RU2837059C1 - Unmanned aerial vehicle control system - Google Patents

Abstract

FIELD: aviation.

SUBSTANCE: invention relates to unmanned aerial vehicle (UAV) movement control systems for its high-precision bringing to the specified object. UAV control system includes a global navigation satellite systems receiver with an antenna, connected to a synchronizer, as well as to transmitters mounted on spacecraft, module for storing coordinates of the area of location of given target objects and their prioritization, a module for a three-dimensional electronic map of the area, where the probability of finding the target object is maximum, module for storing masks specific for radar displays of target objects obtained from different angles in a given frequency range, module for preparation and execution of final operation and their mutual connections. A phased antenna array is used as the antenna device.

EFFECT: high accuracy of aligning UAVs to mobile targets on the earth's surface.

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Description

The invention relates to systems for controlling the movement of an unmanned aerial vehicle (UAV) for searching, detecting and high-precision guiding it to a given object.

A UAV control system is known that uses a single-channel on-board radar station (RLS) of the centimeter range with a phase-shift keyed probing signal as a radar sighting device (a meter of the coordinates and parameters of the target object, or, in other words, a coordinator) [1, p. 4], which ensures higher target tracking accuracy and noise immunity with respect to active and passive interference, which is known, for example, from [2, 3]. In addition to the coordinator, the unmanned aerial vehicle control system contains an autopilot system (autopilot), connected to an on-board electronic computer (BEVM), which is designed with the possibility of connecting to the pre-launch preparation console and entering the flight task, which is located at the UAV launch site. The coordinator contains a transmitter in which a pulsed probing signal is formed with a change in the phase of the carrier frequency by a pseudo-random binary code, an antenna mechanically connected to the antenna drive, a receiver, a synchronizer, a range finder (range counter) and a signal processing device including a signal compression filter, a threshold and a coordinate fixing device that forms signals of the range and angular position of the reflected signals received by the on-board computer. The on-board computer determines the coordinates of the true target, compares the data on the location of the UAV measured by the autopilot with the data on the location of the true target and forms signals for correcting the course of the UAV received by the autopilot.

The disadvantages of the analogue are the low efficiency of the control system when it is necessary to guide the UAV to a non-radio-contrast moving target object, as well as a decrease in the accuracy of determining the range to the target object during a long UAV flight due to the discrepancy between the on-board time scale and the true unified time scale UTC [4] and, consequently, to inaccurate guidance of the UAV to a given object and failure to complete the flight mission.

A control system for an unmanned aerial vehicle is known, which, based on most of its essential features, is accepted as a prototype [5]. It includes an autopilot, the input and output of which are connected respectively to the first output and second input of the on-board computer, the first input of which is the input for connection to the pre-launch preparation and flight task input console, and a radar coordinator with a phase-shift keyed probing signal, which contains an antenna connected by a signal input and output to the transmitter and receiver, respectively, and mechanically connected to the antenna drive, a synchronizer, a rangefinder and a signal processing device, which includes a signal compression filter, a threshold device and a coordinate recording device, the first through third inputs of which are connected respectively to the output of the threshold device, the output of the rangefinder and the information output of the antenna drive, and the outputs at which the values of the distance and angular position of the reflected signals are formed are connected to the fourth and fifth inputs of the on-board computer, the sixth input of which and the input of the transmitter are connected to the first output of the synchronizer, transmitting a pulse sequence with a probing frequency, the second output of which, transmitting a sequence of synchronization pulses, is connected to the second input range finder, the first input of which and the input of the receiver at the end of the probing pulse signal are connected to the second output of the transmitter, the heterodyne output of which is connected to the heterodyne input of the receiver. The control inputs of the threshold generation unit, according to the mode flag signal and the scale assignment signal, are connected respectively to the fifth and seventh outputs of the on-board computer, the output of the threshold generation unit is connected to the level input of the threshold device, and the corresponding signal inputs are connected to the outputs of the receiver, at which the average value of the noise intensity and the average value of the intensity of the reflected signals are formed, the code output of the transmitter and the video signal output of the receiver are connected to the first signal inputs of the first and second switches, respectively, the control inputs of which are connected to the second output of the on-board computer, and the second signal inputs are connected respectively to the third and fourth outputs of the on-board computer, from which the sequence of the binary array of measurements and the sequence of the reference binary array are transmitted, the first and second inputs of the signal compression filter are connected to the outputs of the first and second switches, respectively, and its output is connected to the signal input of the third switch, the control input of which is connected to the sixth output of the on-board computer, and the corresponding outputs are connected to the signal input of the threshold device and the signal input of the maximum fixation device, the output of which, transmitting a signal characterizing the location of the binary array of measurements on the reference map, is connected to the third input of the on-board computer. The disadvantages of the prototype include:

- low efficiency of the system when the UAV is operating on a moving target object, since it is designed to bring it to a given point on the earth's surface;

- a decrease in the accuracy of determining the range to the target (when comparing its value with that set during pre-flight preparation) during a long UAV flight due to the discrepancy between the on-board time scale and the true unified time scale UTC [4];

- low noise immunity of the radar due to constant operation at one frequency;

- low reliability, increased weight and energy consumption due to the use of an antenna connected to an electromechanical drive.

The technical objective of the invention is to increase the accuracy of guiding a UAV to moving target objects on the earth's surface.

Said technical result is achieved in that the UAV control system, comprising a pre-launch preparation and flight task input console, an autopilot connected via a two-way link to an on-board electronic computer (OEC), a radar coordinator with a phase-shift keyed probing signal, which comprises an antenna connected by a signal input and output to a transmitter and receiver, respectively, a synchronizer, a rangefinder and a signal processing device, which includes three switches, a maximum fixing device, a signal compression filter, a threshold device, a threshold generation unit and a coordinate fixing device, the inputs of which are connected to the output of the threshold device and the output of the rangefinder, and the outputs at which the values of the distance and angular position of the reflected signals are formed are connected to the corresponding inputs of the OEC, the corresponding input of which and the input of the transmitter are connected to the signal output of the synchronizer, transmitting a pulse sequence with a probing frequency, the second output of the synchronizer, transmitting a sequence of synchronization pulses, is connected to the second input of the rangefinder, the first the input of which and the input of the receiver for the end of the probing pulse signal are connected to the second output of the transmitter, the heterodyne output of which is connected to the heterodyne input of the receiver, the control inputs of the threshold generation unit for the mode flag signal and the scale assignment signal are connected to the corresponding outputs of the on-board computer, the output of the threshold generation unit is connected to the level input of the threshold device, and its corresponding signal inputs are connected to the outputs of the receiver, at which the average value of the noise intensity and the average value of the intensity of the reflected signals are generated, the code output of the transmitter and the video signal output of the receiver are connected to the first signal inputs of the first and second switches, respectively, the control inputs of which are connected to the corresponding output of the on-board computer, and the signal inputs of the first and second switches are connected to the corresponding signal outputs of the on-board computer, from which the sequence of the binary array of measurements and the sequence of the reference binary array are transmitted, the first and second inputs of the signal compression filter are connected to the outputs of the first and second switches, respectively, and its output is connected to the signal input of the third a switch, the control input of which is connected to the corresponding output of the on-board computer, and the first and second outputs are connected to the signal input of the threshold device and the signal input of the maximum recording device, the output of the maximum recording device, transmitting a signal characterizing the location of the binary array of measurements on the reference map, is connected to the corresponding input of the on-board computer, a module of a three-coordinate electronic map of the area where the probability of finding the target object is maximum, a module for storing masks characteristic of radar displays of target objects obtained from different angles in a given frequency range, a module for storing the coordinates of the area of location of the specified target objects with their arrangement by priorities, a module for preparing and performing the final operation, a receiver of global navigation satellite systems with an antenna, connected by two-way links to the synchronizer, the on-board computer, as well as to more than three transmitters installed on the spacecraft, are additionally introduced, connected by two-way links to the on-board computer, the on-board computer is also connected by two-way links to the transmitter, the pre-launch preparation and flight task input console when performing UAV flight preparation procedures and collecting reports on the operability of its units, the corresponding computer input/output is intended for issuing control commands to the UAV propulsion systems and rudders, receiving reports from them on the execution of a given command, wherein the antenna is made in the form of a phased antenna array consisting of n antenna emitters connected to parallel chains of series-connected computer-controlled phase shifters and "Receive-Transmit" switches, wherein the output of each switch in the "Receive" mode is connected via a high-frequency adder to the receiver, and the input of each "Receive-Transmit" switch in the "Transmit" mode is connected via a power divider to the transmitter.

In the UAV control system, the signal processing device, when working on target objects, first detects reflected signals in the viewing area against the background of noise (i.e., first works for its intended purpose), and then switches to the mode of comparing and summing binary sequences formed by additional threshold processing of the measured array of observed signals and a previously prepared reference binary sequence (mask). Based on the results of this comparison, the coordinates of the coordinator's measurement zone are determined, and the position of the UAV relative to the specified reference point, and recognition of the target object is carried out jointly with the computer.

The figure shows the structural diagram of the UAV control system and the following designations are used:

1 - an antenna made in the form of a phased antenna array,

2 - transmitter;

3 - receiver;

4 - synchronizer;

5 - signal processing device;

6 - on-board electronic computer;

7 - autopilot;

8 - rangefinder;

9 - pre-launch preparation and flight mission input control panel;

10 - signal compression filter;

11 - threshold device;

12 - coordinate recording device;

13 - first switch;

14 - second switch;

15 - third switch;

16 - maximum fixing device;

17 - threshold formation unit;

18 - a receiver of global navigation satellite systems with an antenna connected to a synchronizer, as well as to transmitters installed on spacecraft;

19 - module for storing coordinates of the location of specified target objects with their prioritization;

20 - module of precise three-coordinate electronic map of the area where the probability of finding the target object is maximum;

21 - module for storing masks characteristic of radar images of target objects obtained from different angles in a given frequency range;

22 - module for preparation and execution of the final operation;

23 - power divider;

24 - “Receive-Transmit” switch, controlled by the computer 6;

25 - high-frequency summing device;

26 - phase shifter controlled by the computer 6;

27 - antenna emitter;

28 - input/output of the unmanned computer, designed to issue control commands to the propulsion systems and rudders of the UAV and to receive reports from them on the execution of a given command.

The essence of the invention is that in order to increase the accuracy of guiding the UAV to moving target objects on the earth's surface, the following procedures are added to the UAV control process:

continuous synchronization of the digital circuits of the synchronizer 4 using precise one-second marks of the receiver 18 of the global navigation satellite systems, connected to the transmitters installed on the spacecraft (not shown in the figure), the number of which should be more than three, in order to eliminate the inaccuracy of measuring the distance to the target object due to the discrepancy between the on-board time scale and the true scale of the single world time during a long flight of the UAV;

using constant comparison of the current coordinates of the UAV with the coordinates of an accurate three-coordinate electronic map of the terrain, the area of the expected location of the target object (target objects) with its movement parameters specified in the flight mission during pre-launch preparation, issuing commands from the on-board computer 6 via input/output 28 to the UAV propulsion systems (not shown in the figure) when the UAV diverges from the specified course;

storing electronic masks characteristic of radar images of target objects obtained from different angles in a given frequency range, entered in the flight mission during pre-launch preparation and allowing the required object on the ground to be accurately determined by correlating the digital radar image of a section of the terrain with one of the digital masks embedded in module 21 during pre-launch preparation;

input module for preparing and performing the final operation, which allows, with the help of the on-board computer 6, to ensure the precise delivery of the corresponding load to the selected target object, to generate a command to perform the specified operation in module 22 and to perform the final operation, for example, dropping the load;

replacing the antenna with an electromechanical drive with a phased antenna array 1, which allows a narrow directional pattern, controlled by signals from the UAV 6, to scan only a narrow, specified section of the terrain along the UAV flight path and thereby free oneself from interference created at neighboring points in the terrain, and also, due to electronic scanning, to increase the rate of survey of the Earth's surface and, consequently, to obtain more accurate images of target objects in the same time interval and thereby increase the accuracy of their recognition and determination of location coordinates;

application of the pseudo-random frequency hopping (PRFH) mode of the probing signal in the synchronizer 4 according to the control signals of the on-board computer 6 when working in interference by using known operations of the “cognitive radio” technology [6], for example, monitoring the radio frequency spectrum by assessing the level of interference at each operating point of the radar, for example, in every 32nd repetition period, selecting the most optimal frequency (with a minimum level of interference) for the following repetition periods.

According to the figure, in the UAV control system, the input of the transmitter 2 and the corresponding input of the on-board computer 6 are connected to the signal output of the synchronizer 4 (the output of the pulse sequence with the probing frequency), and the second (counting) input of the range finder 8, the first input of which and the second input of the receiver 3 (according to the signal of the end of the probing pulse) are connected to the second output of the transmitter 2, are connected to the first (signal) output of the transmitter 2. The first (signal) output of the transmitter 2 is connected to the antenna 1, the signal output of which is connected to the first input of the receiver 3.

The second output of the transmitter 2 is connected to the corresponding inputs of the receiver 3 and the rangefinder 8, its heterodyne output is connected to the heterodyne input of the receiver 3, and its code output is connected to the first signal input of the first switch 13. The video signal output of the receiver 3 is connected to the first signal input of the second switch 14, and the output at which the average value of the noise intensity is formed (the output of the SHARU - the procedure for automatic adjustment of the noise level), and the output at which the average value of the intensity of the reflected signals is formed (the output of the AGC - the procedure for automatic adjustment of the gain), are connected to the corresponding signal inputs of the threshold formation unit 17, the output of which is connected to the level input of the threshold device 11.

The output of the threshold device 11 is connected to the corresponding input of the coordinate fixing device 12, the other input of which is connected to the output of the range finder 8, and the two outputs, on which the values of the distance and angular position of the reflected signals are formed, are connected to the corresponding inputs of the unmanned computer 6, connected by two-way communication with the autopilot 7, and the corresponding input/output is the input/output for connecting to the pre-launch preparation console 9, receiving signals for monitoring the operability from the UAV units and entering the flight task.

The signal input of the threshold device 11 and the signal input of the maximum fixation device 16 are connected to the two outputs of the third switch 15, respectively. The signal input of the third switch 15 is connected to the output of the signal compression filter 10, both inputs of which are connected to the outputs of the first and second switches 13 and 14, respectively. The control inputs of the first and second switches 13, 14 are connected to the corresponding outputs of the on-board computer 6. The corresponding output of the on-board computer 6 is connected to the control input of the third switch 15. The control input of the mode flag and the control input of the scale assignment of the threshold formation block 17 are connected to the corresponding outputs of the on-board computer 6.

The input of the computer 6 is connected to the output of the maximum fixing device 16, on which a signal is generated that characterizes the location of the binary array of measurements on the reference map, and the outputs of the computer 6, from which the sequence of the binary array of measurements and the sequence of the reference binary array are transmitted, are connected to the signal inputs of the first and second switches 13 and 14, respectively.

Antenna 1, transmitter 2, receiver 3, synchronizer 4, rangefinder 8 and signal processing device 5 together with on-board computer 6 perform the functions of a radar coordinator of the UAV control system.

Antenna 1 is a part of the coordinator and is made in the form of a phased antenna array consisting of n antenna emitters 27 connected through n parallel chains of series-connected phase shifters 26 controlled by the on-board computer 6, switches 24 "Reception-Transmission" connected to the inputs of the high-frequency adder 25 and through it to the high-frequency input of the receiver 3 in the "Reception" mode or through parallel chains of n series-connected antenna emitters 27, phase shifters 26 controlled by the on-board computer 6, switches 24 "Reception-Transmission" connected to the outputs of the power divider 23 and through it to the high-frequency output of the transmitter 2 in the "Transmission" mode. Nodes 23, 24, 26, 27, the second and third of which are controlled by signals from the computer 6, perform the function of a beam-forming system for transmission when emitting a probing signal, and nodes 25, 24, 26, 27, the second and third of which are controlled by signals from the computer 6, perform the function of a beam-forming system for reception when receiving reflected signals.

During the scanning process, the on-board computer 6 generates information signals of the angular position of the center of the main beam of the antenna pattern 1 relative to the body of the aircraft at the current moment in time: ψ _a is the angle of rotation in the horizontal plane and u _a is the angle of rotation in the vertical plane. Control of the position of the center of the main beam of the antenna pattern 1 in both planes is identical, therefore, for simplicity of presentation, only the rotation of the beam in the horizontal plane is considered in what follows. The construction of the control system for the nodes of antenna 1 of the radar coordinator is described in detail, for example, in [7].

Transmitter 2 can be implemented, for example, in the form of an amplifying chain on a traveling wave tube (TWT) [5], in which the carrier frequency of the exciter, changing from period to period, is modulated in phase by a pseudo-random M-sequence formed by a code generator and a phase manipulator [8]. The repetition rate and duration of the probing pulses to the transmitter are set by the synchronizer 4 using signals from the computer 6. The pulse corresponding to the moment of the end of the probing pulse is formed at the control output of the power amplifier, which serves as the second output of the transmitter 2, and the signal output of the power amplifier forms the first output of the transmitter 2. The output of the heterodyne frequency of the transmitter 2 forms the third output of the transmitter, and the output of the code generator, on which the code sequence of the change in the phase of the carrier frequency of each emitted signal is formed - u ₁ , forms the fourth output of the transmitter 2. An example of the implementation of a transmitter with a phase-shift keyed signal and the blocks included in it is known, for example, from [2, 3, 9].

Receiver 3 is made in the form of a series-connected high-frequency amplifier, a mixer, the second input of which forms the heterodyne (third) input of the receiver, an intermediate frequency amplifier (IFA) and a video amplifier. Variants of constructing a radar receiver with a phase-shift keyed signal are described in [2, 3, 9]. An important circumstance is the mandatory presence of the SHARU and AGC procedures in the receiver. The first output of receiver 3 is the main output of the video amplifier, on which a sequence of ig video signals reflected from the observed objects is formed, the second output is the output of the SHARU circuit, on which a digital signal a _w is formed, the value of which is proportional to the average value (level) of the noise intensity of the reflected signals, the third output is the output of the AGC circuit, on which a signal a _c is formed, proportional to the average value of the intensity of the reflected signals.

The BEVM 6 is a universal computer that receives information from inputs with time division and generates information or control signals at the corresponding outputs. The design of the BEVM is known and is given in [10, 11]. In particular, a Micro PC from Octogon Systems can be used - 5066-586-133MHz-1 MB, 2 MB Flash CPU Card.

The main navigation device in the system is the receiver 18 of global navigation satellite systems, as it has high precision characteristics. In the presence of interference and the impossibility of operating the receiver 18 of global navigation satellite systems, the autopilot 7 is used. The autopilot 7 is a system of gyroscopic devices (in the simplest case, a gyroazimuth, a gyrohorizon and three gyrointegrators) measuring with the help of the on-board computer 6 the path traveled in the starting coordinate system: X is the flight direction specified at the starting point, Y is the flight altitude, Z is the lateral deviation from the vertical plane coinciding with the flight direction specified at the starting point, or, in other words, the firing plane. When the current coordinates Y _t and Z _t at X _t measured by the autopilot deviate from the values specified by the flight task, the autopilot autonomously or with the help of the on-board computer 6 issues control signals to the steering controls, with the help of which the lateral deviation from the firing plane Z _t =Z _n and the flight altitude Y _t =Y _n are brought into conformity. The information necessary for the implementation of the autopilot is given, for example, in [12].

It is also known that for controlling the UAV (in the case of the inability to operate the receiver 18 global navigation satellite systems) in altitude, an altimeter is used, the readings of which in the vertical plane may be more accurate than those of the gyrointegrator, but for the essence of the proposed invention this is of no importance. For this reason, the further description is limited only to consideration of the control of the unmanned aerial vehicle in the horizontal plane.

To set the UAV movement program in the lateral plane (in case of inability to operate the receiver of 18 global navigation satellite systems), the gyroscopic instruments are set to zero in the azimuth plane, coinciding with the direction to the target - ψ (the firing plane). In this case, the autopilot processes disturbances, reducing the misalignment ΔZ (deviation from the firing plane) to zero. The path traveled by the UAV along the X axis in this case corresponds to the current distance D _t from the launch site to the UAV. The final flight point is set by the distance D _k or the coordinates of the target object search area when it is mobile.

The current range to the supposed target object is calculated in the on-board computer 6 based on data from the receiver 18 of the global navigation satellite systems, and if it is not possible to operate it, using the range finder 8. The range finder 8 in the system under consideration is a counter of synchronization pulses coming from the second output of the synchronizer 4. The counter is reset and started by a signal from the second output of the transmitter 2 coming to the first input of the range finder 8. The output of the counter is the output of the range finder 8. The output signal of the range finder 8 in serial or parallel code carries information about the time T ₃ that has passed since the end of the radiation pulse [5]. The measured discreteness (the accepted time discreteness Δτ) or the value of the least significant digit of the counter is, for example, 0.01 μs, which corresponds to a distance of 1.5 m. The number of digits of the counter corresponds to the maximum distance of possible observation of the target object or the repetition period of the probing pulses of the transmitter 2.

The control panel 9 is intended for checking the serviceability of all on-board systems of the UAV during pre-launch preparation and input into the on-board computer 6 via input/output 28 of the flight task. Before the launch of the UAV, all on-board devices are supplied with power from an external source, and based on the results of the test check, the system units via the on-board computer 6 issue reports on readiness (or malfunction), based on which the operator makes a decision on the possibility of launching the UAV. After checking the serviceability of all on-board units and assemblies, the flight task in the form of a flight trajectory program and execution of other procedures is transmitted to the memory of the on-board computer 6. In this case, if there is no possibility of operating the receiver 18 of global navigation satellite systems in tabular form, the planned route is entered, specified in the form of dependencies of coordinates Y(X) and Z(X), where X is the longitudinal coordinate in the firing plane, Y is the flight altitude and Z is the lateral deviation from the firing plane. Using the control panel 9, the initial position of the autopilot gyro instruments is set, corresponding to the selected firing plane [5]. In addition, using the control panel 9, the main parameters for the masks of target objects and the priority of their servicing, the coordinates of the possible location, the method of delivering the cargo in module 22, operations according to the logical-time diagram, the operating modes of the onboard equipment, and others are entered into the onboard computer 6.

The equipment for pre-launch testing and orientation of gyroscopic instruments is known, for example, from [13-16]. The console is, for example, an operator terminal that contains a keyboard, a monitor, and a central control and communication device that includes a computer, a monitor, a keyboard, a mouse, additional memory, special software for implementing the corresponding procedures for forming and entering a flight task into the on-board computer 6, and adapters that organize a network with the on-board computer 6 via interface highways. An example of one of the possible implementations of console 9 can be the diagram of the operator console of the ship's combat information and control system [17].

The signal compression filter 10 comprises, for example, a storage register and a shift register, the outputs of which are connected bit-by-bit to the inputs of a multi-bit OR element, the output of which forms the output of the signal compression filter 10. The inputs of the registers form the first and second inputs of the filter 10 [5].

The threshold device 11 is made, for example, in the form of a comparator-amplifier of direct current with a differential input without external feedback. A level signal from the output of the threshold formation unit 17 is fed to its second input, which determines the level of the comparator response threshold, and a signal U ₃ from the output of the compression filter 10 through the switch 15 is fed to the first input. If the value of the signal U ₃ at the output of the compression filter 10 is greater than the threshold value U _th , then a normalized signal of constant amplitude with a duration of Δτ will appear at the output of the threshold device 11.

The coordinate recording device 12 is a circuit for matching the time delay signal T ₃ coming from the output of the range finder 8 and the signals of the angular position of the main beam of the antenna device 1 ψ _a coming from the on-board computer 6 with the control signal-pulse from the output of the threshold device 11. In the presence of the control pulse, the values of the distance to the target object D _ц = сТ ₃ /2 (с is the speed of propagation of electromagnetic radiation) and the angle ψ _a (similarly, if necessary, the angle U _a ) are recorded in the corresponding output registers. The coincidence circuit can be implemented in a digital version - in the form of trigger registers [5] or programmatically - in the on-board computer 6. The number of output registers in the coordinate recording device 12 is determined by the maximum possible (permissible for a given UAV) number of simultaneously observed target objects, among which, according to certain features (for example, according to the mask - the radar portrait of the target object in the frequency range used), the destination object to which the UAV is guided is determined. For UAVs guided to radio-contrast points or objects, the maximum number of possible observed target objects is determined by the computing capabilities of the UAV 6.

Switches 13, 14 and 15 are conventional two-position electronic relays (can be implemented programmatically when using digital signal processing). The control inputs of switches 13, 14 and 15 are connected to the corresponding outputs of the UAV 6. These outputs issue commands to switch to the mode of bringing the UAV to a non-contrast object after evaluating the results of the radar survey of the area or the instructions in the flight mission.

The normally closed contacts of switch 13 switch the signal of the code sequence of the phase change of the probing signal from transmitter 2 to the first input of signal compression filter 10, and the normally open contacts of this switch switch the sequence of the binary array of measurements from the corresponding signal output of computer 6 to its input [5].

The normally closed contacts of switch 14 switch the video signal output of receiver 3 to the second input of signal compression filter 10, and the normally open contacts of this switch switch the code sequence of the reference binary array from the corresponding signal output of computer 6 to the second input of signal compression filter 10 [5].

The normally closed contacts of switch 15 switch the output signal of signal compression filter 10 to the input of threshold device 11, and the normally open contacts switch it to the input of maximum fixing device 16.

The threshold generation unit 17 for digital signal processing can be implemented programmatically, in another case, for example, according to the circuit [5], in which the two-position relay is intended for switching the average noise intensity value a _w signal to the input of the scaling amplifier or (if the mode flag signal is present at the control input) the average signal intensity value a c _of unit 17 to the input. The three-position polarized relay is intended for switching the resistors in the amplifier feedback circuit. The coefficients: the transfer of the average noise value a _w from the signal input of the AGC of unit 17 to its output, the average signal value a c _from the signal input of the AGC of unit 17 to its output in the absence of a control signal at the control input, the transfer of the threshold generation unit 17 in the presence of a positive or negative control signal on the polarized relay are determined by the ratio of the sum of the resistor values in the amplifier feedback circuit [5]. The value of the signal at the output of the threshold generation unit 17 determines the threshold value U _{th of} the threshold device 11.

The maximum fixing device 16 can be implemented in analog or digital form using a computer 6. An example of its implementation in analog form is given in the patent [5].

Depending on the type of the target object (radio-contrast or non-radio-contrast), the control system of the unmanned aerial vehicle operates in one of two guidance modes, which are set as a mode flag and entered into the flight task before the UAV launch from the pre-launch preparation and flight task input console 9.

The UAV is guided to its destination using a radar coordinator, which operates in this mode as follows.

The main beam of the antenna pattern 1 scans the space in front of the UAV along the flight path. The transmitter 2 with the carrier frequency specified by the synchronizer 4, switched from period to period using the signals of the on-board computer 6, emits phase-shift keyed probing pulses, the repetition frequency of which also changes from period to period using the on-board computer 6. The code of the sequence of the change in the phase of the carrier frequency u ₁ through the normally closed contacts of the switch 13 enters the input of the filter 10 for compressing the signals and is stored in it. The video signal from the first output of the receiver 3 enters the second input of the filter 10, which is a sequence of signals u ₂ , updated by shifting through each time discrete Δτ. For example, with a duration of one discrete of the probing pulse Δτ = 0.01 μs, the update frequency is 100 MHz. With the duration of the probing signal T=0.4 μs and Δτ=0.01 μs, the number of cells of the corresponding registers of the signal compression filter 10 is 400. The signals of these registers are compared in parallel for each pair of cells, and the sum of the coincidences determines the value of the signal from the output of the signal compression filter 10. The maximum value of the output signal will be at the moment in time when the modulation (manipulation) of the received signal coincides (more precisely, will have the maximum correspondence) with the probing signal. Then the output signal from the signal compression filter 10 through the normally closed contacts of the third switch 15 goes to the signal input of the threshold device 11, in which it is compared with the level value U _th , set by the threshold formation unit 17. If the value of the signal from the output of the compression filter is greater than the threshold value U _th , then a normalized signal of constant amplitude with a duration of Δτ will appear at the output of the threshold device 11. The value of the signal detection _threshold U th, above which the signal is considered detected, is determined by the specified false alarm level, by estimating a _w - the average level of intensity of the received noise. The receiver SHARU circuit 3 regulates the receiver gain so that the average noise value is of the specified value, i.e. it maintains a constant value of a _w . The ratio U _th /a _w is determined in advance based on the analysis of the law of distribution of the amplitude of noise emissions and is a value of the order of (8-10) [5], since the probability of a false alarm in accordance with the Sheiman-Pearson criterion is specified by a small value of 10 ^-5 -10 ^-6 [1] and at the same time the probability of correct detection is maximized. Thus, the value of the response level of the threshold device in the mode of detection of reflected signals is related to the SHARU signal by a scale factor. For example, if the SHARU signal, equal to the average value of the receiver noise, is 0.1 V, then the value of the detection threshold will be 1 V [5].

The device 12 for fixing coordinates (can be implemented programmatically) records the values of the distance and angular position of signals from an object or elements of an object that have exceeded the threshold level, and transmits these values to the corresponding inputs of the on-board computer 6. In the on-board computer 6, the relative position of the reflected signals by distance and angle or by three coordinates is analyzed, compared with the digital data of the precise reference three-coordinate map of the area, loaded into module 20 during pre-launch preparation, after which the coordinates of the sought object are determined, for example, by the center of gravity of the observed two-dimensional array [5].

The coordinates of the target object X _c , Z _c in the starting coordinate system are determined by the relations: X _c = X _t + D _c ⋅ cos(ψ _c ); Z ₄ = Z _t + D _c ⋅ sin(ψ _c ). If it is known that the object specified for the UAV is stationary, then the measured coordinates X _c , Z _c are compared with the coordinates of the flight task and, if they differ, the current program coordinates X and Z are replaced in the on-board computer 6 with the corresponding measured values: X _t = D _c ⋅ cos(ψ _c ); Z _t = D ₄ ⋅ sin(ψ _c ). The coordinates of the target object are determined in a similar manner when using a three-coordinate system of global navigation satellite systems [4]. Sessions of review and measurement of the coordinates of a given object can be repeated up to a short distance, where the radar coordinator is blinded.

If the target object specified for the UAV guidance is mobile (for example, a drifting vessel in distress), then the homing laws given, for example, in [18, 19] are used to control the aircraft, or the search for the specified target object is carried out by scanning the area specified during pre-launch preparation, in which it is most likely to be located. This procedure continues until the target object is detected and recognized, the UAV turns around and returns to the location of the target object.

In the mode of bringing the UAV to a designated point on the Earth's surface, its flight is carried out according to a program established during pre-launch preparation using navigation data from the receiver of 18 global navigation satellite systems, and in their absence - according to the autopilot program.

In order to reduce errors in guiding the UAV to the target object, a section of the precise three-coordinate map of the location where the specified target object is located is selected, oriented relative to the direction of flight of the UAV, and relative to this direction, an error signal is generated, transformed in the on-board computer 6 into the corresponding control actions via input/output 28 to the engines and steering devices of the UAV, not indicated in the figure.

This section of the digital terrain map is converted in the preparation and control console 9 during pre-launch preparation into a radar map for comparison with the results of the onboard radar survey of the terrain, where zones, sections or individual objects with known geometric characteristics (relief, characteristic elements, such as buildings, "jumps" in distance caused by the relief and shading of more distant sections by nearby objects) and reflectivity affecting the intensity of the reflected signal, etc. are identified. The geometric characteristics of the terrain in radar display are the simplest, well-studied and quite widely used, especially in areas with heavily indented relief [20, 21].

The digital map laid down in the area where the sought object may be located is divided into elements with a uniform grid with linear dimensions equal to or less than the linear resolution of the AD radar in order to estimate the coordinates of the target object.

If a map element has a uniform surface, its reflectivity is determined by the corresponding value from the table [22, p. 28] or graphs [22, p. 72]. If the surface in one element is non-uniform, its reflectivity S _reflect is found as the total value over the area of the segment S [3].

The method for converting an accurate digital three-coordinate map of the terrain is similar to the conversion of a topographic map into a map of the intensity of radar reflections from the Earth’s surface and is given in [23, pp. 5–11, 15].

The actual intensity of reflections varies widely (in the range of (80-100) dB), therefore the radar map is usually implemented as a two-dimensional array _ΔXэ ⋅ΔZэ _of eight-digit numbers [3]. In the proposed system, the radar map, compiled from a digital three-coordinate map of the area where the target object is expected to be located, is transformed into a binary array b(m,n) of the same dimension by threshold processing of each element. If b _i,j > _Uпор , then at the output of the binary processing device bi _,j =1, otherwise b _i,j are taken to be equal to zero [5].

Naturally, the binary map array will change significantly with a change in the threshold value U _por . The threshold value of the reflection intensity is selected so as to provide, after threshold processing, a digital map with a ratio of the numbers of zeros and ones close to one. As the modeling results show, such a map provides the largest margin of reliability for the correct binding of the measured array to the reference radar and, accordingly, to the accurate digital map of the area. The value of this threshold is determined using an iterative procedure for calculating the number of ones in the binary array, comparing it with half the total number of elements in the reference radar map and successively changing the value of U _por upward if the number of ones exceeds half of the array, and downward if the number of ones is less than half of the array [5].

Based on the mode flag signal at the control input of the threshold formation unit 17, the second signal circuit is switched in it instead of the first signal circuit (signal a _w ) based on the signal a _c [5]. Based on the value of the average intensity level of the received signals a _c , the value U _por2 of the response level of the threshold device 11 is determined, which also depends on the value of the control signal at the scale assignment input, coming from the corresponding output of the on-board computer 6: U _por2 = a _c ⋅ k _n [5].

At the distance to the proposed location of the specified target object, the threshold U _por2 is set in the threshold device 11, and at the next survey cycle, a binary array of measurements of signals U ₀ (ψ, D) reflected from the surface is formed, the dimension of which corresponds to the dimension of the probing signal and the number of cells of the registers of the signal compression filter 10. In this case, the number of cells of the compression filter can be twice as large as the number of quanta in the probing phase-shift keyed signal to compensate for the quadrature component of the signal. In the example under consideration, this number is 400, i.e. for twenty values ψ of the angular position of the antenna with a resolution of Δψ=ΔD/(Dk-D1), where ΔD is the resolution of the radar coordinator by distance, Δψ is the angular displacement of the antenna in azimuth for one period of the probing pulses and measurements of four hundred values of the signal intensity by distance with a resolution of AD.

The device 12 for fixing coordinates forms an array A (i, j) of measurements for the on-board computer 6, assigning to each element the corresponding value of the angle ψ; the position of the main beam of the antenna device 1 and the distance D _j , similar to how this is done in the first mode of operation for a contrast object.

In the on-board computer 6, the coordinates ψ _i and D _i , measured using the on-board computer 6 or the array A (i, j), are transformed into numbers of linear coordinates along the X and Z axes. The i-th numbers ψ are assigned the i-th number along the Z axis, and the j-th numbers D are assigned the j-th number along the X axis. In the example under consideration, these are numbers from 1 to 400. In this case, the specified operation does not require any additional software or hardware costs in the on-board computer 6. The only limitation is the ratio (D _k -D ₁ )/(40⋅ΔD), which must be greater than 10, then the specified coordinate replacements are permissible [5]. The distribution of coordinates of detected target objects in a three-coordinate system is carried out in a similar manner, only in this case there will be three axes.

After receiving the binary array of measurements A (i, j), the computer 6 issues a command from the corresponding output to the control inputs of switches 13 and 14, thereby changing the position of the switched connections in the signal compression filter 10 with the outputs of the computer 6, connected to the signal inputs of switches 13 and 14. [5]. Immediately after this (with a delay sufficient for the operation of switches 13, 14) from the corresponding output of the on-board computer 6 to the compression filter 10 (instead of the modulation code of the probing signal) a sequence of the binary array of measurements A (i, j) is fed through switch 13, and to the shift register of the signal compression filter 10 (instead of the video signal from the output of the receiver) a sequence of the reference array B (i, j) of the same dimension is fed from the corresponding output of the on-board computer 6 through switch 14, formed from the reference array b (m, n) by sequentially sorting and cutting out the matrix of the size of the array of measurements A (i, j) from the matrix of the reference array.

Thus, in the signal compression filter 10, ordered (similar to the measured array) binary sequences of fragments of the reference map appear sequentially, which are compared with the measured array. The results of summing up the coincidences of the signal values from the output of the signal compression filter 10 through the normally open contacts of the switch 15 by the control signal from the corresponding output of the computer 6 are fed to the device 16 for fixing the maximum signal [5].

The maximum fixation device 16, which can also be implemented programmatically using the on-board computer 6, fixes the value of the output signal 11z of the signal compression filter 10 at each step, storing its value if it exceeds the previously stored value of this signal, i.e. it implements the algorithm: if the current value U ₃ > U stored, then the stored U = U ₃ , simultaneously sending the fixed signal U to the input of the on-board computer 6 connected to the maximum fixation device 16, where the number of the cycle at which this occurred relative to the beginning of the run of the reference array is stored, and the number n _f is assigned to it. Thus, the maximum fixation device 16 stores one maximum value of the signal at the output of the filter 10 from the entire sample (MI)⋅(NJ), and the on-board computer 6 fixes the number of the last cycle n _f at which this maximum was fixed [5].

After the completion of the "run" of the reference array through the compression filter 10 in the computer 6, the number n _f uniquely determines the location of the measured array on the reference map.

A variant of correcting the autopilot program to compensate for gyroscope drift and inaccuracy in linking the UAV launch site to a given object is given in the patent [5].

For further clarification of the functioning of the UAV control system, the following logical-temporal sequence of stages in the mode of bringing the UAV to a non-radio-contrast target object is given.

1. Retrieving an accurate three-coordinate map of the area where the probability of finding the target object is maximum from the memory of console 9 and converting it into a map of the intensity of radar reflections.

2. Determination of the position and dimensions of the area _ΔХэ , _ΔZэ of possible radar coverage, “binding” of the UAV launch site and the start of scanning the area to the target object.

3. Formation of the flight task: an array of the reference map b (m, n) with a given dimension of the resolution elements, and the value of the coefficient k _p and the algorithms of the procedures considered above.

4. Broadcast from console 9 to the memory of the computer 6 through its first input:

- a sign of the operating mode for non-radio-contrast objects;

- flight mission data, including the b(m, n) array;

- coefficient k _p ;

- autopilot programs (in the simplest case, the direction of the firing plane, flight altitude and flight range to a point at a distance D ₁ to the required UAV targeting point, at which the onboard radar coordinator begins measuring the array A _i,j of radar reflection intensity).

5. The power supply of the UAV electronic units is switched on and the functional control of the control system is organized and its readiness is determined. When it is ready, the engine (not shown in the figure) is started by commands from the control panel 9 and the UAV is launched.

6. The flight is carried out along the planned route, specified from the control panel 9 and supported by the on-board computer 6. In the simplest case, the programmed flight trajectory is specified by constant values of the flight direction in the horizontal plane and the flight altitude above the earth's surface (or the flight altitude relative to the launch site). The receiver 18 of the global navigation satellite systems or, if it is not possible to operate it, the autopilot 7, with the help of the on-board computer 6, determines the true value of the flight direction and the altitude (with the error inherent in them), compares their values with the programmed values and controls the UAV's steering devices in such a way as to reduce this discrepancy to zero. In this way, the UAV's movement along the planned trajectory is ensured.

7. When the current range reaches the value D ₂ (the extreme point of the location of the target object’s location area), the radar coordinator is switched on by supplying power to its electronic units (the power supply system for the coordinator is not shown in the figure).

A search for and detection of a given target object, the mask of which is stored in module 21, is carried out in a given area; at a distance Di, the reflected signal is measured at the video output of receiver 3 in I distance quanta and in J angular positions of the main beam of the antenna 1 directional diagram and values of 0 or 1 are assigned to them (if the signal level exceeds the value of U _por2 in threshold device 11). With the help of device 12, the values of the j-th position of the main beam of antenna 1 and the values of the i-th delay T ₃ , corresponding to the range D _i of the reflection element a _i,j , are recorded. The values of D _i and ψ _i are fed to the corresponding inputs of on-board computer 6 and accumulated in its memory. After one scanning cycle, a binary three-dimensional array A _i,j is formed in the on-board computer memory. At the distance D ₁ (the condition D _t =D _I is met) a signal +U of the mode flag (a constant voltage signaling the switching of the signal detection mode to the measurement array generation mode) appears at the corresponding output of the on-board computer 6, according to which, using the threshold generation block 17, the detection threshold is switched (from the value U _por to the value U _por2 ) in the threshold device 11.

The value of the coefficient k _n is transmitted from the on-board computer 6 in analog form to the corresponding control input of the threshold formation block 17, where, depending on its sign, the threshold of binary processing of the measured array decreases or increases [3]. At a distance D ₁ (the condition D _t = D _I is met), a signal +U of the mode flag (a constant voltage signaling the switching of the signal detection mode to the measurement array formation mode) appears at the corresponding output of the on-board computer 6, according to which the detection threshold is switched (from the value U _por to the value U _por2 ) in the threshold device 11 using the threshold formation block 17.

The value of the coefficient k _p is transmitted from the computer 6 in analog form to the corresponding control input of the threshold generation block 17, where, depending on its sign, the threshold for binary processing of the measured array is decreased or increased [5]. After completion of the formation of the array Ay, which is determined by the count of the number of probing pulses of the radar coordinator arriving at the input of the on-board computer 6 from the control panel 9, a command in the form of a constant potential appears at the corresponding output of the on-board computer 6, which arrives at the control inputs of switches 13 and 14. In response to this command, switch 13 connects the compression filter 10, previously connected to the code output of transmitter 2 of the radar coordinator, to the corresponding output of the on-board computer 6, and switch 14 connects the compression filter 10, previously connected to the video signal output of receiver 3 of the radar coordinator, to the corresponding output of the on-board computer 6. From the array A _ij at the same output of the on-board computer 6, a one-dimensional sequence is formed by sequentially reading ix columns from the array A _i,j . This sequence (I⋅J) from the corresponding output of the electronic computer 6 is fed through the normally open contacts of switch 13 to the compression filter 10 and is stored in it.

From the reference array b (m, n) located in the memory of the on-board computer 6, a sample B (i, j) is formed in the form of a one-dimensional sequence (I⋅J) through the corresponding output of the on-board computer 6 and switch 14 is fed to the compression filter 10. The sequence b (m, n) is updated (MI)⋅(NJ) times. After the formation of each new sequence b (m, n) at the corresponding output of the on-board computer 6, a pulse signal is formed, fed to the control input of switch 15, through which the output signal of the compression filter 10 is transmitted to device 16 for recording the maximum of this signal for the entire processing period. The recorded number U _f of the comparison session, in which the signal at the output of the compression filter is the greatest, determines the necessary corrections to the program values X _ц and Z _ц or the corresponding parameters in the three-coordinate coordinate reading system [23].

8. Using the computer 6, the target object is recognized by correlating the digital image with the corresponding digital mask in module 21, its coordinates and the time of its detection are determined, and the UAV turns and returns to the location of the target object;

9. The execution of the final operation included in the flight mission is ensured - upon reaching the location of the specified UAV targeting point, the control system issues a command, for example, to drop the load from module 22.

10. The UAV is returned if this procedure is included in the flight mission.

The method of guiding a UAV to a target object is known [19]. The target object is made contrasting by irradiation with a radar and reflection of electromagnetic energy. Receiver 3 and radar information processing units in block 5 together with the on-board computer 6 detect the energy emanating from the target object, measure the coordinates, recognize its type and perform actions in such a way that the signals of the discrepancy between the location of the UAV and the target object are reduced to zero. For homing the UAV to a moving target object, automatic control of the aircraft is used in order to bring it to a given point in space. To implement this, the UAV includes: sensors of the true position in space (receiver 18 and gyroscopic devices in the autopilot 7), as well as signal generators of discrepancies using the on-board computer 6 between the signals characterizing the true direction of the UAV and those required for bringing it to the target object, designed to change the position of the aircraft by generating control actions on the actuators-rudders, changing the direction of movement. The above-mentioned devices make it possible to detect the presence of the target object, recognize it, determine its future position, for example, by the extrapolation method [23], and, using the steering devices, bring the UAV to the target object using the signals from the on-board computer 6.

To increase noise immunity and, consequently, the accuracy of UAV guidance to moving objects-targets on the earth's surface, the system uses the mode of pseudo-random frequency hopping (PRF) of the probing signal in the synchronizer 4 according to the control signals of the on-board computer 6, to which the corresponding receipts on the execution of the control command and reports on the operability of the equipment are received from the system nodes. In this case, the signal quality is measured at each frequency hopping. According to the "cognitive radio" technology, after monitoring the radio frequency spectrum, the best set of frequencies for radar, ensuring avoidance of interference, is selected in real time.

Thus, through the use of nodes and the procedures they perform, the accuracy of guiding UAVs to moving target objects on the earth's surface is increased.

In terms of the system implementation, units 2-17 are common with the prototype, units 19-21 can be implemented programmatically, unit 18 - on serial samples. Unit 22 can be implemented partially programmatically and when carrying out operations with cargo using, for example, a plastic container secured with an electronic lock on board the UAV. The remotely piloted aircraft "Grant" of the company "Novik" (Moscow) can be used as an unmanned aerial vehicle. The issues of implementing antenna device 1 are given on the website [7] and various scientific and technical literature.

Using the given description and drawings, the proposed system can be manufactured using a known component base and known technology, which determines the industrial applicability of the proposed invention.

Literature:

1. Sharov S.I. Fundamentals of designing coordinators for control systems for moving objects: textbook / S.I. Sharov. - L.: State Education of the USSR, 1990. - 96 p.

2. Patent of the Russian Federation No. 2083995, published on July 10, 1997.

3. Patent of the Russian Federation No. 2124221, published on 27.12.1998.

4. GPS - global positioning system. - M.: PRIN, 1994. - 76 p.

5. Patent of the Russian Federation No. 2189625, published on September 20, 2002. Bulletin No. 26 (prototype).

6. Keistovich A.V. Types of radio access in mobile communication systems / A.V. Keistovich, V.R. Milov: textbook for universities - M.: Hot Line - Telecom, 2015.-278 p.

7. Phased antenna array: design and operating principle, phased array types, phasing methods, areas of application // FB.ru [website]. - 2023. - URL: http://fb.ru>article/487637/2023-fazirovannaya-antennaya.

8. Yakovlev V.V. Stochastic computers / V.V. Yakovlev, R.F. Fedorov - L.: Mechanical Engineering (Leningrad branch), 1974. - 344 p.

9. Patent of the Russian Federation No. 2114444, published on June 27, 1998.

10. Presnukhin L.N. Fundamentals of designing microelectronic computers (manual) / L.N. Presnukhin, V.A. Shakhnov, V.A. Kustov. - M.: Higher School, 1976. -408 p.

11. Smolov V.B. Specialized digital computers (textbook) / V.B. Smolov, V.V. Barashenkov, V.D. Baikov et al. - M.: Higher School, 1981. - 279 p.

12. Bodner V.A. Aircraft control systems: textbook / V.A. Bodner. - M. Mechanical Engineering, 1973. - 504 p.

13. Andreev V.D. Theory of inertial navigation. Autonomous systems / V.D. Andreev. - M.: Nauka, 1967. - 648 p.

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15. Lipton A. Exhibition of inertial systems on a moving base. / A. Lipton. - M.: Nauka, 1971. - 168 p.

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Claims (1)

A control system for an unmanned aerial vehicle comprising a pre-launch preparation and flight mission input console, an autopilot connected via a two-way link to an on-board computer, a radar coordinator with a phase-shift keyed probing signal which comprises an antenna connected via a signal input and output to a transmitter and receiver, respectively, a synchronizer, a rangefinder and a signal processing device comprising three switches, a maximum fixing device, a signal compression filter, a threshold device, a threshold generation unit and a coordinate fixing device, the inputs of which are connected to the output of the threshold device and the output of the rangefinder, and the outputs at which the values of the distance and angular position of the reflected signals are formed are connected to the corresponding inputs of the on-board computer, the corresponding input of which and the input of the transmitter are connected to the signal output of the synchronizer transmitting a pulse sequence with a probing frequency, the second output of the synchronizer transmitting a sequence of synchronization pulses is connected to the second input of the rangefinder, the first input of which and the input of the receiver according to the signal of the end of the probing pulse is connected to the second output of the transmitter, the heterodyne output of which is connected to the heterodyne input of the receiver, the control inputs of the threshold generation unit according to the signal of the mode flag and the scale assignment signal are connected to the corresponding outputs of the on-board computer, the output of the threshold generation unit is connected to the level input of the threshold device, and its corresponding signal inputs are connected to the outputs of the receiver, at which the average value of the noise intensity and the average value of the intensity of the reflected signals are generated, the code output of the transmitter and the video signal output of the receiver are connected to the first signal inputs of the first and second switches, respectively, the control inputs of which are connected to the corresponding output of the on-board computer, and the signal inputs of the first and second switches are connected to the corresponding signal outputs of the on-board computer, from which the sequence of the binary array of measurements and the sequence of the reference binary array are transmitted, the first and second inputs of the signal compression filter are connected to the outputs of the first and second switches, respectively, and its output is connected to the signal input of the third switch, the control the input of which is connected to the corresponding output of the on-board computer, and the first and second outputs are connected to the signal input of the threshold device and the signal input of the maximum recording device, the output of the maximum recording device, transmitting a signal characterizing the location of the binary array of measurements on the reference map, is connected to the corresponding input of the on-board computer, characterized in that a module of a three-coordinate electronic map of the area where the probability of finding the target object is maximum, a module for storing masks characteristic of radar displays of target objects obtained from different angles in a given frequency range, a module for storing the coordinates of the area of location of the specified target objects with their arrangement by priorities, a module for preparing and performing the final operation, a receiver of global navigation satellite systems with an antenna connected by two-way links to a synchronizer, the on-board computer, as well as with more than three transmitters installed on spacecraft are introduced into it, connected by two-way links to the on-board computer, the on-board computer is also connected by two-way links to transmitter, pre-launch preparation and flight mission input console during the execution of UAV flight preparation procedures and collection of reports on the operability of its units, the corresponding input/output of the UAV is intended for issuing control commands to the propulsion systems and rudders of the UAV, receiving reports from them on the execution of a given command, wherein the antenna is made in the form of a phased antenna array consisting of n antenna emitters connected to parallel chains of series-connected phase shifters and "Receive-Transmit" switches controlled by the UAV, wherein the output of each switch in the "Receive" mode is connected via a high-frequency adder to the receiver, and the input of each "Receive-Transmit" switch in the "Transmit" mode is connected via a power divider to the transmitter.

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