RU2533660C2 - Method and apparatus for independent radar self-correction of misalignment when small-size aircraft meets object at final flight path segment - Google Patents

Abstract

FIELD: physics, navigation.

SUBSTANCE: invention relates to navigation engineering and is intended to solve problems of improving intersection accuracy during short-term interaction of two aircraft at short distances. The method and apparatus to this end provide self-correction of misalignment when a small-size aircraft meets an object at the final flight path segment without using a gyroscopic device and by using a simple weakly directional antenna.

EFFECT: easy determination of current misalignment between flight paths of two objects and minimising misalignment between an aircraft and an approaching object.

2 cl, 3 dwg

Description

The proposed method and device for autonomous radar self-correction of a miss when a small-sized aircraft (LA) encounters an object in the final section of the flight path refers to navigation technology and is mainly intended to solve the problem of increasing the accuracy of a meeting with short-term interaction of two flying objects at short distances (under "small" distance means a distance commensurate with the geometric dimensions of the oncoming object).

When converging interacting objects at small distances, the problem often arises of the need to reduce the miss between them - the minimum distance between the flight paths of two opposing objects. A similar problem of the "exact" approach of objects arises in many cases, for example, in aerospace navigation at the final stages of docking of spacecraft; during emergency assistance or controlling the mechanism of the object itself to achieve the ultimate goal - bringing docking devices into working condition; when issuing commands to the telemetry system; with radio-controlled approach of the rocket and the target in the final section of the flight path, etc. Despite the fact that the accuracy of the meeting of two objects, determined by the miss between them, can be controlled on any part of the flight path of the aircraft, the problem of self-correction necessary to reduce the amount of miss occurs most often when the aircraft approaches the object in the final part of the flight path.

Known methods and devices that provide self-correction (homing) of aircraft, see, for example:

1. Gutkin L.S., Borisov Yu.P., Valuev A.A. and others. Radio control of rockets and spacecraft. Under the total. ed. L.S. Gutkina. M .: Sov. radio. 1968.

2. Berezin L.V., Weitzel V.A., Volkovsky S.A. and other fundamentals of radio control. Textbook for universities. Edited by V.A. Weitzel, V.N. Tipugina. M .: Sov. radio. 1973.

3. Petrov VP, Sochivko A.A. Missile control. / M.: Military Publishing House of the Ministry of Defense of the USSR, 1963, 263 p.

4. Maksimov M.V., Gorgonov G.I. Radio control missiles. Owls radio. M .: 1964, 644 p.

5. Volkovsky S.A., Onoprienko E.I., Savinov V.A. Radio control systems for aircraft. M .: Engineering. 1972, 408 p.

6. Patent No. 1301041 (England). Homing device. MKI F41G.

7. Patent No. 23235897 (France). Missile guidance system. Claim 09/24/75. publ. 27.05.77. MKI F41G.

8. Patent No. 2292562. A device for measuring the angle of contact of an active radar with a concentrated air target. Application No. 2005106725 dated 05.21.2005. Auth. B.M. Klimashov et al. (Prototype).

Despite the fact that the search for methods of self-correction (homing) of small aircraft at small distances has been carried out for decades, however, to date they have not been solved due to significant shortcomings, the main of which are:

a) existing methods of self-correction are implemented by the effects of gyroscopic coordinators with increased inertia, which limits the possibility of their use in conditions of short-term control of an object at short distances;

b) existing methods are implemented by relatively complex and large-sized antennas, the large dimensions of which are necessitated by the formation of an acute radiation pattern, which excludes their use in small-sized aircraft.

The proposed method of self-correction of a miss is devoid of these disadvantages, because, firstly, there is no gyroscopic coordinator and, secondly, a simplified weakly directional antenna is used.

The main objective of the proposed method is to simplify the process of minimizing trajectory miss at small distances.

The closest way is to measure the angle of the aircraft with the oncoming object by forming in space two constant ranges (range gates), on which, when the object appears, the value of the Doppler frequencies is recorded and the current value of the angle of the meeting is calculated (see patent No. 2292562. Device for measuring the angle of the active radar with a focused aerial target Application No. 2005106725 dated May 21, 2005. Author B. B. Klimashov et al.) (prototype).

As a prototype adopted a description of the operation of the device for measuring the angle of meeting of the active radar with a concentrated air target.

The disadvantage of the prototype is the inability to estimate the magnitude of the current miss and minimize it when the aircraft meets an air object at short distances.

There are devices that provide autonomous radar self-correction of miss, but with drawbacks that limit their use if necessary, short-term control of the aircraft when meeting with the object at short distances.

Such disadvantages include:

a) complex gyroscopic coordinators are used, which limits the possibility of their use in small-sized aircraft;

b) complex large-sized antennas are used, the dimensions of which are determined by the need to form an acute radiation pattern, as a result of which their use in small-sized aircraft is excluded.

The present invention is devoid of these disadvantages, because, firstly, there is no gyroscopic coordinator and, secondly, a simplified weakly directional antenna is used.

Closest to the invention, the device is a device for measuring the angle of contact of an active radar with a concentrated air target, described in patent No. 2292562 "Device for measuring the angle of a meeting of an active radar with a concentrated air target. Application No. 2005106725 of 05/21/2005. Aut. B.M. Klimashov et al.) (Prototype), containing a generator, modulator, first power amplifier, adder, circulator, transceiver antenna, second power amplifier, mixer, Doppler frequency filter, frequency converter, detectors torus, speed recorder, range recorder, clock, first register, second register, third register, fourth register, pulse counter, logical element “NAND”, logical element “NOT”, first calculator.

The disadvantage of the prototype is the inability to measure the current miss and minimize it when the aircraft meets the object at short distances.

The technical result of the implementation of the invention is to simplify the device, which determines the current miss between the flight paths of two objects and minimizes the miss between the aircraft and the object of approach.

и направлением от летательного аппарата на объект по формуле:The technical result is achieved in that in the method of autonomous radar self-correction of a miss, when a small-sized aircraft encounters an object in the final section of the flight path, operations are performed: a weakly directed antenna of the autonomous airborne radar is installed towards the front hemisphere of the aircraft; a complex broadband radio signal is emitted; a radio signal reflected from the object is received; the occurrence of the reflected signal at the first fixed range R _{1 is} recorded; measured the Doppler frequency F _∂1 at the time of occurrence of the reflected signal from the object at the first fixed range R ₁ ; the appearance of the reflected signal from the object at a second fixed range R _{2 is} detected; measured the Doppler frequency F _∂2 at the time of occurrence of the reflected signal from the object at a second fixed range R ₂ ; determines the proportionality coefficient of the ranges Z as the ratio of the selected constant values of the first R ₁ and second R ₂ ranges; determines the current value of the angle of the active radar of the aircraft with an air target α _i , formed by the current direction of the velocity vector of the aircraft $${\overline{V}}_{l\mathrm{but}}$$

and the direction from the aircraft to the object according to the formula:

,

,

where: α _i - with an air target;

F _∂1 - Doppler frequency at the first fixed range,

F _∂2 - Doppler frequency at a second fixed range,

- коэффициент пропорциональности дальностей;

- coefficient of proportionality of ranges;

determine the value of the current miss h _i by the formula

;

;

allowable miss h _extra ;

the ratio of the value of the current miss h _i to the selected allowable h _extra is determined by the formula:

;

;

the condition for self-correction of the aircraft is set:

в сторону, на которой происходит увеличение доплеровской частоты, что сопровождается изменением направления полета летательного аппарата и уменьшением угла α_i;a) for A> 1, the process of self-correction is carried out by moving the direction of the aircraft velocity vector $${\overline{V}}_{l\mathrm{but}}$$

to the side on which the Doppler frequency increases, which is accompanied by a change in the flight direction of the aircraft and a decrease in the angle α _i ;

b) when A≤1, the self-correction process is terminated;

, приводящее к уменьшением угла α_i:the direction of the aircraft velocity vector is determined $${\overline{V}}_{l\mathrm{but}}$$

leading to a decrease in the angle α _i :

a) the frequency coefficient B is determined as the ratio of the Doppler frequency F _∂1 at the first fixed range to the current value of the Doppler frequency F _∂2 at the second fixed range according to the formula:

;

;

b) when B <1, the direction of the velocity vector of the aircraft moves in the direction in which the value of B increases,

c) at B≥1, the self-correction process stops,

A device for autonomous radar self-correction of a miss when a small-sized aircraft encounters an object in the final section of the flight path contains: a generator, a modulator, a first power amplifier, an adder, a circulator, a transceiver antenna, a second power amplifier, a mixer, a Doppler frequency filter, a frequency converter, a detector, speed recorder, range recorder, clock, first register, second register, third register, fourth register, pulse counter, logic the “NAND” element, the “NOT” logic element, the first calculator, wherein the generator output is connected to the inputs of the modulator, the second power amplifier, a mixer, the modulator output is connected to the input of the first power amplifier, the output of which is connected to the first input of the adder, the second input which is connected to the output of the second power amplifier, the output of the adder is connected to the input of the circulator, from which the signal is fed to the transceiver antenna, the output of the circulator is connected to the first signal input of the mixer, the third input of which is connected is connected to the output of the first power amplifier, the mixer output is connected to the inputs of the Doppler frequency filter and the frequency converter, the output of the Doppler frequency filter is connected to the signal input of the speed recorder, the output of the frequency converter is connected to the input of the detector, the output of which is connected to the first input of the range recorder, the output of which is connected with information inputs of the first and second registers, the output of the speed recorder is connected to the information inputs of the third and fourth registers, the output of the clock gene the speaker is connected to the control inputs of the speed recorder, range recorder and the counting input of the pulse counter, the first bit output of the pulse meter is connected to the first input of the AND-NOT logic element, with the first input of the second register enable and the first input of the third register write, the second bit the output of the pulse counter is connected to the second input of the AND-NOT logical element, with the first input of the first register write permission and the first fourth register write permission input, the output is logical of the AND-NOT element is connected to the second inputs for reading permission of the first, second, third and fourth registers, and the information outputs of the first, second, third and fourth registers are respectively connected to the first, second, third and fourth inputs of the first calculator, at the output of which the signal is proportional to the angle of the active radar with a concentrated air target, and the second computer, the third computer, the source of the normalized signal, the comparator, the logic device "I" are turned on power supply of the onboard network, with the first input of the second computer connected to the output of the first computer, and the second input of the second computer connected to the output of the first register, the first input of the comparator connected to the output of the second computer, and the second input of the comparator connected to the output of the normalized signal source, the first and the second inputs of the third computer are connected respectively to the outputs of the third and fourth registers, the first output of the third computer is connected to the second input of the logical device "And", and the second output the third computer is connected to the second input of the onboard power supply switch, the first input of the logic device “I” is connected to the first output of the comparator, the device’s power supply from the onboard network is supplied to the first input of the onboard power switch, the voltage from the onboard supply to the generator network, from the output of the logical device "AND" the signal enters the third input of the third computer in the form of feedback and, at the same time, it enters the control element by turning the direction flight of an aircraft.

When a small aircraft meets an airborne object in the final section of the flight path (Fig. 1), the following operations are performed:

1. establish a weakly directed antenna diagram of an autonomous airborne radar towards the front hemisphere of the aircraft;

2. a complex broadband radio signal is emitted;

3. a reflected radio signal from an airborne object is received;

4. the signal is recorded when the object appears at the first fixed range R ₁ ;

5. the Doppler frequency F _{∂1 is measured} at the time the signal from the object appears at the first fixed range R ₁ ;

6. the signal is recorded when the object appears on the second fixed range R ₂ ;

7. the Doppler frequency F _{∂2 is measured} at the time the signal from the object appears at the second fixed range R ₂ ;

8. the proportionality coefficient of the ranges Z is determined as the ratio of the selected constant values of the first R ₁ and second R ₂ ranges;

9. determines the current angle of the active radar of the aircraft with an air target α _i according to the formula:

,

,

where: F _∂1 is the Doppler frequency at the first fixed range,

F _∂2 - Doppler frequency at a second fixed range,

- коэффициент пропорциональности дальностей;

- coefficient of proportionality of ranges;

10. set the allowable miss h _extra ;

11. The current miss h _i is determined by the formula:

;

;

12. the ratio of the value of the current miss h _i to the selected allowable h _extra is determined by the formula:

;

;

13. The conditions for self-correction of the aircraft are established:

в сторону, на которой происходит увеличение доплеровской частоты, что сопровождается изменением направления полета летательного аппарата и уменьшением угла α_i;a) for A> 1, the process of self-correction is carried out by moving the direction of the aircraft velocity vector $${\overline{V}}_{l\mathrm{but}}$$

to the side on which the Doppler frequency increases, which is accompanied by a change in the flight direction of the aircraft and a decrease in the angle α _i ;

b) when A≤1, the self-correction process stops, with the flight direction of the aircraft unchanged;

, приводящие к уменьшением угла α_i;14. determined the direction of the velocity vector of the aircraft $${\overline{V}}_{l\mathrm{but}}$$

leading to a decrease in the angle α _i ;

a) the frequency coefficient B is determined as the ratio of the Doppler frequency F _∂1 at the first fixed range to the current value of the Doppler frequency F _∂2 at the second fixed range according to the formula:

;

;

b) when B <1, the direction of the velocity vector of the aircraft moves in the direction in which the value of B increases,

c) at B≥1, the self-correction process stops.

(фиг.1), начиная от исходного направления траектории (в начале измерений), например, от направления ох₁ до последующих направления, например, ox₂,…,ox_i. Определение угла встречи α_i осуществляется бортовым радиолокатором ближнего действия со слабонаправленной антенной, направленной в сторону передней полусферы летательного аппарата.The process of reducing the miss to a predetermined minimum value (self-correction) is carried out by changing the direction of the flight speed vector of the aircraft $${\overline{V}}_{l\mathrm{but}}$$

(Fig. 1), starting from the initial direction of the trajectory (at the beginning of measurements), for example, from the direction oX ₁ to the subsequent directions, for example, ox ₂ , ..., ox _i . The determination of the angle of meeting α _{i is} carried out by an onboard short-range radar with a weakly directed antenna directed towards the front hemisphere of the aircraft.

, и объекта 4, движущегося со скоростью V_об.Figure 2 shows: two block spheres 1 formed by an autonomous radar 2, each block sphere has a range resolution ΔR, antenna 3 has a weakly directional radiation pattern. Here, as an example, the relative position of the aircraft 2 moving at a speed $${\overline{V}}_{l\mathrm{but}}$$

, and an object 4 moving at a speed of V _about .

Block spheres are characterized by two fixed ranges R ₁ and R ₂ , each has a range resolution ΔR. The choice of the distance R _{1 is} made from the selected condition for the range of the beginning of the self-correction of the miss (this distance can be selected, for example, within 3 ... 5 sizes of the object).

The distance R ₂ is selected from the conditions: firstly, the difference between the distances of the fixed block spheres R ₁ and R ₂ must be not less than the maximum geometric dimensions of the expected oncoming objects and, secondly, the distance R ₂ must be sufficient for the miss self-correction process at the expected maximum speed of meetings with the object.

The autonomous radar under consideration uses a complex (noise-like) broadband signal with a spectral width Δf that has the property of unambiguous range measurement with a range resolution ΔR defined by the expression (see L. Varakin, Theory of Complex Signals. M: Sov. Radio. 1970)

.

.

Detection of an object at fixed ranges of block spheres (within the range resolution elements ΔR) occurs sequentially, first at the first time moment t ₁ , when the object is at a distance R ₁ , and then at the next time moment t ₂ , when the object is at a distance R ₂ , and at the same corresponding time points at each range, the Doppler frequency F _{∂ is} measured.

Thus, in the first discrete time period t ₁ , the appearance of an object at the first range R ₁ is detected and the first Doppler frequency F _{∂1 is determined} , and at the second discrete time t ₂ , the appearance of an object at the second range R ₂ is detected and the second Doppler frequency F _{∂ is} determined ₂ .

The two Doppler frequencies obtained and the ratio of constant values of the established two fixed ranges are determined by the angle of meeting of the aircraft with the object according to the formula (see patent No. 2292562. Device for measuring the angle of contact of an active radar with a concentrated air target. Application No. 2005106725 of 05.21.2005. Auth. B.M. Klimashov et al.):

,

,

where: F _∂1 - the first Doppler frequency recorded at the first distance to the object R ₁ ,

F _∂2 - the second Doppler frequency recorded at the second distance to the object R ₂ ,

- постоянный коэффициент.

is a constant coefficient.

With a priori established values of ranges to the target R ₁ and R _{2, the} value of the current miss h _i is determined by the formula

If the value of the current miss h _i exceeds the predetermined allowable value of h _extra , then the decrease in the miss is provided by the process of self-correction of the value of the current miss h _i .

A decrease in the magnitude of the current miss h _{i is} achieved by changing the direction of the vector of the speed of the aircraft in the direction of decreasing the angle α _{i of the} meeting of the aircraft and the object (Fig. 1), which is accompanied by an increase in the Doppler frequency (see Kogan I. M. Near radar (theoretical basis). .: Sov. Radio, 1973):

,

,

where V _la - the total speed of approach of the aircraft with the object,

λ is the wavelength of the emitted radar signal,

V _sb - the radial component of the speed of approach of the aircraft with the object.

The miss slip is reduced by changing the direction of the aircraft’s velocity vector according to the estimation of the Doppler frequencies F _∂1 and F _∂2 at two current times t ₁ and t ₂ at the corresponding ranges R ₁ and R ₂ .

The method of autonomous radar self-correction of a miss when a small-sized aircraft meets an object in the final section of the flight path is achieved by the following operations:

- a weakly directed antenna of the autonomous airborne radar is installed towards the front hemisphere of the aircraft;

- a complex broadband radio signal is emitted;

- a radio signal reflected from the object is received;

- the occurrence of the reflected signal at the first fixed range R ₁ is recorded;

- measured the Doppler frequency F _∂1 at the time of occurrence of the reflected signal from the object at the first fixed range R ₁ ;

- the occurrence of the reflected signal from the object at a second fixed range R _{2 is} recorded;

- measured the Doppler frequency F _∂2 at the time of occurrence of the reflected signal from the object at the second fixed range R ₂ ;

- determines the proportionality coefficient of the ranges Z as the ratio of the selected constant values of the first R ₁ and second R ₂ ranges;

- determines the angle of the active radar of the aircraft with an air target α _i according to the formula:

,

,

where: F _∂1 is the Doppler frequency at the first fixed range,

F _∂2 - Doppler frequency at a second fixed range,

- коэффициент пропорциональности дальностей;

- coefficient of proportionality of ranges;

- the value of the current miss h _i is determined by the formula

;

;

- set the allowable miss h _extra ;

- the ratio of the value of the current miss h _i to the selected allowable h _extra is determined by the formula:

;

;

- the condition for self-correction of the aircraft is set:

в сторону, на которой происходит увеличение доплеровской частоты, что сопровождается изменением направления полета летательного аппарата уменьшением угла;a) for A> 1, the process of self-correction is carried out by moving the direction of the aircraft velocity vector $${\overline{V}}_{l\mathrm{but}}$$

to the side on which the Doppler frequency increases, which is accompanied by a change in the flight direction of the aircraft by a decrease in the angle;

b) when A≤1, the self-correction process is terminated;

, приводящее к уменьшением угла α_i:the direction of the aircraft velocity vector is determined $${\overline{V}}_{l\mathrm{but}}$$

leading to a decrease in the angle α _i :

a) the frequency coefficient B is determined as the ratio of the Doppler frequency F _∂1 at the first fixed range to the current value of the Doppler frequency F _∂2 at the second fixed range according to the formula:

;

;

b) when B <1, the direction of the velocity vector of the aircraft moves in the direction in which the value of B increases,

c) at B≥1, the self-correction process stops.

Figure 3 shows a device that implements autonomous radar self-correction of a miss when a small-sized aircraft encounters an object in the final section of the flight path, comprising a generator 1, a modulator 2, a first power amplifier 3, an adder 4, a circulator 5, a transceiver antenna 6, and a second power amplifier 7, mixer 8, Doppler frequency filter 9, frequency converter 10, detector 11, speed recorder 12, range recorder 13, clock 14, first register 15, second register 16, third reg mp 17, fourth register 18, pulse counter 19, logic element “AND” NOT 20, logic element “NOT” 21, first computer 22, second computer 23, third computer 24, normalized signal source 25, comparator 26, logic device And "27, on-board power switch 28.

The technical result of the invention is achieved in that in a device comprising a generator 1, a modulator 2, a first power amplifier 3, an adder 4, a circulator 5, a transceiver antenna 6, a second power amplifier 7, a mixer 8, a Doppler frequency filter 9, a frequency converter 10, detector 11, speed recorder 12, range recorder 13, clock 14, first register 15, second register 16, third register 17, fourth register 18, pulse counter 19, logical element “AND NOT” 20, logical element “NOT »21, first subtract a splitter 22, wherein the output of the generator 1 is connected to the inputs of the modulator 2, the second power amplifier 7, the mixer 8, the output of the modulator 2 is connected to the input of the first power amplifier 3, the output of which is connected to the first input of the adder 4, the second input of which is connected to the output of the second power amplifier 7, the output of the adder is connected to the input of the circulator 5, from which the signal is fed to the transceiver antenna 6, the output of the circulator is connected to the first signal input of the mixer 8, the third input of which is connected to the output of the first power amplifier 3, the output of the mixer 8 is connected to the inputs of the Doppler frequency filter 9 and the frequency converter 10, the output of the Doppler frequency filter 9 is connected to the signal input of the speed recorder 12, the output of the frequency converter 10 is connected to the input of the detector 11, the output of which is connected to the first input of the range recorder 13, the output of which connected to the information inputs of the first 15 and second 16 registers, the output of the speed recorder 12 is connected to the information inputs of the third 17 and fourth 18 registers, the output of the clock 14 is connected to branching inputs of the speed recorder 12, range recorder 13 and the counting input of the pulse counter 19, the first bit output of the pulse meter 19 is connected to the first input of the AND-NOT logic element 20, with the first input of the write permission of the second register 16 and the first input of the write permission of the third register 17, the second bit output of the pulse counter 19 is connected to the second input of the AND-NOT logic element 20, with the first input of the write permission of the first register 15 and the first input of the write permission of the fourth register 18, the output is of the second AND-NOT element 20 is connected to the second inputs of reading permission of the first 15, second 16, third 17 and fourth 18 registers, and the information outputs of the first 15, second 16, third 17 and fourth registers 18 are respectively connected to the first, second, third and the fourth inputs of the first calculator 22, the output of which is proportional to the angle of the active radar with a concentrated air target, the following are introduced: the second calculator 23, the third calculator 24, the source of the normalized signal 25, the comparator 26, the logic device "I" 27, power switch of the onboard network 28 so that the first input of the second computer 23 is connected to the output of the first computer 22, and the second input of the second computer 23 is connected to the output of the first register 15, the first input of the comparator 26 is connected to the output of the second computer 23, and the second input of the comparator 26 connected to the output of the source of the normalized signal 25, the first and second inputs of the third computer 24 are connected respectively to the outputs of the third 17 and fourth registers 18, and the first output of the third computer 24 is connected to the second input log device "I" 27, and the second output of the third computer 24 is connected to the second input of the power switch of the on-board network 28, the first input of the logic device "I" 27 is connected to the first output of the comparator 26, the power supply voltage of the device is supplied to the third input of the power switch of the on-board network 28 from the on-board network, and from the output of this switch 28 to the generator 1, the supply voltage from the on-board network is supplied, from the output of the logic device “I” 27 a signal is received in the form of feedback to the third input of the third computer 24 and to the control element turning the direction of flight of the aircraft.

Figure 3 presents the structural diagram of the proposed device.

The proposed device contains: a generator 1, a modulator 2, a first power amplifier 3, an adder 4, a circulator 5, a transceiver antenna 6, a second power amplifier 7, a mixer 8, a Doppler frequency filter 9, a frequency converter 10, a detector 11, a speed recorder 12, a recorder range 13, clock 14, first register 15, second register 16, third register 17, fourth register 18, pulse counter 19, logic element “AND NOT” 20, logic element “NOT” 21, first calculator 22, second calculator 23 , comparator 24, the source of normalization Nogo signal 25, a comparator 26, a logic device "and" 27, power switch 28 on-board network.

The operation of the proposed device is as follows.

The generator 1 generates a continuous signal, which is converted in the modulator 2 into pulses, which are then amplified in the first power amplifier 3 and fed to the first input of the adder 4, from the output of which the pulse signal is radiated into the space of the weakly directed transmit-receive antenna 6 through the circulator 5. From the generator 1 a continuous signal is also fed to a second power amplifier 7, from the output of which a signal is fed to the second input of the adder 4, from the output of which a continuous signal is also emitted by a weakly directed transceiver antenna 6 through the circulator 5.

The signal reflected from the object is transmitted through the transceiver antenna 6 and circulator 5 to the mixer 8, which has two heterodyne inputs: input 2 of the mixer 8 receives the signal from the output of the generator 1, and input 3 of the mixer 8 receives the signal from the output of the power amplifier 3, to the signal input 1 mixer 8, the signal comes from the output of the circulator 5.

From the output of the mixer 8, the signal goes to the Doppler frequency filter 9, from where it goes to the information input of the speed recorder 12, from the output of which a signal proportional to the Doppler frequency F _∂ goes to the information inputs of the third register 17 and the fourth register 18. During measurements, the first discrete time moment t ₁ determined by the clock 14, an information signal about the first current Doppler frequency F _∂1 appears only at the output of the third register 17, and then, at the second time, determined by the same clock m by the generator 14, an information signal about the second current Doppler frequency F _∂2 appears only at the output of the fourth register 18. From the output of the mixer 8, the signal also goes to the frequency converter 10, from where the converted signal through the detector 11 goes to the information input of the range recorder 13, from the output whose signal is proportional to the range R, is fed to the information input of the first register 15 and the information input of the second register 16.

When measuring, at the first discrete time instant t ₁ determined by the clock 14, an information signal about the first current range to the observed object R ₁ appears only at the output of the first register 15, and then, at the second time instant t ₂ determined by the same clock 14, information about the second signal current to the observed object distance R ₂ only appears at the output of the fourth register 18. Simultaneous measurement at discrete times and Doppler frequency ranges, respectively, F _∂1, R ₁ and F _∂2, R ₂ impl This means that from the clock generator 14 a discrete signal is supplied to the control inputs of the speed recorder 12, range recorder 13 and the first counting input of the pulse counter 19. Then the signal from the first bit output of the pulse counter 19 is fed to the first input of recording permission of the second register 16 and to the first input enable recording third register 17. The signal from the second bit output of the pulse counter 19 is fed to the first input enable recording first register 15 and the first input enable recording fourth register 18. The signal from the first bit output of the pulse counter 19 is supplied to the first input of the AND-NOT logical element 20, and the signal from the second bit output of the pulse counter 19 is fed to the second input of the AND-NOT logical element 20. From the output of the logical element " AND-NOT ”20, the signal is fed to the input of the logical element“ NOT ”21 and the second inputs of reading permission of the first register 15, second register 16, third register 17 and fourth register 18. The output of the logical element“ NOT ”21 is connected to the reset input of the pulse counter 19 . Information outputs the first- register 15, second register 16, third register 17 fourth register 18 are connected respectively to the first, second, third and fourth inputs of the calculator 22, whose output signal is proportional to the angle of the meeting with the concentrated active radar aerial target.

, который поступает на первый вход логического устройства "И" 27, на второй вход которого поступает сигнал с первого выхода третьего вычислителя 24 при выполнении условия отношения частот Доплера F_∂1 и F_∂2, поступающих, соответственно, на его первый и второй входы

.At the first signal input of the second calculator 23, a signal corresponding to the current meeting angle of the active radar with the object α _i is received, and its second input receives a signal from the output of the first register 15 corresponding to the range R ₁ , and at the output of the calculator 23 there will be a signal proportional to the missed meeting of the aircraft with the object h _i, numerically defined by the expression h _i = R ₁ · sin α _i and supplied to the first input of the comparator 26, the second input of which receives a signal proportional to the allowable slip trajectory h _add, as SET ennogo reference voltage source 25. The voltage on the first output signal of the comparator 26 is exceeded only when the current value over h _i slip allowable value h _dop so that

, which is fed to the first input of the logic device “I” 27, to the second input of which a signal is received from the first output of the third computer 24 when the condition for the ratio of the Doppler frequencies F _∂1 and F _∂2 , _respectively , arriving at its first and second inputs

.

и

сигнал в виде обратной связи поступает на третий вход третьего вычислителя 24 и, одновременно - на элемент управления поворотом направления полета ЛА.From the output of the logical device "AND" 27 provided

and

the feedback signal is fed to the third input of the third computer 24 and, at the same time, to the control element for turning the flight direction of the aircraft.

, который поступает на первый вход выключателя источника питания устройства 28.At the second output of comparator 26, the signal will be only when the values of the current miss do not exceed the permissible deviations, i.e.

, which is fed to the first input of the power supply switch of the device 28.

.The third input of the power supply switch of the device 28 receives the supply voltage of the device from the onboard network, and its second input receives a signal from the second output of the third computer 24 when the Doppler frequencies measured at the first range R _{1 are} exceeded over the Doppler frequencies measured at the second range R ₂ so that the condition

.

The appearance at the first input of the power supply switch of the device 28 of the signal proportional to condition A≤1, and at its second input signal proportional to condition B≥1, corresponds to the condition under which the miss of the aircraft trajectory relative to the object does not exceed the permissible value and the self-correction process stops disconnecting the device from the onboard network of the aircraft.

As practice has shown, the implementation of the proposed device has no fundamental difficulties, including in the microelectronic design, because it uses elements that are widely used in modern electronic equipment.

Claims (2)

1. The method of autonomous radar self-correction of a miss when a small-sized aircraft encounters an object in the final section of the flight path is achieved by installing a weakly directed antenna of an autonomous on-board radar towards the front hemisphere of the aircraft; emit a complex broadband radio signal; receive a radio signal reflected from the object; register the occurrence of the reflected signal at the first fixed range R ₁ ; measuring the Doppler frequency F _∂1 at the time of occurrence of the reflected signal from the object at the first fixed range R ₁ ; register the occurrence of the reflected signal from the object at a second fixed range R ₂ ; measuring the Doppler frequency F _∂2 at the time of occurrence of the reflected signal from the object at a second fixed range R ₂ ; determine the proportionality coefficient of the ranges Z as the ratio of the selected constant values of the first R ₁ and second R ₂ ranges; determine the angle of the active radar of the aircraft with an air target α _i formed by the current direction of the aircraft's velocity vector $${\overline{V}}_{l\mathrm{but}}$$

and the direction from the aircraft to the object according to the formula:

where: F _∂1 is the Doppler frequency at the first fixed range,
F _∂2 - Doppler frequency at a second fixed range,

- coefficient of proportionality of ranges;
characterized in that the value of the current miss h _{i is} determined by the formula

establish a permissible miss h _extra ;
determine the ratio of the value of the current miss h _i to the selected allowable h _extra according to the formula:

the condition for self-correction of the aircraft is set:
a) at A> 1, the self-correction process is carried out by moving the direction of the aircraft velocity vector $${\overline{V}}_{l\mathrm{but}}$$

to the side on which the Doppler frequency increases, which is accompanied by a change in the flight direction of the aircraft and a decrease in the angle α _i ;
b) when A≤1, the self-correction process is terminated;
determine the direction of the velocity vector of the aircraft $${\overline{V}}_{l\mathrm{but}}$$

leading to a decrease in the angle α _i :
a) determine the frequency coefficient B as the ratio of the Doppler frequency F _∂1 at the first fixed range to the current value of the Doppler frequency F _∂2 at the second fixed range according to the formula:

b) when B <1, the direction of the velocity vector of the aircraft moves in the direction in which the value of B increases,
c) at B≥1, the self-correction process stops. 2. The device autonomous radar self-correction miss when meeting a small aircraft with an object in the final section of the flight path, containing a generator, modulator, first power amplifier, adder, circulator, transceiver antenna, second power amplifier, mixer, Doppler frequency filter, frequency converter , detector, speed recorder, range recorder, clock, first register, second register, third register, fourth register, pulse counter, logic rd element "NAND" gate "NO", the first calculator, and the generator output is connected to inputs of the modulator, the second power amplifier, a mixer; the output of the modulator is connected to the input of the first power amplifier, the output of which is connected to the first input of the adder, the second input of which is connected to the output of the second power amplifier, the output of the adder is connected to the input of the circulator, from which the signal is transmitted to the transceiver antenna, the output of the circulator is connected to the first signal the input of the mixer, the third input of which is connected to the output of the first power amplifier, the output of the mixer is connected to the inputs of the Doppler frequency filter and the frequency converter, the output of the Doppler filter the stot is connected to the signal input of the speed recorder, the output of the frequency converter is connected to the input of the detector, the output of which is connected to the first input of the range recorder, the output of which is connected to the information inputs of the first and second registers, the output of the speed recorder is connected to the information inputs of the third and fourth registers, the clock output the generator is connected to the control inputs of the speed recorder, range recorder and the counting input of the pulse counter, the first bit output of the pulse counter ow connected to the first input of the AND-NOT logic element, with the first input of the second register write permission and the first input of the third register write permission, the second bit output of the pulse counter is connected to the second input of the AND-NOT logic element, with the first record enable input the first register and the first input of the write permission of the fourth register, the output of the AND-NOT logical element is connected to the second inputs of the permission to read the first, second, third and fourth registers, and the information outputs of the first, second, third the third and fourth registers respectively connected to the first, second, third and fourth inputs of the first transmitter, the output of which the signal is proportional to the angle of the active radar with a concentrated air target, characterized in that the second computer, the third computer, the source of the normalized signal, the comparator , logical device "I", power switch of the on-board network, while the first input of the second computer is connected to the output of the first computer, and the second input of the second computer is connected with the output of the first register, the output signal of the second computer, determined by the range and the current value of the angle of the active radar with a concentrated air target, is fed to the first input of the comparator, the second input of which is connected to the output of the normalized signal source, and the second output of the comparator is connected to the first input of the power switch the onboard network, the outputs of the third and fourth registers are connected respectively with the first and second inputs of the third computer, which forms the signal, are proportional at the relative meeting speeds of the active radar with the target at two fixed ranges, the first output of the third computer is connected to the second input of the logical device "I", and the second output of the third computer is connected to the second input of the power switch on-board network, the first input of the logical device "And" is connected to the first output of the comparator, the device’s power supply from the on-board network is supplied to the third input of the on-board power switch, the voltage from the on-board network is supplied from the output of this switch and the generator, the output of the logical device "AND" signal is supplied to the third input of the third calculator in the form of feedback and at the same time, it comes to an element rotating the direction of flight of the aircraft control.

Images