Нов и времени по бортовым атомным часам, последовательно через первую и вторую антенны передают сигналы, содержащие зафиксированные значения показаний бортовых приборов. Пункты наблюдения принимают сигналы и по полученным сигналам формируют и отправляют сообщения на ЦПН. На центральном пункте наблюдения по сигналам поступившим от ПО и сообщениям с других ПН, определяют коодинаты положения антенн (точки F и Е), центра линии соединяющей антенны (X_O,Y_O) и высоту (H_O). Определяют дирекционный угол визирной оси дальномера в момент фиксирования отсчета по цели по формуле:

3. The method according to claim 1, characterized in that in order to determine the coordinates of the targets on helicopters (UAVs, balloons), at least two maximally mutually remote antennas, antenna switches, rangefinders, altimeters and other equipment are installed. The distances between the antennas, the position of the center of the vertical axis of rotation of the range finder relative to the center line of the connecting antenna and the horizontal angle between the axis of the helicopter and the zero value of the dial of the range finder δ _{zero are} determined in advance and transmitted to the central observation point. A diagram for determining the coordinates of an object is shown in the figure of FIG. 7. In flight, when a target is detected, the operators aim the rangefinders on the target, include the process of automatically reading the range (D _c ), counting along the rangefinder’s dial on the target

heights of Nov and time on the onboard atomic clock, sequentially through the first and second antennas transmit signals containing fixed values of the readings of the onboard instruments. Observation points receive signals and, based on the received signals, form and send messages to the central monitoring station. At the central observation point, the coordinates of the antennas (points F and E), the center line of the connecting antenna (X _O , Y _O ) and the height (H _O ) are determined from the signals received from the software and messages from other PNs. Determine the directional angle of the sighting axis of the range finder at the time of fixing the reference on the target according to the formula:

The distance to the target determined by the range finder according to the formula is brought to the horizon

The coordinates of the target are determined by solving the direct geodesic problem

Using the program "GIS" Operator "for power structures" at the coordinates X _C , Y _C determine the height of the target N _C.

In order to increase the reliability and accuracy of determining the coordinates, the operators carry out the operation of the range finder on the target, pressing the button to read the samples and send signals several times.

4. The method according to Claim. 1, characterized in that in order to determine the coordinates of the projectile drop points when targeting remote targets, some of the rockets in the factory are equipped with additional units, the use of which allows determining the position of the shells in flight.

In artillery, methods are known for determining installations for firing at targets, taking into account the real deviations of the shells from the target. The advantage of these methods is that they allow you to measure deviations of the gaps resulting from errors in accounting for meteorological, geophysical and ballistic conditions for the flight of the projectile. But when firing at ranges of tens or even hundreds of kilometers, the existing reconnaissance equipment does not allow to accurately measure the coordinates of the position of the shells on the flight path and to determine the deviation of the shells from the target.

Known invention A method of firing unguided shells from closed fire positions (see, for example, Shipunov A.G., Berezin SM., Morozov V.I., Golomidov B.A., Shamin M.S., Salnikov S.S., Kryltsov A.V. Method of firing of unguided projectiles from closed firing positions, RU 2236665, September 20, 2004).

The essence of the method proposed in the invention RU 2236665 is that with the help of a radar using the Doppler effect, the radial speed of flight of an artillery shell is measured on a path section. According to the measurement results, using the mathematical model of the movement of the projectile, meteorological conditions for firing are identified. The technical result in the invention RU 2236665 is to reduce the errors of meteorological training in range. To achieve this technical result, an artillery ballistic station is used, capable of detecting a drop in the velocity of a projectile on a path section. Next, the aiming angle is adjusted according to the shooting tables, depending on the results obtained for the initial speed and braking coefficient. The disadvantage of the invention RU 2236665 is that the measurements take into account the influence of weather conditions only in the initial section of the trajectory, which does not allow taking into account the influence of all factors on the deviation of the projectile from the aiming point. The disadvantage is that the radar radiation in the process of measuring the velocity of the shells unmasks the artillery ballistic station, which will inevitably be exposed to enemy fire.

To achieve the objective of the invention in the factory, additional units, including programmable atomic timers and other equipment provided by the invention, are installed on a part of rockets (PC) without violating ballistic and aerodynamic characteristics. These shells are used as sighting. To take into account the influence of all factors on the flight, the coordinates of the PC position are determined at the control points of the trajectory as close as possible to the aiming point. For this purpose, several control points, the heights of which provide radio-visibility of shells from observation points, are outlined on the descending section of the trajectory. The heights of the projectile radio-visibility points are calculated by the formula 1. Using the external ballistics formulas for the selected heights, the coordinates of the control points and the time of their passage through the PC after launch are calculated. According to the numbers and time of passage of control points, their coordinates are programs for sending signals by missile equipment. Before firing, programs for sending signals to the memory devices of atomic timers PC and atomic clock PN are introduced. A shot is fired, at the moment the PC leaves the guide, the timer is started, the timer starts at the atomic clock of the observation point located at the firing position. In flight, when the set time values are reached, timers initiate the sending of signals containing the numbers of control points and rockets.

Atomic clock observation points record the time of signal arrival, form and send to the central observation point messages containing the time of signal arrival, the number of control points and shells received from the PC equipment, the timer start time, and the number of observation points. Similarly, four shots are fired at a pace that provides for notching the signals of each projectile. At the central observation point, the received messages are converted into a spreadsheet format, sorted by destination, numbers of performers, shells and control points. The sorted signals solve the problem of determining the coordinates of the position of the shells at the time of sending signals.

Using the coordinates of the position of each sighting projectile at the control points, the coordinates of the probable points of impact of the shells are determined by extrapolation. Based on the coordinates of the probable points of impact of the shells, the coordinates of the center of dispersion of the shells, its deviation from the aiming points, and the correction of the settings for shooting to kill are determined. Corrections of installations for firing at the lesions obtained by this method, in fact, take into account the influence of all factors that caused deviations of the actual trajectory of the projectile from the theoretical throughout the flight path. The proposed method is applicable for shooting any other shells, provided that the equipment provided for by this invention is able to withstand dynamic loads arising in the bore or on the guide.

In order to camouflage elements of the battle order, firing to determine the coordinates of the points of incidence of sighting shells can be carried out from temporary positions.

5. The method according to Claim. 1, including the completion of rockets similar to Claim 4., characterized in that in order to verify the formulas of external ballistics in the conditions of polygons, flight paths of the PC are planned, control points of the path are selected, observation points are placed along the path, firing, according to the results of which the formulas of external ballistics are checked and, if necessary, specified.

It is known that the formulas and tables of the theory of external ballistics currently used were developed using the measurement and calculation tools available in the first half of the 20th century. Existing formulas do not take into account changes in geophysical and meteorological parameters along the projectile flight path. With firing ranges commensurate with the size of the zones within the limits of which the use of constant meteorological parameters is permissible, the adopted calculation method does not lead to significant errors. Modern and promising artillery systems have firing ranges significantly exceeding the firing range of artillery, for which formulas and tables have been developed. At large firing ranges, the flight of shells can take place on sections of the trajectory where the meteorological parameters differ significantly from the parameters at the point of the shot. Failure to take into account changes in these parameters entails deviations of shells from aiming points. Modern means of radar, computing and the Internet can make it possible to take into account the distribution of real meteorological parameters along the heights and directions of the movement of shells. An analysis of the influence can make it possible to identify more accurate mathematical dependencies and, possibly, change the methodology for taking into account meteorological elements in the calculation of shooting installations and the formula for external ballistics.

It is known that for a more accurate measurement of the parameters of the movement of shells developed and adopted "Mobile automated measuring complex Trajectory" [7] and "Mobile single-point system for external trajectory measurements Sazhen-TA" [8] and other means.

The developed systems have high accuracy, but do not allow continuous measurement of the flight parameters of projectiles on the entire trajectory of promising artillery systems.

To solve this problem in the factory on rockets, improvements similar to those described in Clause 4 are being carried out. In a firing range, PC flight paths are planned before firing. Observation points are placed along the trajectories at a distance from the trajectory from the radio visibility condition of all the trajectory points simultaneously from at least two PN, the geodetic coordinates of the VHF antennas of the observation points are determined. Calculate the installation for shooting, determine the frequency of sending signals. Using the external ballistics formulas, I calculate the coordinates of the control points of the trajectory and the time it takes for the missiles to travel through these points. According to the numbers and time of passage of control points, their coordinates are programs for sending signals by missile equipment. Before firing, programs are introduced to send signals to the memory devices of the atomic timers PC and atomic clocks of all observation points involved in the task. Firing is carried out, at the moments when the PC leaves the guides, timers are launched, timers for the start time of the atomic clocks of observation points located at firing positions are fixed. In flight, when the set time values are reached, timers initiate the sending of signals containing signal numbers and rockets. Atomic clock observation points record the time of signal arrival, form and send to the central observation point messages received from PC signals containing the timer start time, projectile and signal numbers, the time of signal arrival at the payload and the number of observation points. At the central observation point, the received messages are converted into a spreadsheet format, sorted by destination, numbers of performers, shells and signals. Using sorted signals, they solve the problem of determining the coordinates of control points and other values of the parameters of the real projectile flight path.

The process is repeated in various geophysical and meteorological conditions, to obtain statistical data. According to the obtained statistical data, average values of the parameters of the trajectory of the projectiles, their deviations from the theoretical ones are determined, the formulas for calculating the parameters of the trajectory and formulas for taking into account the influence of deviations of the firing conditions from the tabular ones on the flight of shells are checked and refined. This method allows, if necessary, to change the approach to taking into account the influence of weather conditions on the calculation of shooting installations.

6. The method according to Claim. 1, characterized in that in order to increase the accuracy of determining the coordinates of the software and increase the navigation and time field of the ISKVO Scorpio, the complex includes control points (CP) on balloons, additional blocks are installed on the CP and moving objects with atomic clocks and other equipment, determine the coordinates of additional antennas of ground-based KP.

It is known that within the framework of the federal target program "Global Navigation Systems" and in accordance with the "Russian Radio Navigation Plan for 2008-2015", repair and restoration work is provided for pulse-phase, differential-range radio navigation systems RSDN-10 "Chaika" and phase radio navigation long-range navigation systems RSDN-20 "Alpha". These stations are capable of providing objects with coordinates with a standard error of 100 to 300 m at a distance of up to 600 kilometers. They are replaced by the Scorpio ISKVO. ISKVO "Scorpion" in the absence of GNSS signals generates the IFRS radionavigation field at a distance of up to 1000 km from the leading station with a mean square error of coordinates determination of 500 m. In the presence of GNSS signals, in differential mode, the error in determining coordinates using ISKVO "Scorpion" does not exceed 50 m

To determine the coordinates by the method proposed in the invention, moving objects transmit radio signals containing identification data and the sending time determined by the onboard atomic clock. Considering that the balloons change their position under the influence of the atmosphere, to determine the coordinates of their position at the time of receipt of signals from moving objects, the equipment of each balloon fixes the time of arrival of signals by its onboard clock, relays the signals to the control points of the ISKVO Scorpion by adding the balloon number and time signal receipt. Ground control points record the time of arrival of aerostat signals by their clock. I calculate the time of movement of the signals between the antennas of the aerostats and the ground control points of the ISSCR as the difference in the time of registration of the signals by the hours of the control points and the time of sending signals by the hours of the balloons, determine the distances and coordinates of the balloons. The time of movement of the signals of moving objects to each balloon is determined as the difference between the time of recording the signals received by the balloon and the time of sending the signal by the clock of moving objects. The distances between the points of position of the antennas of the software at the time of sending signals and the points of the position of the antennas of balloons at the time of arrival of the signals of the moving object are determined. The distances and coordinates of balloons determine the coordinates of the software. The coordinates of the moving objects are sent through a closed data transmission segment to the email address of the central observation point, identified by the first signal group of the moving object.

The increase in the coordinate-time field of the ISKVO Scorpion is achieved through the use of control points on balloons. At the altitudes of balloons of 3000 m, the radius of coverage with an additional navigational-temporal field is 190 km for ground objects and 390 km for air. A block diagram of the exchange of information between a moving object, balloons, checkpoints ISKVO "Scorpion" and consumers is shown in Fig. 9.

Brief Description of the Drawings

FIG. 1 Block diagram of the exchange of information between a moving object, ground observation points, and consumers.

FIG. 2 Dependence of the range of radio visibility on the heights of moving objects and observation points above the surface of the earth

FIG. 3 Characteristics of affordable and promising compact atomic clocks

FIG. 4 A method for determining the coordinates of moving objects with a combined notch from measured distances using the cosine theorem.

FIG. 5 Table "Dependence of errors in determining the time of movement of radio waves, distances, coordinates and directional angles on the removal of moving objects and errors in determining the coordinates of observation points (σ _r ) by the proposed method."

FIG. 6 The dependence of errors in determining the angles of position of the software axes on the accuracy of determining the coordinates and distances between the antennas of moving objects.

FIG. 7 Determination of the directional angle of the axis of the moving object and the coordinates of the target by the coordinates of two antennas.

FIG. 8 The block diagram of the exchange of information when reconciling the time scales of observation points with the time scale of the ISKVO Scorpio through a control point located on a balloon.

FIG. 9. The flowchart of the exchange of information between a moving object, balloons, checkpoints ISKVO "Scorpion" and consumers.

List of sources used:

1. Frequency standards rubidium FE-5650A. Manual. GZHKD.468753.001 RE. 2015 year

2. Methods of comparison of spaced hours

one). G.N. Paly, E.V. Artemyeva Synchronization of high-precision measures of time and frequency. Moscow, "Publishing House of Standards" 1976, p. 168

2) C. Audoin, B. Guinot. "Les Fondements de la Mesure du Temps" Paris, Masson. 1998 (translation of "Time Measurement" Moscow, Technosphere 2002, p. 399)

3. The study of the standard time and frequency based on primary standards. Elyubaev B.Sh., scientific keeper of the state standard of time and frequency, SKF RSE "KazInMetr"

4 "The method of satellite geodetic measurements", the parameters characterizing the accuracy of determining the position. Table 4.

http://wiki.cadastre.ru/doku.php?id=metod_sputnikovyih#fn_7

5. Inertial navigation system F175

http://www.codaoctopus.com/products/f175

http://www.demetra5.kiev.ua/en/catalog/sistemu-pozitsionirovaniya-i-orientatsii/F175/2?search=

6. Presentation “Functional addition to GNSS GLONASS based on pseudo-satellites ... VedaProekt LLC and Almaz-Antey Air Defense Concern”, Slide 38, Website -.

http://www.myshared.ru/slide/745284/

http://www.docme.ru/doc/567152/sistemy-lokal_noj-navigacii

7. Mobile automated complex “TRAJECTORY”

http://www.ntiim.ru/info.php?x=traektor

8. MMKOS "Sazhen-TA", a mobile one-item system for external trajectory measurements, http://www.arms-expo.ru/armament/samples/1603/72321/

9. “Time of increased accuracy”, Russian newspaper - Federal issue No. 7369 (203), Igor Zubkov, 09/10/2017, https://rg.ru/2017/09/10/v-rf-sozdali-sverhtochnve-chasy- pozvoliaiushchie-uluchshit-sputnikovuiu-navigaciiu.html

Claims (6)

1. A method for determining the coordinates and angles of the axes of moving objects using atomic clocks installed on objects and at observation points, including the installation of additional blocks on moving objects (PO) and observation points (PN) depending on the tasks performed, consisting of atomic hours, rangefinders, altimeters, devices for reading digital values of the parameters of equipment installed on software, blocks for generating, encoding, sending, receiving, decoding signals, VHF transceivers, antennas, antenna commutations tators, computing devices and power sources, positioning, placement of stationary monitors on the ground or on tethered balloons, determination of the coordinates of fixed antennas in advance, coordinates of the fixed antennas on balloons at the moment of signal from the software, synchronization of atomic clock time scales and adjustments systems, determination of coordinates, characterized in that for the purpose of determining coordinates, moving objects transmit radio signals encoded with a pseudo-random code containing service information including the established designation of the fact of determining the coordinates of moving objects, consumer identification numbers, the heights of objects above the earth’s surface, determined using altimeters, corrections of the time scales of the clocks of moving objects, serial numbers of antennas, antenna numbers, time of sending signals recorded by atomic clock software, points the observations receive signals, according to their clocks, record the time of their arrival, form and send via the closed data transmission segment to the central observation points of the messages containing the PN identification numbers, the received software signals, and the time of their arrival, where they determine the signal movement time as the difference between the time of registration of signals of moving objects by the hours of each observation point and the time of sending signals recorded by the hours of moving objects, when determining the time of movement of signals signal propagation delays due to the length of the connecting cables, switching time and signal generation, define distances as the product of the time the signals travel and the propagation velocity of radio waves, determine the coordinates of moving objects by solving the combined notch problem according to the measured distances and coordinates of at least two observation points using the cosine theorem and the GIS “Operator for power structures” program, determine the angles of the axes of moving objects moving at high speeds, at the coordinates of at least two points of the rectilinear portion of the trajectory, the angles of the axes of objects moving at low speeds, along the distances between the antennas PN and ON and distances between antennas ON using the sine theorem, 2. The method according to claim 1, characterized in that in order to determine the corrections of the standard navigation equipment (values of pre-launch orientation errors in the direction of the missiles), moving objects on straight sections of the flight path send a series of signals containing the identification data of the software, current coordinates and course, determined navigation equipment, and the dispatch time recorded by atomic clock, monitors receive signals and send messages to central observation points, where according to messages received from monitors and software, they calculate the coordinates of the position of the software at the time of sending signals and the actual course of the software, compare the calculated values of the coordinates and course with the fixed strapdown inertial navigation systems at the time of sending signals, determine the corrections of the coordinates and course of the software. 3. The method according to claim 1, characterized in that for determining the coordinates of the targets reconnaissance helicopters (UAVs, aerostats) are equipped with atomic clocks, rangefinders, altimeters, antenna switches and two (three) maximally distant antennas, distances between antennas, the position of the axes of the rangefinders relative to the antennas, they are determined in advance and transmitted to the PN, in flight, upon detection of targets, the operators aim the rangefinders on the target, include the process of reading time, ranges, rotation angles of the rangefinders on the target and flight altitudes, sequentially through the first and second antennas send signals containing the identification data of objects, antenna numbers, time recorded by the clock, and data read from rangefinders and altimeters, observation points receive signals and form and send messages to the central observation points from the received signals, where the signals received from the software and the messages from the PN determine the coordinates of the antennas, the angles of the axes of the software, the coordinates of the range finders, the directional angles from the range finders to the target and the coordinates of the targets. 4. The method according to claim 1, characterized in that the technical result achieved is the coordinates of the points of incidence of special sighting shells when firing at targets located at a considerable distance, for which factory improvements are made to part of the standard sighting shells for sighting, not violating their technical and ballistic characteristics the installation of additional units, including an atomic clock, signal generation units, VHF transmitters and antennas, determine the aiming settings, outline several to points that are as close as possible to the target and having radio visibility with the PN, synchronize the clock, calculate and enter the values of the signal delivery time by the projectile transmitters when they reach the intended points, make 4 shots with sighting projectiles, in flight at the estimated time, the projectile transmitters send signals containing service information and the time of sending, observation points record the time of arrival of signals by atomic clocks, form and send to the central observation points messages containing a signal The numbers obtained from the shells, the numbers of observation points and the time of arrival of the signals, where they solve the problem of determining the coordinates of the position of shells at the moments of sending signals, determine the coordinates of the points of contact with the ground using the coordinates of the points of position of each sighting projectile, and determine their average values from the calculated coordinates. 5. The method according to claim 1, characterized in that the technical result achieved is the coordinates and time of the position of the shells, along the entire flight path that allows you to check and, if necessary, refine the formulas of external ballistics, including the completion of shells in the factory, preserving weight, centering mass and ballistic characteristics by installing additional units, including atomic clocks, signal generating units, VHF transmitters with antennas and power sources, to achieve the result, outline the field trajectories that PC, along the trajectories the necessary number of observation points is mixed, determine the aiming settings before firing, calculate the parameters of the theoretical flight trajectories, determine the frequency and time of sending signals on the trajectories, synchronize the clock and enter the values of the time of sending signals to additional shell units, after firing at estimated time shell transmitters send signals containing the numbers of shells and signals, the sending time recorded by atomic hours, observation points The stations receive signals, record the time of their arrival according to their clock, after the completion of the missile flights, transmit information to the central observation points, where according to the information received from the aircraft, the values of the parameters of the real projectile flight paths are calculated, the process is repeated in various geophysical and climatic conditions to obtain the necessary statistical data , according to the obtained data, determine the average values of the parameters of the trajectory of the projectiles, their deviations from theoretical, check and, if necessary, ut formulas for calculating trajectories and formulas for accounting for the influence of deviations of the firing conditions from tabular on the flight of shells. 6. The method according to claim 1, characterized in that in order to increase the accuracy of determining coordinates on moving objects and ground control points of the ISKVO Scorpio, additional blocks with an atomic clock are installed in accordance with Clause 1 and the proposed method for determining coordinates is used to increase the coordinate the ISKVO "Scorpion" fields include observation points located on balloons having similar additional blocks and use the method for determining the coordinates of moving objects using balloons according to Sec. 1, in order to increase the time field of the control points of ISKVO Scorpion, reconcile the time scales of the control points with the time scales of observation points through balloons transmitting signals containing service information according to a given program, and the time recorded by atomic clocks of balloons, ISKVO control points accept signals, determine the movement time of the signals, the distances and coordinates of the aerostat antennas at the time of sending the signals at several control points, determine the corrections of the aerostat clock time scales Comrade in each CP, the mean values of the amendments and refined values of the time of sending signals balloons, balloons and send the coordinates specified time value of sending signals to the central balloon observation points, where a similar manner determined by the amendments of time scales of hours of ground observation points and software.

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