RU2251709C1 - Mode of determination of distance to the source of radio-frequency emission and the speed of closing in of a flying vehicle with it - Google Patents

Abstract

FIELD: passive radiolocation systems.

SUBSTANCE: the invention is in that meanings of the angles of the bearing of the source of radio-frequency emission and angle speeds of rotating of the line of its visa are appreciated according to radio signals locked-on from the source radio-frequency emission. The following parameters of the locked-on radio signals are also measured: rate of repeating of impulses, maximum and minimum meaning of period of repeating impulses, duration of the cycle of changing the period of repeating pulses.

EFFECT: the distance to the source of radio-frequency emission and the speed of closing with it is appreciated according to the meanings of the angles of the bearing of the source of the radio-frequency emission and the measured value of the parameters of radio signals.

1 dwg

Description

The invention relates to radar, in particular, to passive radar systems (RLS), designed to detect sources of radio emission (IRI), determine the angular coordinates of the IRI, their distance and approach speed with them.

Known methods for determining the coordinates of IRI using radar systems (radar) operating in a passive mode, called the direction finding mode of radiation [1, p. 494-496; 2, p. 12-43; 3, pp. 8-19] and methods for determining the location of IRI, described in the literature [4, pp. 67-69] and classified as difference-rangefinder, difference-frequency and direction-finding methods. The disadvantages of these methods are: the need for at least two points of signal reception and a data transmission system from one aircraft (LA) to another and vice versa for identifying bearings of the IRI, as well as either low accuracy in determining the distance to the IRI and the speed of convergence with it, or large coordinate measurement time.

Also known are methods for determining the range to Iran on one aircraft, which are based on angular measurements performed sequentially in time [3, pp. 8-19]. The error in determining the range to the IRI with these methods reaches 25% of the measured range to the IRI. Without a special aircraft maneuver, such methods are practically unsuitable. To obtain satisfactory accuracy, significant (tens of seconds) time is required for determining the range to the IRI.

A known method for determining the distance to the IRI and the approximation rate with the IRI [5], based on the use of kinematic relations connecting the relative motion of the aircraft and non-maneuvering IRI. The disadvantages of this method are: unacceptably large errors in determining the range and speed of approach during maneuvering the IRI and the need to perform a special maneuver of the aircraft by the PRLS carrier.

Of the known technical solutions, the closest (prototype) is a passive triangulation method for determining the range to a moving source of radio emission [6, p. 459-460], which consists in the following:

- at time t ₁ receive radio signals from the IRI and measure the angle of rotation of the antenna in the horizontal φ _agi and vertical φ _air planes (hereinafter, the subscript characters “g” and “c” indicate that this or that parameter belongs respectively to the horizontal and vertical plane);

,

и угловых скоростей линии визирования

,

в соответствующих плоскостях;- according to the received radio signals and the measured values of the angles of rotation of the antenna, the angles of the IRI bearing are estimated

,

and angular velocities of the line of sight

,

in appropriate planes;

- according to the formulas

calculate extrapolated for a time t ₂ = t ₁ + Δt, where Δt is the time interval for processing received from PRI radio signals, the angles of the bearing of the IRI in the horizontal φ _eg and vertical φ _ev planes that remember;

- according to the extrapolated values of the angles of the IRI bearing φ φ _eg , φ _ev form antenna control signals u _ag , u _av in both planes to ensure the direction of the IRI;

,

и угловых скоростей линии визирования и

,

выдают потребителям информации;- the values of the estimates of the angles of the bearing IRI

,

and angular velocities of the line of sight and

,

give out information to consumers;

- at time t ₂ again receive radio signals from the IRI, measure the angle of rotation of the antenna in the horizontal φ _agi and vertical φ _air planes and measure the speed of the aircraft V;

,

и угловых скоростей линии визирования

,

в соответствующих плоскостях;- according to the received radio signals and the measured values of the angles of rotation of the antenna, the angles of the IRI bearing are again estimated

,

and angular velocities of the line of sight

,

in appropriate planes;

- calculate the distance D to Iran according to the formula

,

, угловых скоростей линии визирования

,

и дальности Д выдают потребителям информации.- estimated values of the angles of the bearing IRI

,

angular velocities of the line of sight

,

and range D give consumers information.

The disadvantages of this method are: a large (several tens of seconds) the time taken to determine the distance to the IRI, a large error in determining the range to the IRI and the inability to measure the speed of approach of the aircraft with the IRI.

Thus, the object of the invention is to significantly reduce the time taken to determine the distance to the IRI, emitting pulsed radio signals with a high pulse repetition rate (VCHPI), increase the accuracy of determining the distance to the IRI and determine the speed of convergence with it.

This object is achieved in that in addition to evaluating the values of the angles of the IRI bearing and the angular velocities of the line of sight, the pulse repetition rate F _{p of the} received radio signals, the maximum T _max and minimum T _{min of the} pulse repetition period of these radio signals, as well as the cycle duration T _c change the repetition period are measured these pulses, which are used both to calculate the distance to the IRI and the speed of approach with it, and to obtain their estimated values.

According to the proposed method, the following is performed:

- at time t ₁ receive the radio signals from the IRI and measure the angle of rotation of the antenna in the horizontal φ _ag and vertical φ _AB planes;

,

и угловых скоростей его линии визирования

,

в двух плоскостях;- according to the received radio signals and the measured values of the angle of rotation of the antenna in a known manner, for example, given in [7, p. 289-298; 8], evaluate the angles of the bearing IRI

,

and angular velocities of its line of sight

,

in two planes;

- according to the estimated values of the angles of the bearing of the PRI and the angular velocities of its line of sight in a known manner, for example, given in [6, p.459-460; 8], calculate the extrapolated values of the angles of the bearing of the IRI φ _eg and φ _ev to the next clock cycle of the signals, according to which by any of the known methods, for example, given in [6, p. 459-460; 8], form the antenna control signals for its installation in the direction of the IRI;

- extrapolated values of the angles of the bearing IRI φ _eg and φ _ev remember;

- measure the pulse repetition rate F _{p the} received radio signals and,

- if the pulse repetition rate F _{p the} received radio signals is low or medium, perform the following [6, p.459-460]:

- at time t ₂ = t ₁ + Δt, where Δt is the time interval for processing radio signals received from the IRI, the speed of the aircraft V, the angles of rotation of the antenna in the horizontal φ _ar and vertical φ _av planes are measured and receive radio signals from the IRI;

,

и угловых скоростей линии визирования

,

в соответствующих плоскостях;- according to the received radio signals and the measured values of the angles of rotation of the antenna, the angles of the IRI bearing are estimated

,

and angular velocities of the line of sight

,

in appropriate planes;

- measure the value of the speed of the aircraft V;

- calculate the distance D to PRI by the formula

,

, угловых скоростей линии визирования

,

и дальности Д выдают потребителям информации;- estimated values of the angles of the bearing IRI

,

angular velocities of the line of sight

,

and D ranges give out information to consumers;

- if the pulse repetition rate F _{p the} received radio signals is high, then:

- measure the maximum T _max and minimum T _min values of the pulse repetition period of the received radio signals, as well as the cycle duration T _c change the repetition period of these pulses;

- calculate the distance to the IRI D and the speed of rapprochement with the IRI V _sat according to the formulas

where C is the speed of propagation of electromagnetic waves, and the symbol INT means the operation of rounding to the whole number obtained in braces. (The derivation of formulas (2) and (3) is given in the Appendix);

и

;- the calculated values of the range D and the approach speed V _{sb in a} known manner, for example, given in [7, p.231], are filtered, forming their estimated values

and

;

,

, угловых скоростей линии визирования

,

, дальности

и скорости сближения

выдают потребителям информации.- estimated values of the angles of the bearing IRI

,

angular velocities of the line of sight

,

, range

and approach speeds

give consumers information.

Further, after a time interval Δt, the described actions are repeated.

For a better understanding of the proposed method as a process of performing actions on a material object with the help of material means and confirming the possibility of carrying out the claimed invention, Fig. 1 shows a structural diagram of a distance meter to the IRI and the approximation speed with it (IDiS), where:

1 - direction finder;

2 - the first computer;

3 - meter parameters of radio signals;

4 - airspeed sensor (ICE);

5 - second calculator;

6 - synchronizer;

7 - detector;

8 - storage device (memory);

9 - consumers of information;

10 - switch;

11 - the third computer.

In this figure, the IRI symbol indicates the source of radio emission.

Direction finder 1 with its antenna, monopulse device for total-difference signal processing, receiver, digital-to-analog converter, antenna drive and sensors for the angular position of the antenna in horizontal and vertical planes, is constructed in a known manner [8]. He received radio signals from the emitter generates two normalized error signal DF Δ _g / Σ and Δ _a / e in the horizontal and vertical planes, respectively, and a sum signal Σ.

Each of the computers is implemented in a typical general-purpose electronic computer, which is currently part of any radar station.

Radio signal parameter meter 3 is a typical time interval meter designed to measure the pulse repetition rate F _{p of} received radio signals, the maximum T _max and minimum T _min values of the pulse repetition period of the received radio signals, as well as the cycle duration T _{c of the} change in the repetition period of these pulses.

Synchronizer 6 is a typical synchronizing device that generates video pulses, which are sync pulses for all IDs blocks.

Detector 7 is a typical signal detector that provides detection of signals with a high pulse repetition rate.

Memory 8 - a typical storage device.

Switch 10 is a typical switching device which, in the presence of a control signal u _yпр at its switched input, switches signals from its second and third inputs to the first and second outputs, respectively, and in the absence of a control signal u _yпp - from its first input to the first output. The inputs and outputs of the switch in the figure are indicated by numbers.

IDS, which implements the claimed method for determining the distance to the IRI and the speed of convergence with it, works as follows.

In memory 8 enter the values: Δt - signal processing interval; C is the speed of light; α _d , β _v , αφ, βω are constant amplification factors in α-, β-filters “range - speed” (α _d , β _v ) and “angle - angular velocity of the line of sight” (αφ, βω) [9].

At time t ₁ by taking one radio direction finder by IRI and formed thereon a sum signal Σ and normalized error signals Δ DF _g / Σ and Δ _a / Σ horizontal and vertical planes respectively. The latter serves in the first calculator 2.

Using the angular position sensors located in the direction finder 1, the values of the antenna rotation angles φ _ag and φ _av are measured in the respective planes and fed to the first calculator 2.

,

ИРИ, угловых скоростей линии визирования

,

, а также экстраполированные на время t₂=t₁+Δt значения углов пеленга φ_эг, φ_эв ИРИ в горизонтальной и вертикальной плоскостях по формулам:In the first calculator 2 for difference signals Δ _g / Σ and Δ _a / Σ values and rotation angles of the antenna _AH α, α _av algorithms based on α-, β-filter [9] is determined estimated values of the bearing angles

,

Iran, angular velocity line of sight

,

as well as extrapolated for a time t ₂ = t ₁ + Δt values of the angles of the bearing φ _eg , φ _ev IRI in the horizontal and vertical planes according to the formulas:

where αφ, βω are constant gain factors, the values of which are supplied to the second computer 2 from the memory 8; φ _Г0 and φ _в0 are the values of the bearings of the IRI at the initial instant of the IDiS operation, entered into the second computer 2 from the memory 8 in the form of target designations; Δt is the signal processing interval, the value of which is supplied to the second computer 2 from the memory 8; k - discrete time instants (ticks) of IDiS operation.

Here, according to the formulas

u _ag = φ _eg -φ _ag ;

u _av = φ _ev -φ _av

determine the antenna control signals u a _g and u a _b , which are fed to the direction finder 1, where they are converted to analog form and fed to the antenna control drive, which rotates the direction finder antenna 1 in the direction of the IRI.

The extrapolated values of the angles of the bearing φ _eg , φ _ev IRI from the output of the first calculator 2 are given in the memory 8, where they are stored.

Using the parameter meter of the radio signals 3 by the total signal ∑ supplied from the direction finder 1, in a known manner, for example, described in [2, pp. 12-43], the value of the pulse repetition rate F _{p of the} received radio signals, the maximum T _max and minimum T _min values are measured the pulse repetition period of the received radio signals, as well as the cycle time T _c change the repetition period of these pulses.

The value of the pulse repetition rate F _{p of the} received radio signals is supplied to the detector 7, where it is used to determine the belonging of the received radio signal to the type of signals with a high pulse repetition frequency (VCHP) using the known method, for example, described in [2, pp. 12-43]. If the received radio signal is a signal with VCHPI, then in the detector 7 form the control signal u _yпр in the form of a constant voltage, which is supplied to the synchronizer 6 and to the switching input of the switch 10;

otherwise (that is, if a signal with a low pulse repetition rate (LPSP) or with an average pulse repetition frequency (LPSP)), the control signal u _{yпп is} not formed, that is, u _yпп = 0.

In the absence of a control signal (that is, with u _yпp = 0) at the input of the synchronizer 6, the latter provides the following operations:

- through the time interval Δt elapsed after time t ₁ , with the help of direction finder 1, the radio signals from PXR are again received, by which the total signal ∑ and the normalized direction-finding error signals Δ _g / ∑ and Δ _in / ∑ for the horizontal and vertical planes, respectively, are formed. The latter serves in the first calculator 2;

- using the sensors of the angular position located in the direction finder 1, measure the values of the angles of rotation of the antenna φ _ag and φ _av in the respective planes, which are fed to the first calculator 2;

,

ИРИ и угловых скоростей линии визирования

,

и определяют экстраполированные значения углов пеленга φ_эг, φ_эв ИРИ на следующий такт обработки сигналов;- a first calculator 2 for difference signals Δ _g / Σ and Δ _a / Σ and the measured values of the angles φ _AH, φ _av again evaluated value bearing angles

,

Iran and angular velocity line of sight

,

and determine the extrapolated values of the angles of the bearing φ _eg , φ _ev IRI for the next clock signal processing;

- ibid on the extrapolated values of the angles bearing φ _EG, φ _eV IRI and measured values of the rotation angles of the antenna φ _AH and φ _av again determined antenna control signals u _AH and u _AB, which is fed into the finder 1, where they are converted to analog form and fed an antenna control drive that rotates the antenna of the direction finder 1 in the direction of the IRI;

подают во второй вычислитель 5;- estimated value of the angle of the bearing IRI

served in the second calculator 5;

- from the memory 8 in the second calculator 5 serves the extrapolated value of the angle of the bearing φ _eig IRI and the value of the time interval Δt;

- using ICE 4 measure the value of the speed of the aircraft V and submit it to the second computer 5;

- in the second calculator 5 by the formula (1) calculate the value of the distance D to IRI, which is fed to the first input of the switch 10 and through its first output to information consumers 9;

,

, угловых скоростей линии визирования

,

с выхода первого вычислителя 2 выдают потребителям информации 9;- estimated values of the angles of the bearing IRI

,

angular velocities of the line of sight

,

from the output of the first calculator 2 issue information to consumers 9;

- extrapolated values of the angles of the bearing φ _eg , φ _ev IRI are served in the memory 8, where they are remembered.

In the presence of a control signal u _yпр at the input of the synchronizer 6, the latter provides the following operations:

- from the output of the radio signal parameter meter 3, the measured values of the maximum T _max and minimum T _{min of the} pulse repetition periods of the received radio signals and the value of the cycle duration T _c change the repetition period of these pulses are fed to the third calculator 11, where the values of the constant C, constant coefficients are also supplied α _d , β _v and the time interval Δt;

- in the third calculator 11 by the formulas (2) and (3) calculate the values of the distance D to the IRI and the approach speed V _sb with him;

до ИРИ и скорости сближения

с ним по формулам- here the estimated range values are calculated

to Iran and approach speed

with him according to the formulas

where D _e - range extrapolated to the k-th step; D (k) - range value calculated by the formula (2) on the k-th step; α _d , β _v - constant gain; D ₀ and V _sb0 are the values of the range and approach speed, respectively, at the initial instant of the IDiS. If the values of the range D ₀ and the approach speed V _{sb0 are} known from other sources of information, then they are entered in the memory 8 after turning on the IDs from these sources. If their values are not known before the start of IDiS operation, then the first two after turning on the IDiS clock cycle, provided that the control signal U _ynp is not generated in the detector 7. In this case, according to the formula (1), the I&C performs a rough measurement of the range value D, which is used on the third step as the value of D _e (0), and the value of V _{sb0 is} equal to zero;

до ИРИ и скорости сближения

с выхода третьего вычислителя 11 подают соответственно на второй и третий входы коммутатора 10 и через его первый и второй выходы потребителям информации 9;- estimated range values

to Iran and approach speed

from the output of the third computer 11 serves respectively to the second and third inputs of the switch 10 and through its first and second outputs to consumers of information 9;

,

, угловых скоростей линии визирования

,

с выхода первого вычислителя 2 выдают потребителям информации 9;- estimated values of the angles of the bearing IRI

,

angular velocities of the line of sight

,

from the output of the first calculator 2 issue information to consumers 9;

- the extrapolated value of the range D _e from the third computer 11 is served in the memory 8, where it is stored.

Then the process of determining the distance to the IRI and the speed of convergence with him is repeated.

Using the claimed method does not impose additional requirements on existing direction finders, measuring instruments of the temporal parameters of the received signal, and also on the principles of constructing calculators, therefore it can be implemented in most of them.

The use of the invention will provide high accuracy in determining the distance to the IRI, using pulsed signals with high-frequency radiation, high accuracy in determining the speed of approach of the IRI and, in addition, significantly, ten times compared with the prototype, will reduce the time required to determine the distance to the IRI and speed of approach with him.

References

1. Theoretical foundations of radar. / Ed. Shirmana Y.D. - M .: Owls. radio, 1970.

2. Tsvetnov V.V., Demin V.P., Kupriyanov A.I. Electronic warfare: radio intelligence and radio countermeasures. - M .: Publishing House of the Moscow Aviation Institute, 1998.

3. Drogalin VV, Dudnik PI, Kanashchenkov and others. Determining the coordinates and parameters of the movement of sources of radio emission from goniometric data in single-position onboard radar systems. Radio Engineering, 2002, No. 4.

4. Yuzhakov V.V. Modern methods for determining the location of electromagnetic radiation sources. Foreign Radio Electronics, 1987, No. 8.

5. US patent, No. 3982246, CL 343-112, 1976

6. George W. Stimson. Introduction to airborne radar. Second edition. - SciTech Publishing, Inc. Mendham, New Jersey, 1998.

7. Merkulov V.I., Lepin V.N. Aircraft radio control systems, part 1, 2. - M .: Radio and communications, 1996.

8. US Patent No. 5014064, cl. G 01 S 13/00 or 342-152, 05/07/1991.

9. Kuzmin S.Z. Fundamentals of designing systems for digital processing of radar information. - M.: Radio and Communications, 1986, p. 166.

Claims (1)

The method of determining the distance to the source of radio emission and the speed of approach of the aircraft with it, which consists in the fact that at time t ₁ receive radio signals from a source of radio emissions (IRI) and measure the angle of rotation of the antenna in horizontal φ _ar and vertical φ _av planes, from the received radio signals and the measured values of the angles of rotation of the antenna evaluate the values of the angles of the bearing IRI

,

and angular velocities of its line of sight

,

in the two mentioned planes, Using the estimated values of the IRI bearing angles and the angular velocities of its line of sight, the extrapolated values of the IRI bearing angles φ _eg and φ _ev for the next signal processing cycle are calculated, according to the extrapolated values of the IRI bearing angles φ _eg and φ _ev and the values of the antenna rotation angles φ _ag and φ _av forming signals for controlling the antenna, for which it is set to a direction on the IRI, characterized in that the measured pulse repetition frequency f _p and the received radio signals, if the pulse repetition frequency of the received radio signal f _n audio kaya, or average, then: at time t ₂ = t ₁ + Δt, where Δt - time measurement processing interval measured values of rotation angles of the antenna in a horizontal and vertical _AH φ φ _av planes, the speed V of the aircraft and receive radio signals over from the emitter, from the received radio signals and the measured values of the angles of rotation of the antenna evaluate the values of the angles of the bearing IRI

,

and angular velocities of the line of sight

,

in the respective planes, measure the value of the speed V of the aircraft, calculate the range D to IRI according to the formula

estimated values of the angles of the bearing IRI

,

line of sight velocity

,

and range D give consumers information a, if the pulse repetition rate F _p received radio signals is high, then: measure the maximum T _max and minimum T _min values of the pulse repetition period of the received radio signals, as well as the cycle duration T _c change the repetition period of these pulses, calculate the distance to the IRI D and the rate of convergence with the IRI V _cb according to the formulas

where C is the speed of propagation of electromagnetic waves, and the symbol INT means the operation of rounding to the whole number obtained in braces, the calculated values of the range D and the approach speed V _{cb are} filtered, forming their estimated values

and

, estimated values of the angles of the bearing IRI

,

angular velocities of the line of sight

,

, range

and approach speeds

provide consumers with information, then the above process is repeated.