RU2256870C1 - Method for heading control of flight vehicles in angle-measuring two-position radar system - Google Patents

Abstract

FIELD: guidance of flight vehicles to radiation sources.

SUBSTANCE: the method for heading control of flight vehicles in angle-measuring two-position radar system provides for guidance of one of the flight vehicles to the radiation source for provision of the minimum probable approach time to it and creation of favourable conditions for radar surveillance of the radar system to this end, in the angle-measuring two-position radar system the values of bearings of the radiation sources on two flight vehicles, coordinates and headings of these flight vehicles are measured, interchange of the results of measurements of the bearings of the angle-measuring radar system, coordinates of the flight vehicles and their headings are accomplished, the coordinates of the angle-measuring radar systems are estimated and the distances to the angle-measuring radar systems from both flight vehicles are measured, the flight vehicle is selected for the guidance on the angle-measuring radar system and the method of its homing, guidance of the given flight vehicle on the angle-measuring radar system is effected, the coordinates of the point in the space from which the most accurate measurements of the bearings of the angle-measuring radar system can be done, for the second flight vehicle the heading to it is calculated, and the parameter for its control for its homing to this point is formed.

EFFECT: expanded potentialities of practical use of the flight vehicle in the angle-measuring radar system, provided guidance of the flight vehicle on any angle-measuring radar systems, providing the minimum approach time of one of the flight vehicles to the angle-measuring radar system, without restricting the nature of its motion.

3 dwg

Description

The present invention relates to methods for controlling aircraft (A / C) when pointing to sources of radio emission (IRI), in particular, to methods for controlling an aircraft in goniometric on-off radar systems (UPRLS).

In the practice of aviation, tasks often arise when it is necessary to determine the location of an IRI with high accuracy in a minimum short time with the help of UPRRS. The solution to this problem largely depends on the control method for both aircraft, since the mutual positions of both the aircraft and the IRI change significantly during their control, significantly affecting the accuracy of determining the location of the latter [V.V.Drogalin, V.A. Efimov, A.I. .Kanashchenkov A.I. et al. Methods for assessing the accuracy of determining the location of radio emission sources by a passive angular two-position on-board radar system. - Successes of modern radio electronics. Foreign electronics, 2003, No. 5, p. 38].

A known method of controlling two aircraft at the heading in the horizontal plane (prototype) [Katulev A.N., Tukhvatulin V.V. Formation of motion controls of direction finders of a goniometric system // Radio Engineering, 1989, No. 10, p.3-5], according to which:

on each of the aircraft, the IRI bearing and the aircraft's own coordinates are measured;

the measured values of the IRI bearing and the coordinates of the aircraft are evaluated;

carry out a mutual exchange between aircraft estimated values of bearings IRI and coordinates of the aircraft;

according to the estimated values of the bearings of the IRI and the coordinates of the aircraft on each aircraft, they generate the motion control signals of each aircraft in such a way that at each moment of time a minimum of the correlation matrix of errors in measuring the coordinates of the IRI is provided.

The disadvantages of the prototype:

- a rather complicated procedure for finding the values of the optimal movements of aircraft, in which the fastest decrease in the norm of the correlation matrix of measurement errors is achieved;

- the method, due to the presence of non-linear transformations in the formation of aircraft control signals, imposes significant restrictions on the permissible maximum measurement errors of bearings: with a mean square error (RMS) of bearing measurement more than 15 arc minutes, control failures are possible;

- fairly stringent requirements for the nature of the movement of the direction-finding IRI: only uniform and rectilinear movement of the IRI is allowed;

- the method does not take into account the fact that when forming the control signals of an aircraft, it is necessary to simultaneously solve two problems: control of the aircraft in order to ensure the minimum time of flight of the aircraft guided by the IRI and the formation of such trajectories of motion of both aircraft under which conditions are created for the most accurate determination of coordinates IRI.

In this regard, the urgent problem is the development of control methods for aircraft, providing a solution to the problem of controlling the observation process with simultaneous guidance on the IRI. Moreover, the most time-consuming is the process of controlling the aircraft in the horizontal plane.

Thus, the objective of the present invention is to provide such guidance by aircraft at the heading in the airborne radar system, which ensures a minimum time of flight of the first aircraft to the IRI, and the trajectory of the other aircraft provides the conditions for the most accurate measurements of the coordinates of the IRI.

The solution to this problem is based on the following.

The analysis performed in [V.V.Drogalin, V.A. Efimov, A.I. Kanaschenkov A.I. et al. Methods for assessing the accuracy of determining the location of radio emission sources by a passive angular two-position onboard radar system. - Successes of modern radio electronics. Foreign electronics, 2003, No. 5, pp. 25-38] showed that the errors of determining the location of the IRI depend on the relative position of the aircraft relative to each other and relative to the IRI, while there are points of location of the IRI relative to the aircraft, in which the coordinates of the IRI are estimated with sufficient accuracy for practice. As shown in the article, the error in determining the coordinates of the IRI reaches a minimum for points lying on a circle whose radius is equal to half the distance between the aircraft. With this position of the IRI relative to the aircraft, the lines of the bearings of the IRI intersect at right angles (see figure 2). For random direction finding errors and using the IRI location as the accuracy index of the standard deviation, σ _r for the same direction finding errors σ φ ₁ = σ φ ₂ = σ φ, the relation takes place [ibid, p. 32].

From the above formula it follows that the minimum _standard deviation of the IRI location, equal to σ _rmin = 0.0175σ φ d, will be at R ₁ = R ₂ and γ = 90 °; those. for any distance R ₁ , the optimal position of the second aircraft is located perpendicular to the direction of the IRI bearing from the location of the first aircraft passing through the IRI. At γ = 90 ° and the current value of R _{1, the} error of determining the IRI is the smaller, the smaller R ₂ , and, therefore, the smaller the size of the base d. Such a geometry of the mutual arrangement of the aircraft and the IRI (see FIG. 3) corresponds to a certain point, hereinafter referred to as the best observation point (NTN), the position of which continuously changes in space, since the IRI and the aircraft move.

When solving the problem, the choice of the first aircraft can be carried out in various ways, for example, by comparing the distance from the aircraft to the IRI: the first aircraft is the one whose distance from the IRI is less (so for the relative position of the aircraft and the IRI, shown in FIGS. 2 and 3, the first LA will be LA ₁ , since R ₁ <R ₂ ).

The first aircraft can be controlled by any of the known homing methods, for example, by direct guidance or by pointing to the most advantageous meeting point [Aircraft radio control systems. T.2. Ed. A.I. Kanaschenkova, V.I. Merkulova. - M .: Radio engineering, 2003, p. 15-23].

The control of the second aircraft during its guidance in NTN can also be carried out by any of the known homing methods (see ibid., 15-23]. The simplest way of aiming the second aircraft is the method according to which its longitudinal axis is aligned with the direction to NTN. it is necessary for each moment of control of the second aircraft to know x _NTN , z _NTN - coordinates of NTN, x _LA2 , z _LA2 - coordinates of the second LA in a rectangular horizontal coordinate system, Ψ _LA2 , Ψ _LA2 - current and required courses, respectively, of the second LA.

NTN coordinates can be found by the formulas:

x _NTN = x _IRI -R _ass sin (Ψ _LA1 -φ ₁ )

z _NTN = z _IRI + R _ass cos (Ψ _ЛА1 -φ ₁ )

where Ψ _LA1 - the current rate of the first LA,

φ _LA1 - on-board bearing of the IRI from the point of location of the first aircraft.

The value of the required course Ψ _tLA2 can be calculated by the formulas

The presence of two formulas for calculating the required course values is explained by the fact that the aircraft course can have only a positive value and vary in the range from 0 to 360 °.

The control parameter of the second aircraft can be formed by the formula

Δ Ψ ₂ = Ψ _LA2 -Ψ _tLA2 ,

where Ψ _LA2 - the course of the second aircraft.

The claimed technical result is achieved by the fact that

- measure the values of bearings φ ₁ , φ ₂ IRI, respectively, on the first and second aircraft;

- measure the coordinates x _LA1 , z _{LA1 of the} first and x _LA2 , z _{LA2 of the} second LA in a rectangular horizontal coordinate system and their courses Ψ _LA1 and Ψ _LA2 ;

- between LA carry out a mutual exchange of measurement results of bearings φ ₁ , φ ₂ IRI, coordinates x _LA1 , z _LA1 and x _LA2 , z _LA2 LA and their courses Ψ _LA1 and Ψ _LA2 ;

- on each aircraft using one of the known methods, for example, described in [V.V.Drogalin, V.A. Efimov, A.I. Kanaschenkov A.I. et al. Algorithms for estimating coordinates and parameters of radio-emitting targets in goniometric on-off airborne radar systems. - Information-measuring and control systems, 2003, vol. 1, No. 1, p. 4-22], evaluate the coordinates of the Iran x _Iri ; z _ir in a rectangular horizontal coordinate system and the distance R ₁ , R ₂ to the IRI from the corresponding aircraft,

- choose (for example, by comparing the distances R ₁ , R ₂ ) the aircraft that provides the minimum flight time of the aircraft to Iran: if R ₁ ≤ R ₂ , then consider such an aircraft LA ₁ , otherwise - LA ₂ .

- carry out homing of the selected aircraft in Iran using one of the known methods, for example, described in [Aircraft radio control systems. T.2. Ed. A.I. Kanaschenkova, V.I. Merkulova. - M .: Radio engineering, 2003, p. 15-23];

- find the coordinates x _NTN , z _NTN HTH in a rectangular horizontal coordinate system obtained on the basis of the solution of the geometric problem of figure 3 formulas

where Ψ _LA1 - the course of the first LA;

φ ₁ - side bearing IRI from the location of the first aircraft;

- calculate the value of the required rate of the second aircraft according to the formulas obtained on the basis of the solution of the geometric problem of figure 3

form the control parameter of the second aircraft according to the formula

Δ Ψ _ЛА2 = Ψ _ЛА2 -Ψ _тЛA2 , (3)

where Ψ _LA2 - the current rate of the second aircraft.

Figure 1 presents a simplified structural diagram of a possible embodiment of the construction of the radar, which implements the proposed control method, where

1 - direction finder of the first aircraft;

2 - navigation system of the first aircraft;

3 - data transmission equipment of the first aircraft;

4 - computing system of the first aircraft;

5 - Iran;

6 - the first receiving position (PP);

7 - the second PP.

8 - direction finder of the second aircraft;

9 - navigation system of the second aircraft;

10 - data transmission equipment of the second aircraft;

11 - computing system of the second aircraft.

Figure 2 graphically shows the values included in the formula for errors in estimating the location of the IRI in the radar detector, where the following notation is introduced: R ₁ and R ₂ are the distances from the IRI (point IRI) to the first and second, respectively, aircraft (point la ₁ and LA ₂ ); γ is the angle of intersection of bearings φ ₁ and φ ₂ IRI from points LA ₁ and LA _2, respectively; d is the base.

Figure 3 explains the geometry of the guidance of the aircraft in the horizontal plane, where it is indicated: points LA ₁ , LA ₂ and IRI correspond to the projections on the horizontal plane of the centers of mass of the aircraft and IRI in a rectangular horizontal coordinate system X ₀ OZ ₀ . The axles of LA ₁ X ₀₁ , LA ₂ X _{02 are} parallel to the axis OX ₀ . R ₁ and R ₂ - the distance from the IRI (point IRI) to the first and second, respectively, aircraft (points LA ₁ and LA ₂ ); Ψ _tLA2 - the required course of the second aircraft.

Consider a possible version of the operation of the UPRS when using the claimed method of controlling the aircraft at the rate.

The structure of the DFRS includes the first 6 and second 7 mobile PP. Each software contains the same equipment: direction finder 1 (8), navigation system 2 (9), data transmission equipment 3 (10) and computer system 4 (11).

IRI - any electronic means that emits radio signals.

The direction finder of the first aircraft 1 measures the value of the bearing φ ₁ IRI, which from its output goes to the first input of the data transmission equipment 3 of the first aircraft and to the first input of the computing system 4 of the first aircraft. Direction finder 8 of the second aircraft also measures the value of the bearing φ ₂ IRI, which from its output goes to the first input of the data transmission equipment 10 of the second aircraft and to the first input of the computing system 11 of the second aircraft.

The navigation system 2 of the first aircraft determines the coordinates x _LA1 , z _{LA2 of the} first aircraft in a rectangular horizontal coordinate system and its course Ψ _LA1 , which from its output goes to the second input of the data transmission equipment 3 of the first aircraft and to the second input of the computing system 4 of the first aircraft. The navigation system 9 of the second aircraft determines the coordinates x _LA2 , z _{LA2 of the} second aircraft in the same coordinate system and its course Ψ _LA2 , which from its output goes to the second input of the data transmission equipment 10 of the second aircraft and to the second input of the computing system 11 of the second aircraft.

The preferred option for determining the coordinates of the aircraft is the use of a satellite radio navigation system as the most accurate.

The value of the bearing φ _{1 of the} IRI, measured by the direction finder 1 of the first aircraft, the coordinate values x _LA1 , z _{LA1 of the} first aircraft and the value of its course Ψ _LA1 data transmission equipment 3 of the first aircraft transmits from the first PP 6 to the second PP 7, where they are received by the data transmission equipment 10 the second aircraft and transfers them to the third input of the computing system 11 of the second aircraft.

The value of the bearing φ _{2 of the} IRI, measured by the direction finder 8 of the second aircraft, the coordinate values x _LA2 , z _{LA2 of the} second aircraft and the value of its course Ψ _LA2, the data transmission equipment 10 of the second aircraft transmits from the second PP 7 to the first PP 6, where data transmission equipment 3 receives them the first aircraft and sends them to the third input of the computing system 4 of the first aircraft.

Computing systems of the first 4 and second 11 aircraft according to the data obtained in a known manner, for example, described in [V.V.Drogalin, V.A. Efimov, A.I. Kanaschenkov A.I. et al. Algorithms for estimating coordinates and parameters of radio-emitting targets in goniometric on-off airborne radar systems. - Information-measuring and control systems, 2003, vol. 1, No. 1, pp. 4-22] evaluate the coordinates of the IRI. In addition, by comparing the distances R ₁ and R _{2, they} determine the first aircraft that will fly in the direction of the IRI, and the second aircraft that will provide the best conditions for radar observation of the IRI.

Computing system 4 of the first aircraft according to the well-known formula [Merkulov VV, Drogalin VV and other Aviation systems of radio control. T.2. / Ed. Merkulova V.I., Kanaschenkova A.I. - M .: Radio engineering, 2003, p. 15]

where k _p is a dimensional coefficient, it generates a control signal for the first aircraft, which is used in the control system of the first aircraft for pointing it to the IRI.

Computing system 11 of the second aircraft by formulas (1) calculates the coordinates x _NTN , z _HTH HTH in a rectangular horizontal coordinate system, using which, by formulas (2), it calculates the required course value of the second aircraft Ψ _tLA2 , according to which, using formula (3), the control parameter is formed the second aircraft that is used for homing in HTH.

Thus, the claimed method significantly expands the possibilities of the practical use of aircraft in air traffic control radars: it allows you to direct the aircraft at airborne IRI, ensuring a minimum time of approach of one of the aircraft to the IRI, without imposing any restrictions on the nature of its movement. The advantage of the method is the relative simplicity of its implementation. In addition, the use of the claimed method does not impose restrictions on the element base and does not impose significant requirements on the speed and memory size of computer systems.

Claims (1)

The way to control aircraft at the heading in the goniometric on-off radar system, which consists in measuring the values of bearings φ ₁ , φ _{2 of the} radio emission source (IRI), respectively, on the first and second aircraft (LA), measure the coordinates x _LA1 , z _{LA1 of the} first and x _LA2 , z _{LA2 of the} second LA in a rectangular horizontal coordinate system and their courses Ψ _LA1 and Ψ _LA2 , between aircraft perform mutual exchange of measurement results of bearings φ ₁ , φ ₂ IRI, coordinates x _LA1 , z _LA1 and x _LA2 , z _{LA2 of the} aircraft the apparatuses and their courses Ψ _LA1 and Ψ _LA2 , on each aircraft, the coordinates of Iran x _Iran , z _Iran, in a rectangular horizontal coordinate system and the distance R ₁ , R ₂ to the Iran from the corresponding aircraft are evaluated, characterized in that they select the aircraft that provides the minimum flight time LA to IRI, homing the selected LA to IRI, find the coordinates x _NTN , z _{NTN of the} best guidance point in a rectangular horizontal coordinate system according to the formulas x _NTN = x _IRI -R ₁ sin (Ψ ₁ -φ ₁ ); z _NTN = z _IRI + R ₁ cos (Ψ ₁ -φ ₁ ), where Ψ ₁ is the course of the first aircraft, φ ₁ - side bearing IRI from the location of the first aircraft calculate the required rate of the second aircraft according to the formulas

and form the control parameter of the second aircraft according to the formula ΔΨ _LA2 = Ψ _LA2 -Ψ _tLA2 , where Ψ _LA2 is the current rate of the second aircraft.

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