RU2573819C1 - Method of calibrating mobile direction-finder - correlation interferometer using consumer navigation equipment of global navigation satellite system - Google Patents

Abstract

FIELD: radio engineering, communication.

SUBSTANCE: method is carried out by performing operations for using consumer navigation equipment of a global navigation satellite system in differential and kinematic mode and using corresponding algorithmic support for automating the process of calibrating a mobile direction-finder.

EFFECT: reducing time costs on calibrating a mobile direction-finder - correlation interferometer, while maintaining high calibration accuracy.

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Description

The invention relates to radio engineering, in particular to direction finding, and can be used to calibrate a mobile direction finder that implements the algorithm of the correlation interferometer.

The necessary accuracy of mobile direction finders is monitored and ensured by special calibration [1, p. 217-220 - Vartanesyan V.A., Goikhman E.Sh., Rogatkin M.I. Radio direction finding. - M .: Military Publishing House, Ministry of Defense of the USSR, 1966. - 248 p.].

A known method of calibrating direction finder [2, p. 570 - Kukes I.S., Old man M.E. Basics of direction finding. - M .: Soviet Radio, 1964. - 640 p.], Including the reception of control signals of test sources of radio emission (IRI) with known coordinates. It allows you to control the performance of the direction finder, but provides low calibration accuracy [3, p. 280 - Levin B.R. Theoretical foundations of statistical radio engineering. The second book. - M .: Soviet Radio, 1972] due to the lack of the required number of test IRIs for direction finding from various directions, which does not allow taking measures to reduce direction finding errors, which is its drawback.

A known method of calibrating a direction finder, carried out by flying around an aircraft (airplane) with a test IRI on board along a route around the center of which is a mobile direction finder, with the intersection of pre-selected landmarks [1, p. 218]. In this case, according to this method, the accuracy of the aircraft approach over the landmarks of the route should be no worse than 1 °. The known method allows the calibration of the mobile direction finder and evaluate the direction finding error. The disadvantage is that the accuracy of the calibration is limited and requires a lot of time for its implementation. This is explained by the difficulty of performing calibration work related to the limited time of the aircraft’s stay over the reference point when measuring the amplitude-phase distribution (AFR) vectors necessary for calibrating the direction finder, the correlation interferometer, when flying an aircraft over each reference point. In addition, to reduce accidental errors, an aircraft needs to make several visits over a landmark.

A known method of calibrating a mobile direction finder - correlation interferometer [4, p. 364-369 - Radio Monitoring - Tasks, Methods, Means / Ed. A.M. Rembovsky. 2nd ed., Revised. and add. - M .: Hotline-Telecom, 2010. - 624 p.], Adopted for the prototype, which includes:

- determination of the required number of test IRI (K) positions for control measurements in a given sector of azimuthal angles and the assembly of a measuring stand, including movable hardware and software with a test IRI and a stationary part connected to a direction finder;

, V - число различных угловых ориентаций носителя, рекомендуемое значение от 4) положение на местности приблизительно в центре площадки, размеры которой обеспечивают выполнение условий нахождения тестового ИРИ в дальней зоне антенны пеленгатора для всего диапазона его рабочих частот;- sequential installation of the carrier with the direction finder in ν-e ( $$\nu =\overline{\mathrm{one,}V}$$

, V is the number of different angular orientations of the carrier, the recommended value is from 4) the position on the ground is approximately in the center of the platform, the dimensions of which ensure that the conditions for finding the test IRI in the far zone of the direction finder antenna for the entire range of its operating frequencies are met;

- for each νth position of the carrier on the ground, installing a device for measuring angles and distances to the projection point of the phase center of the antenna system of the direction finder, fixing the direction of the longitudinal (construction) axis of the carrier by installing a pole and determining the zero direction for the measuring device;

разметку K угловых положений тестового ИРИ путем перемещения и установки k-й вешки в k-е угловое положение с одновременной проверкой ее требуемого положения по азимутальному углу и дальности (с заданными точностями δθ и δd, соответственно) с помощью прибора для измерения углов и дальностей (при невыполнении одного из условий операции перемещения вешки и контроля ее положения повторяют), закрепление вешек в найденных положениях;- for each νth position of the carrier on the ground and values $$k=\overline{\mathrm{one,}K}$$

marking the K angular positions of the test IRI by moving and installing the kth pole in the kth angular position while checking its required position with respect to the azimuthal angle and range (with given accuracy δθ and δd, respectively) using a device for measuring angles and ranges ( if one of the conditions of the operation of moving the milestones and monitoring its position is not fulfilled, repeat), fixing the milestones in the positions found

) угловой позиции тестового ИРИ установку и последовательное перемещение подвижных аппаратно-программных средств измерительного стенда от k-й к (k+1)-й угловой позиции с выполнением измерений векторов АФР z(k,ν) для $$k=\overline{\mathrm{1,}K}$$

и различных частот излучения в заданном диапазоне и с фиксированным шагом;- for each νth position of the carrier on the ground and each kth ( $$k=\overline{\mathrm{one,}K-\mathrm{one}}$$

) the angular position of the test IRI installation and sequential movement of the movable hardware and software of the measuring stand from the k-th to (k + 1) -th angular position with the measurement of AFR vectors z (k, ν) for $$k=\overline{\mathrm{one,}K}$$

and various radiation frequencies in a given range and with a fixed pitch;

, $$\nu =\overline{\mathrm{1,}V}$$

.- processing of measurement results and determination of calibration AFR vectors b _k based on the measured vectors z (k, ν), $$k=\overline{\mathrm{one,}K}$$

, $$\nu =\overline{\mathrm{one,}V}$$

.

The disadvantage of the prototype method is the large time spent on calibrating the mobile direction finder, associated with marking the site at azimuthal angles with a given step and meeting the conditions for the presence and possibility of installing corner marks (landmarks) in the area of the site, projecting the phase center of the antenna system on the plane of the site, installing media so that the projection of the phase center of the antenna system with the center of the platform and its longitudinal axis with the axis of reference of azimuthal angles coincide with a given accuracy, the need to establish Lebanon is again angular marks at each change of angular orientation of the vehicle on the ground.

The proposed method is free from this drawback and at the same time retains the advantage of the prototype method - high calibration accuracy.

The problem to which the invention is directed is to reduce the time spent on calibrating a mobile direction finder-correlation interferometer while maintaining high calibration accuracy.

, V - число различных угловых ориентаций носителя, рекомендуемое значение от 4) положение на местности как можно ближе к центру площадки, размеры которой обеспечивают выполнение условий нахождения тестового ИРИ в дальней зоне антенны пеленгатора для всего диапазона его рабочих частот, для каждого ν-го положения носителя на местности и каждой k-й угловой позиции тестового ИРИ ( $$k=\overline{\mathrm{1,}K-1}$$

) установку и последовательное перемещение подвижных аппаратно-программных средств измерительного стенда от k-й к (k+1)-й угловой позиции с выполнением измерений векторов АФР z(k,ν) для различных частот излучения в заданном диапазоне и с фиксированным шагом, обработку результатов измерений и определение калибровочных векторов АФР b_k на основе измеренных векторов z(k,ν), $$k=\overline{\mathrm{1,}K}$$

, $$\nu =\overline{\mathrm{1,}V}$$

.To solve this problem, we propose a method for calibrating a mobile direction finder — a correlation interferometer using the navigation equipment of a global navigation satellite system consumer, including determining the required number of test IRI (K) positions for control measurements in a given sector of azimuthal angles and assembling a measuring stand, including movable hardware and software means with a test IRI and a stationary part connected to a direction finder, sequential installation of media with elengatorom in ν-e ( $$\nu =\overline{\mathrm{one,}V}$$

, V is the number of different angular orientations of the carrier, the recommended value is from 4) the position on the ground is as close as possible to the center of the platform, the dimensions of which ensure that the test IRI is in the far zone of the direction finder antenna for the entire range of its operating frequencies, for each νth position carrier on the ground and each k-th angular position of the test IRI ( $$k=\overline{\mathrm{one,}K-\mathrm{one}}$$

) installation and sequential movement of movable hardware and software of the measuring stand from the k-th to (k + 1) -th angular position with the measurement of AFR vectors z (k, ν) for different radiation frequencies in a given range and with a fixed step, processing measurement results and determination of calibration vectors of AFR b _k based on measured vectors z (k, ν), $$k=\overline{\mathrm{one,}K}$$

, $$\nu =\overline{\mathrm{one,}V}$$

.

дополнительно осуществляют установку тестового ИРИ в k-ю угловую позицию с заданной точностью по азимутальному положению и дальности до проекции фазового центра пеленгатора по данным о текущем положении тестового ИРИ в полярной системе координат, связанной с проекцией фазового центра пеленгатора и продольной осью носителя, рассчитываемых на базе подвижных аппаратно-программных средств на основе данных о его текущих координатах, выдаваемых НАП ГНСС, и координат X₀, Y₀, Z₀, X_b, Y_b, Z_b.According to the invention, in the process of assembling the measuring stand, elements of the consumer navigation equipment (NAP) of the global navigation satellite system (GNSS) are installed [5, p. 2 - GOST Ρ 52928-2010. Global satellite navigation system. Terms and Definitions. - M .: Standartinform, 2011.], providing a differential and kinematic mode of its operation for measuring the coordinates of the position of the test IRI, after each installation of the carrier in the ν-e position on the ground, but before moving the moving hardware and software of the measuring stand, they additionally carry out determination of the coordinates of the projection of the phase center of the antenna system of the direction finder on the horizontal plane in the selected coordinate system X ₀ , Y ₀ , Z ₀ : when the antenna system is located on a medium that does not allow A direct measurement of the projection coordinates of the NAP GNSS, it is carried out by measuring the coordinates of N auxiliary points (N≥3) and geometric values connecting them with the projection of the phase center with the subsequent preparation and solution of the optimization problem, or when the antenna system is located on a carrier that allows direct measurement of coordinates projection of the phase center of the NAP GNSS, this measurement is carried out by appropriate installation of the elements of the NAP GNSS, fixation of the direction of the longitudinal (construction) site on the ground and carrier by determining, using the GNSS NAP, the coordinates of the base direction point in the selected coordinate system X _b , Y _b , Z _b , for sequentially moving movable hardware and software of the measuring stand for each $$k=\overline{\mathrm{one,}K}$$

additionally, the test IRI is installed in the kth angular position with a given accuracy in the azimuthal position and the distance to the projection of the phase center of the direction finder according to the current position of the test IRI in the polar coordinate system associated with the projection of the phase center of the direction finder and the longitudinal axis of the carrier, calculated on the basis of mobile hardware and software based on data on its current coordinates issued by the GNSS NAP and coordinates X ₀ , Y ₀ , Z ₀ , X _b , Y _b , Z _b .

The technical result achieved is to reduce the time spent on calibrating the mobile direction finder, while maintaining high calibration accuracy.

The specified technical result is achieved through the introduction of new operations on the use of NAP in the differential and kinematic mode [6, p. 2, 3 - GOST Ρ 53864-2010. Global Navigation Satellite System. Geodetic satellite networks. Terms and Definitions. - M .: Standartinform, 2011] and the use of appropriate algorithmic support to automate the calibration process of a mobile direction finder.

The combination of distinguishing features and properties of the proposed method from the literature is not known, therefore, it meets the criteria of novelty and inventive step.

The drawing shows a diagram of a measuring stand for implementing the proposed method.

In practical terms, the method is as follows.

Determine the required number of test IRI positions (K) for control measurements in a given sector of azimuthal angles, for example, set the step for changing the azimuthal position of the test IRI Δθ, the initial (zero) azimuthal position θ ₀ = 0, and assemble the measuring stand according to the scheme, for example, corresponding the drawing. - one

, V - число различных угловых ориентаций носителя, рекомендуемое значение от 4) положение на местности как можно ближе к центру площадки, размеры которой обеспечивают выполнение условий нахождения тестового ИРИ в дальней зоне антенны пеленгатора для всего диапазона его рабочих частот. - 2Sequentially install the carrier with the direction finder in ν-e ( $$\nu =\overline{\mathrm{one,}V}$$

, V is the number of different angular orientations of the carrier, the recommended value is from 4) the position on the ground is as close as possible to the center of the platform, the dimensions of which ensure that the test IRI is in the far zone of the direction finder antenna for the entire range of its operating frequencies. - 2

After each installation of the carrier in the ν-e position on the ground, the projection coordinates of the phase center of the antenna system of the direction finder on the horizontal plane are determined in the selected coordinate system X ₀ , Y ₀ , Z ₀ :

, Ν≥3 (приемником-ровером ГНСС совместно с приемником-базой ГНСС в режиме RTK) и геометрических величин (углов и дальностей, например, тахеометром), связывающих их с проекцией фазового центра с последующим составлением уравнений связи переменных и решением оптимизационной задачи определения координат проекции фазового центра Χ₀, Y₀, Ζ₀ [7, с. 1410-1412 - Строцев А.А., Колесников С.С., Сухенький И.А. Методика калибровки мобильного пеленгатора - многоканального корреляционного интерферометра с применением GNSS приемников // Сборник докладов XX Международной научно-технической конференции «Радиолокация, навигация, связь». - Воронеж: НПФ «Саквое», 2014 г., т. 2. - С. 1407-1418];- when the antenna system is located on a carrier that does not allow direct measurement of the coordinates of the projection of the NAP GNSS (in particular, the GNSS receiver-rover), it is carried out by measuring the coordinates of the auxiliary points (X _n , Y _n , Z _n ), $$n=\overline{\mathrm{one,}N}$$

, Ν≥3 (GNSS rover receiver together with GNSS receiver base in RTK mode) and geometrical quantities (angles and distances, for example, a total station) connecting them with the projection of the phase center with subsequent compilation of the equations for the coupling of variables and solving the optimization problem of determining the coordinates projections of the phase center Χ ₀ , Y ₀ , Ζ ₀ [7, p. 1410-1412 - Strocev A.A., Kolesnikov S.S., Sukhenky I.A. Calibration technique for a mobile direction finder — a multichannel correlation interferometer using GNSS receivers // Collection of reports of the XX International Scientific and Technical Conference “Radar, Navigation, Communication”. - Voronezh: NPF "Sakvoe", 2014, v. 2. - S. 1407-1418];

- when the antenna system is located on a carrier that allows direct measurement of the coordinates of the projection of the phase center of the GNP NAP, this measurement is carried out by appropriate installation of the GNP NAP elements. - 3

The direction of the longitudinal (construction) axis of the carrier is fixed on the ground by determining using GNP GNAP (in particular, by installing a pole with a GNSS rover receiver on the line of sight coinciding with the longitudinal (construction) axis of the carrier, followed by measurements together with the receiver base GNSS in RTK mode) coordinates of the base direction point in the selected coordinate system X _b , Y _b , Z _b . - four

, угловую позицию на расстояние (d±δd) метров от фазового центра пеленгатора с заданной допустимой абсолютной погрешностью δθ. В частности, для автоматизации процедуры установки тестового ИРИ в условиях практической горизонтальности участка местности проведения калибровочных работ выполняют следующие операции:Move and install the test IRI in the k-th, $$k=\overline{\mathrm{one,}K}$$

, the angular position at a distance (d ± δd) meters from the phase center of the direction finder with a given permissible absolute error δθ. In particular, to automate the installation of a test IRI in the conditions of the practical horizontalness of the site of the calibration area, the following operations are performed:

- determine the true course of the carrier:

, $$Y_b^{\text{'}}$$

- пространственные топоцентрические горизонтальные прямоугольные координаты точки базового направления относительно проекции фазового центра антенной системы,Where $$X_b^{\text{'}\text{'}}$$

, $$Y_b^{\text{'}\text{'}}$$

- spatial topocentric horizontal rectangular coordinates of the base direction point relative to the projection of the phase center of the antenna system,

B ₀ , L ₀ - ellipsoidal geodetic coordinates (latitude and longitude) of the projection of the phase center of the antenna system, calculated from the coordinates Χ ₀ , Y ₀ , Ζ ₀ in accordance with [8 - GOST Ρ 51794-2008. Global navigation satellite systems. Coordinate systems. Methods of transforming coordinates of defined points. - M .: Standartinform, 2009.] in the selected coordinate system,

- based on the current coordinates Χ, Y, Ζ of the position of the test IRI measured by the GNSS rover receiver together with the GNSS receiver base in RTK mode in the selected coordinate system, the coordinates of the IRI position in the spatial topocentric horizontal rectangular coordinate system are determined [9, p. 19 - Mashimov M.M. Geodesy. Theoretical Geodesy: Reference Guide / Ed. V.P. Savinykh and V.R. Yashchenko. - M .: Nedra, 1991. - 268 p.] With the center at the projection point of the phase center of the antenna system:

- determine the course azimuth of the test IRI position at the current point with coordinates Χ, Y, Ζ relative to the projection of the phase center of the antenna system

- determine the distance between the position of the IRI at the current point with the coordinates Χ, Y, Ζ and the projection of the phase center of the antenna system

- moving movable hardware and software with a GNSS receiver-rover (PAPS with GNSS-PR) (3) control the position of the test IRI when it is installed in the kth angular position with a given accuracy in the azimuthal position (kΔθ) and in the required range (d ) to the projection of the phase center of the direction finder, i.e. control the fulfillment of conditions:

| θ ₀ -kΔθ | ≤δθ and | s ₀ -d | ≥δd,

where δθ and δd are the specified maximum permissible absolute errors in azimuth and range. With the simultaneous fulfillment of these conditions, UU-2 (12) generates an alert to the operator about the occupation of the required angular position by the test Iran.

After installing the test IRI in the kth angular position, measurements of the AFR vectors z (k, ν) are performed for various radiation frequencies in a given range and with a fixed step by:

- transmitting the warning UU-1 (7) about the installation of PAPS with GNSS-PR (3) in a predetermined angular position and readiness for IRI;

- formation of direction-finding control signals by frequency and direction-finding duration at a given frequency;

- generation of control signals for UU-2 (12) to change the operating modes of the IRI signal generator and to complete the measurements and move to the next angular position or complete the calibration process;

, $$\nu =\overline{\mathrm{1,}V}$$

для заданных частот и их хранение. - 5- receiving data from APSP (6) on the values of z (k, ν), $$k=\overline{\mathrm{one,}K}$$

, $$\nu =\overline{\mathrm{one,}V}$$

for given frequencies and their storage. - 5

, $$\nu =\overline{\mathrm{1,}V}$$

. - 6They process the measurement results and determine the AFR calibration vectors b _k based on the measured vectors z (k, ν), $$k=\overline{\mathrm{one,}K}$$

, $$\nu =\overline{\mathrm{one,}V}$$

. - 6

):Therefore, the proposed method, as well as the prototype, has high calibration accuracy due to the use of GNSS NAP in differential and kinematic mode, in particular, high-precision GNSS receivers in RTK mode. In addition, it has the advantage of reducing the time required for calibrating the mobile direction finder, since lengthy operations (performed for each νth position of the carrier on the ground and values $$k=\overline{\mathrm{one,}K}$$

):

- marking the angular positions of the test IRI by moving and installing the kth pole in the kth angular position while checking its required position with a given accuracy in the azimuthal angle δθ and in the range δd using the device for measuring angles and ranges (if one of the conditions of the operation of moving the landmarks and monitoring its position are repeated);

- fixing the milestones in the positions found;

, в k-ю угловую позицию с заданной точностью по азимутальному положению и дальности до проекции фазового центра пеленгатора по информации, предоставляемой УУ-2 (12).- the installation and sequential movement of the movable hardware and software of the measuring stand from the k-th to (k + 1) -th angular position has been replaced by auxiliary operations that are short in time, performed only after installing the carrier in each ν-e position on the ground and directly moving movable hardware and software of the measuring stand, for each $$k=\overline{\mathrm{one,}K}$$

, to the kth angular position with a given accuracy in the azimuthal position and range to the projection of the phase center of the direction finder according to the information provided by UU-2 (12).

Thus, the proposed method has the following distinctive features in the sequence of its implementation from the prototype method, which are presented in table 1.

From the presented table comparing the sequence of implementation of the prototype method and the proposed method, it is seen that in the proposed method, relative to the prototype method, a new set of operations for moving and installing movable hardware and software for measuring experimental AFR vectors, leading to a positive effect - reducing time the cost of calibrating a mobile direction finder - a correlation interferometer.

Consider the effectiveness of the developed method in terms of the required time costs by the example of calibration of a mobile direction finder, the upper limit of the operating frequency range of which is 3000 MHz, and the linear size of the antenna system is 3 m. In this case, the near boundary of the far zone is determined by the value of 180 m. characterizing the distance of the test IRI from the phase center of the antenna system of the direction finder, can take the values d = 200 m, Δd = 2 m. The marking sector for calibration work is Ω = 360 °, marking step Δθ = 2 °, i.e. K = 180. The number of different angular orientations of the carrier is V = 4.

A comparative assessment of the effectiveness of the developed method, relative to the prototype method, we will carry out the following indicator:

δT = TT ^S ,

where Τ is the time required for the formation of calibration vectors of AFR b _k in accordance with the prototype method;

, $$t_i^S$$

, t_i - времена однократного выполнения операций по i-му пункту предлагаемого способа и способу-прототипу, соответственно.T ^S - for the proposed one, Τ = t ₁ + V (t ₂ + t ₃ + K (t ₄ + t ₅ )) + t ₆ , $$T^S=t_{\mathrm{one}}^S+V\left(t_2^S+t_3^S+t_{\mathrm{four}}^S+K{t}_5^S\right)+t_6^S$$

, $$t_i^S$$

, t _i - times of a single operation on the i-th point of the proposed method and the prototype method, respectively.

, i_э∈{1,2,5,6}. Кроме того, при расположении антенной системы на носителе, допускающем непосредственное измерение координат проекции приемниками ГНСС,A number of operations of the considered methods at the required time of their execution can be considered equivalent, in particular, $$t_{i_{\mathrm{uh}}}^S\approx t_{i_{\mathrm{uh}}}$$

, i _e ∈ {1,2,5,6}. In addition, when the antenna system is located on a carrier that allows direct measurement of projection coordinates by GNSS receivers,

Then the estimate of δT can be represented as

δΤ≈VKt ₄ .

The value of t ₄ depends on:

- the required range of the position of the test IRI from the phase center of the antenna system of the direction finder (d);

- preparedness and coordination of the work of specialists involved in measuring angular values and ranges, as well as moving, installing and securing the landmarks;

- the required angular accuracy of the installation of landmarks.

We estimate the required equivalent angular accuracy of the installation of the towers.

(в случае ортогонального расположения отрезков l и d на плоскости). Поскольку при применении НАП ГНСС в дифференциальном и кинематическом режиме величина l принимает малые значения, тогда при d=200 м отношение $$\frac{l}{2d}<<1$$

и, следовательно, $$\alpha \approx \frac{1}{d}l$$

(рад).Random values of the measurement error in the horizontal plane of linear (l) and angular (α) quantities are related by the relation $$\alpha =2\cdot arctg\frac{\mathrm{one}}{2d}$$

(in the case of the orthogonal arrangement of the segments l and d on the plane). Since when applying the GNSS NAP in the differential and kinematic mode, the value l assumes small values, then for d = 200 m the ratio $$\frac{l}{2d}<<\mathrm{one}$$

and therefore $$\alpha \approx \frac{\mathrm{one}}{d}l$$

(glad).

.When used as a part of the measuring stand shown in the drawing, as GNSS receivers - TRIUMF-1 receivers (DRSHA.464345.001 RE) in RTK mode, for all points of the calibration site, the dimensions of which are determined by the value d = 200 m, standard deviation (SD) measurement errors in the horizontal plane of linear quantities l is σ _i = 0.01 m [10, p. 15, 65 - Triumph-1. Manual. DRSHA.464345.001 RE. Version 1.1. Revision of 11/08/2011. // http://javad.com/jgnss/support/manuals.html]. Then, the standard deviation of the azimuthal angular error of the installation of the towers will be characterized by the value $${\sigma }_{\alpha }=\frac{\mathrm{one}}{d}{\sigma }_{\mathrm{one}}=5\cdot {10}^{-5}\text{glad}\approx \text{0}\text{, 003}°\approx \text{10"}$$

.

In addition, since K = 180, the distance between the towers for d = 200 m will be 7 m.

Therefore, when implementing the prototype method, taking into account:

- the need to transfer 180 logs to a distance of 200 m from the phase center of the antenna system around the circumference and a distance between the logs of 7 m;

- the required accuracy of installation of each pole (σ _α ≈10 ″) according to the commands of a specialist who measures their position;

- time spent on operations to fix the milestones to ensure their stability and their removal,

the average time for a single operation on the 4th paragraph of the prototype method can be about 3 minutes.

Therefore, with the number of positions of the medium V = 4, we obtain the following value for evaluating the effectiveness indicator of the developed method:

δΤ * 4 · 180 · 3 = 2160 (min),

with equivalent azimuthal angular error of the IRI installation.

The inventive method is implemented using the scheme of the measuring stand, shown in the drawing, where the following conventions:

(1) a carrier;

ASP (5) - direction finding antenna system;

APSP (6) - hardware-software direction finder;

DAPSP (2) - additional hardware and software direction finder, which are part of the measuring stand;

УУ1 (7), УУ2 (12) - control devices, hardware implemented on a computer;

WF1 (8), WF2 (13) - wireless communication devices (Wi-Fi router, Wi-Fi adapter);

PAPS with GNSS-PR (3) - mobile hardware and software with a GNSS rover receiver;

G (11) - IRI signal generator;

A (10) - IRI antenna;

GNSS-1 (15), GNSS-2 (9) - GNSS receivers;

VHF-1 (16), VHF-2 (14) - VHF modems of GNSS receivers;

GNSS-PB (4) - GNSS receiver base.

In the embodiment shown in the drawing, the GNSS hardware NAP consists of two GNSS receivers (GNSS-1 (15), GNSS-2 (9)), two VHF modems (VHF-1 (16), VHF-2 (14)) and A computer (control unit UU-1 (7)), and in order to implement the differential and kinematic modes of its operation, the Real Time Kinematic (RTK) mode is used - a phase differential mode for determining the location of moving objects in real time, which ensures centimeter accuracy in determining coordinates [11 , from. 23 - Evstafiev O.V. GNSS ground infrastructure for accurate positioning // Geoprofi. - 2008. - No. 1. - S. 21-24.], [8, p. fifteen]. One of the receivers (GNSS-2 (9)) implements the functions of the rover - the mobile part of the GNSS NAP [10, p. 65], located on one vertical axis with the test IRI antenna, the second (GNSS-1 (15)) - the function of the base — the control station transmitting differential corrections to the rover in real time using VHF modems. Obtaining, processing and visualization of the current coordinates of the rover receiver, taking into account differential corrections in the selected coordinate system, is carried out on the control device (UU-2 (12)). In addition, on the basis of the control unit UU-2 (12) is carried out:

- solving the problem of determining the coordinates of the projection of the phase center of the antenna system of the direction finder on the horizontal plane in the selected coordinate system X ₀ , Y ₀ , Z ₀ according to automatically stored measurements of the receiver-rover of the coordinates of N auxiliary points (Ν≥3) and additionally measured (for example, a total station, installed at the projection point of the phase center) and entered into the special software of geometric quantities connecting the coordinates of auxiliary points with the projection of the phase center;

- storing the results of measurements or calculating the coordinates of the projection of the phase center of the antenna system of the direction finder on the horizontal plane in the selected coordinate system Χ ₀ , Y ₀ , Ζ ₀ ;

- storage of measurement results using the receiver-rover NAP GNSS coordinates of the base direction point in the selected coordinate system X _b , Y _b , Z _b ;

- storage of data on the required K angular positions, range and step of changing the radiation frequency of the test IRI;

- calculation based on the coordinates X ₀ , Y ₀ , Z ₀ , X _b , Y _b , Z _b and the current position of the test IRI in the coordinate system in which measurements and calculations are made, of its current position in the polar coordinate system associated with the phase projection direction finder center and longitudinal axis of the carrier;

- calculation and visualization of deviations of the current position of the test IRI from the required k-th angular position in the azimuthal position and range to the projection of the phase center of the direction finder according to previously determined data;

- control of the operating modes of the signal generator IRI G (11);

- wireless communication through devices WF1 (8), WF2 (13) with UU-1 (7);

- notification of the operator moving the PAPS from GNSS-PR (3) about the completion of measurements and the transition to the next angular position or completion of the calibration process;

- warning UU-1 (7) about the installation of PAPS with GNSS-PR (3) at a given angular position and readiness for operation of the IRI.

In addition, on the basis of the control unit UU-1 (7), it is carried out:

- formation of control signals for UU-2 (12) to change the operating modes of the IRI signal generator and to complete the measurements and move to the next angular position or completion of the calibration process;

- wireless communication through devices WF1 (8), WF2 (13) with UU-2 (12);

- formation of direction-finding control signals by frequency and direction-finding duration at a given frequency;

, $$\nu =\overline{\mathrm{1,}V}$$

для заданных частот и их хранение;- receiving data from APSP (6) on the values of z (k, v), $$k=\overline{\mathrm{one,}K}$$

, $$\nu =\overline{\mathrm{one,}V}$$

for given frequencies and their storage;

, $$\nu =\overline{\mathrm{1,}V}$$

.- processing of measurement results and determination of AFR calibration vectors b _k based on measured vectors z (k, v), $$k=\overline{\mathrm{one,}K}$$

, $$\nu =\overline{\mathrm{one,}V}$$

.

In addition to VHF modems, GSM modems or other means can be used to implement data transfer from the base to the rover.

The presence of two GNSS receivers (9) and (15) in the GNSS NAP allows one to use one of the two methods for determining coordinates — relative or absolute [6, p. . 3].

In addition, while ensuring the required accuracy, local, regional, or wide-zone GNSS differential subsystems can be used [6, p. 7]. In this case, the use of a single GNSS receiver is sufficient as part of the GNSS GNP measuring stand.

Thus, the proposed method, as well as the prototype method, allows you to calibrate a mobile direction finder that implements the correlation interferometer algorithm with a given accuracy of the IRI location. In addition, the comparative evaluation of the effectiveness of the proposed method, relative to the prototype method, shows a significant reduction in time spent on direction finder calibration.

Claims (1)

A method for calibrating a mobile direction finder — a correlation interferometer using the navigation equipment of a global navigation satellite system consumer, comprising determining the required number of positions of a test source of radio emissions K for control measurements in a given sector of azimuthal angles and assembling a measuring stand including moving hardware and software with a test source of radio emissions and stationary part connected to the direction finder, sequential installation of media finder in ve, $$v=\overline{\mathrm{one,}V}$$

, V is the number of different angular orientations of the carrier, the recommended value is from 4, the position on the ground is as close as possible to the center of the site, the dimensions of which ensure that the conditions for finding the test source of radio emissions in the far zone of the direction finder antenna are met for the entire range of its operating frequencies, for each v the position of the carrier on the ground and each k-th angular position of the test source of radio emissions, $$k=\overline{\mathrm{one,}K-\mathrm{one}}$$

, installation and sequential movement of movable hardware and software of a measuring stand from the k-th to (k + 1) -th angular position with measurements of the amplitude-phase distribution vectors z (k, v) for various radiation frequencies in a given range and with a fixed step, processing the measurement results and determining calibration vectors of amplitude-phase distributions b _k based on the measured vectors z (k, v), $$k=\overline{\mathrm{one,}K}$$

, $$v=\overline{\mathrm{one,}V}$$

, characterized in that during the assembly of the measuring stand, the elements of the navigation equipment of the consumer of the global navigation satellite system are installed, providing a differential and kinematic mode of its operation for measuring the coordinates of the position of the test source of radio emissions, after each installation of the carrier in ve position on the ground, but before moving the moving hardware and software of the measuring stand, additionally carry out the determination of the coordinates of the projection of the phase ntra DF antenna system to the horizontal plane in the selected system X ₀ coordinate, Y _0, Z _0: the location of the antenna system on a medium that does not allow direct measurement of coordinate navigation apparatus projections consumer global navigation satellite system, is conducted by measuring the coordinates of N auxiliary points, Ν≥3, and the geometrical quantities connecting them with the projection of the phase center, followed by the compilation of equations for the connection of variables and solving the optimization problem, determine the coordinates of the projection of the phase center, or when the antenna system is located on a carrier that allows direct measurement of the coordinates of the projection of the phase center by the navigation equipment of the consumer of the global navigation satellite system, this measurement is carried out by appropriate installation of elements of the navigation equipment of the consumer of the global navigation satellite system, the direction of the longitudinal axis is fixed on the ground carrier by determining with the help of navigation equipment the consumer glob Flax navigation satellite point coordinate system base direction in the chosen coordinate system _{X b, Y b, Z b} , for sequentially moving the movable hardware and software for measuring bench for each $$k=\overline{\mathrm{one,}K}$$

additionally, they install the test source of radio emissions in the kth angular position with a given accuracy in the azimuthal position and the distance to the projection of the phase center of the direction finder according to the current position of the test source of radio emissions in the polar coordinate system associated with the projection of the phase center of the direction finder and the longitudinal axis of the carrier, calculated based on mobile hardware and software based on data on its current coordinates issued by global navigation consumer equipment avigatsionnoy satellite system, and the coordinates X _0, Y _0, Z _0, X _b, Y _b, Z _b.