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WO2015112038A1 - Système de navigation local - Google Patents

Système de navigation local Download PDF

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Publication number
WO2015112038A1
WO2015112038A1 PCT/RU2014/000033 RU2014000033W WO2015112038A1 WO 2015112038 A1 WO2015112038 A1 WO 2015112038A1 RU 2014000033 W RU2014000033 W RU 2014000033W WO 2015112038 A1 WO2015112038 A1 WO 2015112038A1
Authority
WO
WIPO (PCT)
Prior art keywords
navigation
server
navigation server
signals
beacons
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/RU2014/000033
Other languages
English (en)
Russian (ru)
Inventor
Виктор Васильевич ШЕБОЛКОВ
Евгений Сергеевич ОГУРЦОВ
Елена Сергеевна СЕМЕНИСТАЯ
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
OTKRYTOE AKTSIONERNOE OBSCHESTVO "AZOVSKY OPTIKO-MEKHANISHESKY ZAVOD"
Original Assignee
OTKRYTOE AKTSIONERNOE OBSCHESTVO "AZOVSKY OPTIKO-MEKHANISHESKY ZAVOD"
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by OTKRYTOE AKTSIONERNOE OBSCHESTVO "AZOVSKY OPTIKO-MEKHANISHESKY ZAVOD" filed Critical OTKRYTOE AKTSIONERNOE OBSCHESTVO "AZOVSKY OPTIKO-MEKHANISHESKY ZAVOD"
Priority to PCT/RU2014/000033 priority Critical patent/WO2015112038A1/fr
Publication of WO2015112038A1 publication Critical patent/WO2015112038A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves

Definitions

  • the utility model relates to radio navigation systems and can be used to determine the coordinates of moving objects in a certain local area with the required accuracy of determining the coordinates.
  • One network segment should provide a high-precision navigation field on the surface of the earth in a neighborhood of up to 300 m.
  • LNS should provide a high level of information security.
  • the LNS equipment should be extremely simple and cheap, which will make the use of the LNS economically viable, given the large number of local zones.
  • LNS should function both in open and in enclosed spaces. 6)
  • the LNS equipment must satisfy the requirements of electromagnetic compatibility with other electronic means.
  • the well-known non-autonomous local positioning system of SafeTzone is known (A. Samarin Multisensory navigation systems for local positioning // Modern Electronics, 2006, N. 6 pp. 10-17 [1]).
  • This local positioning system uses an operating principle similar to the GPS operating principle: the user device measures the delay of the signal coming from the base stations located around.
  • the SafeTzone system can be used to determine the coordinates of a navigation object in a local zone. Each navigation object has a transmitter. Every 12.5 s, the transmitter sends data on its location to the nearest receiver. The achieved positioning accuracy is 6 ... 15 m.
  • This system contains a transmitter of the navigation object, receivers, a navigation server, a central station. Signs common with the claimed system are beacons and a navigation server.
  • Hitachi The famous local positioning system Hitachi (A. Samarin Multisensory navigation systems for local positioning // Modern Electronics, 2006, Ns 6 pp. 10-17 [1]).
  • This system uses WLAN wireless technology.
  • the system must have at least three nodes located at a distance of 100 ... 200 m from each other [2].
  • the main areas of application of Hitachi's system are: control over the movement of equipment and products in factories and warehouses.
  • This system contains a navigation object transmitter, a navigation server, a control server, a central station, network cards.
  • a sign common to the claimed system is a navigation server.
  • phase differential-range measuring system (Bakulev P. A., Sosnovsky A. A. Radar and radio navigation systems. - M .: Radio and communications, 1994. - p. 21 1-215 [4])
  • This technical solution contains beacons, URCh, phase meters, reference generator, switch, calculator.
  • the beacons are made in the form of reference stations, and the computer is a phase comparison device.
  • Signs common with the claimed system are beacons, a computer.
  • the technical task to which the creation of a utility model is aimed is to increase the accuracy of determining coordinates, ensuring a high level of information security, ensuring sufficient accuracy in determining the coordinates of navigation objects moving at high speed, ensuring the functioning of the system in open and closed spaces, and satisfying the requirements of electromagnetic compatibility with other electronic means.
  • a navigation server is introduced into a known device containing radio beacons, a computer, the signals of which are received from radio beacons, and the signals from the output of the navigation server are transmitted via the communication channel to the navigation equipment of the consumer of the navigation object and to the communication module of the control room, phase discriminators a navigation server, the inputs of which from the outputs of the beacons receive signals of large-scale frequency, the outputs of which are connected to the inputs of the transmitter of the navigation faith, the interface module of the navigation server, the navigation equipment of the consumer is installed on the navigation object, including a dispatch channel, a request channel, a radio channel for receiving navigation information, a control and indication unit, a directional coupler, receiving and transmitting antennas, and providing a radiation of a two-frequency harmonic request signal arriving at the input of beacons and further from the limiters of the beacons - to the inputs of the navigation server, in which the signals of the difference frequency of the two frequencies are allocated th harmonic signal is then measured by difference in phase of the
  • FIG. 1 is a structural diagram of a local navigation system.
  • the system contains consumer navigation equipment (NAL) 1 installed on the navigation object, the first beacon 2, the second beacon 3, the third beacon 4, the navigation server 5, the first phase discriminator of the navigation server 6, the second phase discriminator of the navigation server 7, the third phase discriminator of the navigation server 8, the computer of the navigation server 9, the interface module of the navigation server 10, the communication module of the control room 11.
  • NAL consumer navigation equipment
  • the first output of the first beacon 2 is connected to the first input of the first phase discriminator 6, the second output of the first beacon 2 is connected to the second input of the third phase discriminator 8, the first output of the second beacon 3 is connected to the second input of the first phase discriminator 6, the second output of the second beacon 3 is connected to the first the input of the second phase discriminator 7, the first output of the third radio beacon 4 is connected to the second input of the second phase discriminator 7, the second output of the third radio beacon 3 is connected to the first input of the third call discriminator 8.
  • the output of the first phase discriminator 6 of the navigation server is connected to the first input of the calculator 9 of the navigation server
  • the output of the second phase discriminator 7 of the navigation server is connected to the second input of the calculator 9 of the navigation server
  • the output of the third phase discriminator 8 of the navigation server is connected to the third input of the calculator 9 of the navigation server server.
  • the first output of the interface unit 10 is connected to the fourth input of the calculator 9 of the navigation server, the output of the calculator 9 of the navigation server is connected to the first input of the interface unit 10, the second output of the interface unit 10 is connected to the first input of the navigation equipment of the consumer 1 of the navigation object, the third output of the interface unit 10 is connected to the input of the communication module of the control room 11, the second output of the navigation equipment of the consumer 1 of the navigation object is connected to the second input of the interface module 10, the second output of the module the communication of the control room 11 is connected to the third input of the interface module 10, the first output of the communication module of the control room 11 is connected to the first input of the navigation equipment of the consumer 1 of the navigation object, the first output of the navigation equipment of the consumer 1 of the navigation object is connected to the input of the first radio beacon 2, the first output of the consumer navigation equipment 1 navigation object connected to the input of the second beacon 3, the first output of the navigation, consumer equipment 1 of the navigation object is connected to the input of the third beacon 4.
  • the operation of the local navigation system is as follows.
  • the local navigation system is built on the basis of several passive beacons - microwave receivers (PM1 - RMp), the antennas of which are installed at points with known coordinates.
  • PM1 - RMp passive beacons - microwave receivers
  • the calculation of the coordinates of the navigation object (solving the navigation problem) and the function of interacting with consumers of navigation information (user identification, processing their requests, transmitting information about the location of the navigation object to consumers) of the network is assigned to the navigation server (NS).
  • NAL The navigation equipment of the consumer (NAL) is installed at the navigation object.
  • NAL contains three channels (dispatch channel, request channel, radio channel for receiving navigation information) and a control and indication unit.
  • the dispatch channel is used to control access to the local navigation system: it allows or prohibits sending signals of the request for navigation information.
  • the principle of the channel’s operation is to detect navigation information request signals, compare them with a predetermined threshold level and issue a prohibition / permission command to the control microcontroller. It contains a receiver for detecting navigation signals in the network at the current time and a threshold device. If navigation signals are present (i.e., the request was previously made by some other user), then permission to send the request signal is not issued until the user’s request has been serviced.
  • the request channel generates a request signal for navigation information.
  • the request is formed by the NAL with the simultaneous fulfillment of two conditions: first, from the outside (from the satellite navigation system or the dispatcher) a request initiation command containing the LNS code was received, and secondly, the LNS should not be busy servicing another consumer at this time.
  • the first condition is provided by processing the request initiation command in the MC, the second by checking for the presence of request signals from other users on the air, lack of a ban signal at the output of the scheduling channel.
  • the request begins with the emission of the code of the KNK designating the beginning of the request frame. Then the navigation network code (SPS) and the consumer identification code (KIP) are emitted. After that, a navigation information request signal is generated, which is a two-frequency harmonic signal, the frequency of one of which is 1250 MHz, and the frequency of the second changes after about 0.1 ms and takes the values of 1251 MHz, 1260 MHz and 1350 MHz sequentially, after which the KKK code sequence is emitted - sign of the end of the request signal.
  • a signal with a frequency of 1250 MHz is a reference signal, and signals with a frequency of 1251 MHz, 1260 MHz and 1350 MHz are large-scale.
  • Request signals are processed in the navigation server (NS) of the local navigation system, which organizes the transfer of navigation information to NAL.
  • the information received by NAL is processed in the control microcontroller and then used for its intended purpose (displayed by the indicating device, entered into the database, used to control the movement of the navigation object, etc.).
  • Information can be transmitted both over the radio channel directly to the navigation object, and over wired networks to the communication module of the control room.
  • this range is allocated for the operation of radionavigation systems, it is relatively free, radio waves of this range are practically not absorbed by the atmosphere, the dimensions of non-directional or weakly directed antennas of beacons in that range do not exceed 6-8 cm, which simplifies their masking and anti-vandal performance.
  • the required power of the emitted request signal is 5-10 mW, which at a distance of 100 - 300 m to the beacons allows you to create a power flux density with undirected radiation of the order of 10 ⁇ 10 - 10 "9 W / m 2 .
  • the duration of the request signal should be selected from the following considerations. Firstly, it should be sufficient to measure the phase difference after the end of transients in the receiver of the beacon and in the phase discriminator of the navigation server. From this point of view, the duration of the emission of signals of scale frequencies must be increased. Secondly, the change in the position of the mobile navigation object during the measurement of the phase difference should not be significant. From this point of view, the duration of the emission of signals of scale frequencies must be reduced.
  • the microwave receiver of each beacon contains a band-pass filter with a passband of 1250-1350 MHz, an amplifier, a nonlinear element, a resonant amplifier, and a limiter.
  • the received two-frequency request signal is filtered by frequency, amplified and fed to a non-linear element, in which a scale frequency equal to the frequency difference of the received signals is formed from it.
  • This scaled frequency is resonant amplifier, the output of which the signal of the scale frequency is fed to the amplitude limiter, which normalizes this signal in amplitude.
  • the signals of the scale frequency from the outputs of the limiters of the beacons are transmitted to the inputs of the phase discriminators (PD) of the navigation server (NS).
  • the number of beacons can be increased when configuring a specific navigation system and is limited by the number of analog MK ports.
  • the signals from the outputs of the phase discriminators go to the inputs of the analog-to-digital converters ADC of the microcontroller MK, are converted to digital form and processed by a processor that calculates the coordinates of the navigation object using the algorithm described earlier.
  • MK performs the functions of identifying the consumer and managing the operation of the NS and (if necessary) interacting with other local navigation systems (LNS).
  • the information about the coordinates of the navigation object is transmitted to the navigation information consumer through the interface module of the navigation server (the start code, the consumer identification code, the navigation network code, the consumer’s coordinates, the end code are transmitted) to the navigation equipment of the navigation object and a control room communication module.
  • the developed local navigation system provides the required accuracy of determining the coordinates of the navigation object (up to 0.03 m).
  • the required standard error of positioning of ground objects moving at speeds of up to 150-200 km / h is ensured - more than 0.5 m.
  • the developed LNS provides a high level of information security and also ensures the functioning of the LNS in both open and closed spaces.
  • the layout of the local navigation system is applied at the enterprise - Azov Optical and Mechanical Plant Open Joint-Stock Company.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

Le modèle d'utilité se rapporte à des systèmes de navigation radio-techniques et peut être utilisé afin de déterminer les coordonnées d'objets en déplacement dans une zone locale quelconque avec une précision voulue de détermination des coordonnées. Le but du présent modèle d'utilité est d'augmenter la précision de détermination des coordonnées, d'assurer un niveau élevé de sécurité des informations, d'assurer une précision suffisante de détermination des coordonnées d'objets navigants se déplaçant à grande vitesse, d'assurer le fonctionnement du système dans des espaces ouverts ou clos, de répondre aux exigences de compatibilité électromagnétique avec d'autres moyens radio-électroniques. Le résultat technique est atteint du fait qu'un dispositif connu comprenant des balises radio et un calculateur comprend également un serveur de navigation sur les sorties duquel arrivent des signaux depuis les balises radio, tandis que les signaux provenant des sorties du serveur de navigation arrivent via des canaux de communication sur l'appareil de navigation de l'utilisateur d'objet de navigation et d'un module de communication de point de répartition; des discriminateurs de phase du serveur de navigation sur les entrées desquels arrivent depuis depuis les sorties des balises radio des signaux de fréquence d'échelle, et dont les sorties sont connectées aux entrées du calculateur du serveur de navigation; un module d'interface du serveur de navigation; sur l'objet de navigation se trouve un appareil de navigation d'utilisateur qui comprend un canal de répartition, un canal de demande, un canal radio d'obtention d'informations de navigation, une unité de commande et d'indication, un répondeur dédié, des antenne de réception et de transmission, et qui assure l'émission d'un signal de demande harmonique à deux fréquences arrivant sur l'entrée des balises radio et, depuis les limitateurs de balises, sur les entrées du serveur de navigation dans lequel on sépare les signaux de fréquence différentielle du signal harmonique à deux fréquences. On mesure ensuite les différences de phases des signaux de fréquence différentielle reçus par les balises radio en fonction desquels on calcule la localisation de l'objet de navigation, et le calcul des coordonnées de l'objet de navigation se fait sur le serveur de navigation et est transmis sur un canal de navigation vers l'appareil de navigation de l'utilisateur de l'objet de navigation et le module de communication du point de répartition.
PCT/RU2014/000033 2014-01-21 2014-01-21 Système de navigation local Ceased WO2015112038A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/RU2014/000033 WO2015112038A1 (fr) 2014-01-21 2014-01-21 Système de navigation local

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/RU2014/000033 WO2015112038A1 (fr) 2014-01-21 2014-01-21 Système de navigation local

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2746218C1 (ru) * 2020-08-24 2021-04-09 Федеральное государственное казенное военное образовательное учреждение высшего профессионального образования "Михайловская военная артиллерийская академия" Министерства Обороны Российской Федерации Радионавигационная многопозиционная разностно-дальномерная система
RU2775645C1 (ru) * 2021-09-28 2022-07-05 Акционерное общество "Научно-исследовательский институт современных телекоммуникационных технологий" Способ скрытной радиотехнической навигации

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2746218C1 (ru) * 2020-08-24 2021-04-09 Федеральное государственное казенное военное образовательное учреждение высшего профессионального образования "Михайловская военная артиллерийская академия" Министерства Обороны Российской Федерации Радионавигационная многопозиционная разностно-дальномерная система
RU2775645C1 (ru) * 2021-09-28 2022-07-05 Акционерное общество "Научно-исследовательский институт современных телекоммуникационных технологий" Способ скрытной радиотехнической навигации
RU2802323C1 (ru) * 2022-06-15 2023-08-24 Акционерное общество "Научно-исследовательский институт микроэлектронной аппаратуры "Прогресс" (АО "НИИМА "Прогресс") Помехоустойчивая разностно-дальномерная локальная радионавигационная система, обеспечивающая высокоточное позиционирование
RU2802322C1 (ru) * 2023-01-25 2023-08-24 Акционерное общество "Научно-исследовательский институт микроэлектронной аппаратуры "Прогресс" (АО "НИИМА "Прогресс") Помехоустойчивая разностно-дальномерная локальная радионавигационная система, комплексированная с инерциальной навигационной системой, обеспечивающая высокоточное позиционирование движущихся объектов
RU2825248C1 (ru) * 2023-12-27 2024-08-22 Акционерное общество "Научно-исследовательский институт микроэлектронной аппаратуры "Прогресс" (АО "НИИМА "Прогресс") Способ определения местоположения абонентских терминалов, перемещающихся в зоне покрытия локальной системы навигации
RU2824861C1 (ru) * 2024-03-06 2024-08-14 Общество с ограниченной ответственностью "Специальный Технологический Центр" (ООО "СТЦ") Способ определения местоположения объекта навигации

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