RU2036432C1 - Inertial satellite module and complex inertial satellite system for navigation, communication, location illumination and control - Google Patents

Abstract

FIELD: navigation. SUBSTANCE: inertial satellite module determines nine integral parameters by each of errors by three coordinates and three projections of linear velocity in unit of determination of integral errors. On their basis another unit determines physical errors which then are compensated in navigational parameters found on the basis of reading of inertial sensors unit. Inertial satellite modules positioned on frame of object render capability to determine linear and angular deformations of object in units 13 determining linear deformations and in units 14 determining angular deformations. By information from base inertial-satellite module 10 position of object with respect to ν objects is determined in unit 18 of illumination of navigational situation. Information on current deformations of hull of vessel goes to recording unit 16 and is used by vessel navigator. Information on coordinates of object and on their derivatives goes from output of navigational communication unit 17 on the air for generation of relative parameters by any of other objects. EFFECT: enhanced authenticity and precision of generation of navigational parameters by inertial satellite module, increased authenticity of computations which allows safety of navigation to be improved on the basis of more complete and accurate information on vector of vessel condition, improved seaworthiness of vessel and control over strength characteristics of vessel. 2 cl, 2 dwg

Description

 The invention relates to the navigation of predominantly marine vessels and can be used to determine more than one navigation value using space navigation tools.

 Currently, various navigation devices and systems are known that are highly effective and provide increased traffic safety.

 Closest to the proposed device is a similar module used in the complex equipment of the satellite radio navigation system NAVSTAR for the aircraft.

 The well-known inertial-satellite module contains a receiver-indicator of the satellite navigation system, a unit for generating relative linear and angular coordinates of the satellite and the object, the first to third outputs of which are connected respectively to the inputs of the receiver-indicator of the satellite navigation system from first to third, an inertial sensor unit and an object state vector calculator, the first and second outputs of which are connected respectively to the first and second outputs of the inertial sensor unit.

 Such a module solves the problem of determining the coordinates of a moving object based on the integration of accelerations in the coordinate system associated with the local horizon. Errors in this module are estimated by constructing the optimal Kalman filter. To construct the latter, knowledge of error models of meters and disturbances acting on them is necessary. The implementation of the filter requires a large load of the on-board digital computer system with a large number of estimated parameters and is associated with the danger of a discrepancy in the computing process, which is often encountered in practice. These features determine the lack of accuracy and reliability of the module and lead to the need for individual adjustment of the navigation filter.

 Closest to the proposed one is a comprehensive inertial-satellite navigation, communication, lighting system, control and monitoring system, containing a basic inertial-satellite module and sequentially connected an automatic object control system, an object control unit and a control unit sensor block.

 Such an integrated system solves only the navigation problem and its properties are determined by the characteristics of the module, namely it has insufficient accuracy and reliability due to the need for accurate knowledge of the error models of meters and disturbances, as well as because of the possibility of a discrepancy in the computational process.

 The technical result of the invention is to increase the reliability and accuracy of the generation of navigation parameters carried out by the inertial-satellite module, as well as to increase the reliability of calculations, which would make it possible to increase the safety of navigation, improve the seaworthiness of the vessel and control its strength on the basis of the more complete and accurate information on the state vector of the vessel characteristics.

 This is achieved by the fact that in the inertial-satellite module containing the receiver indicator of the satellite navigation system, a unit for generating relative linear and angular coordinates of the satellite and the object, the outputs of which are connected from the first to the third to the inputs of the receiver-indicator of the satellite navigation system from the first to the third, the inertial sensor unit and a calculator of the state vector of the object, the first and second inputs of which are connected respectively with the first and second outputs of the block of inertial sensors, the input block corrections, integral error determination unit, integral error compensation unit, physical correction determination unit and physical correction compensation unit, wherein the first and second outputs of the integral error compensation unit are connected respectively to the first and second inputs of the correction generation unit and the relative linear and angular coordinate generation unit a satellite and an object, the third input of which is connected to the first output of the compensation block for physical corrections, the third and fourth inputs of the output block and amendments are connected respectively to the first and second outputs of the receiver-indicator of the satellite navigation system, and the first and second outputs are connected respectively to the first and second inputs of the integral error determination unit, the first and second outputs of which are connected respectively to the first and second input of the physical error determination unit and the first and the second input of the integral error compensation unit, the third and fourth inputs of which are connected respectively to the first and second outputs of the vector computer object, the inputs of the physical error compensation unit from the first to fourth are connected respectively to the outputs from the first to fourth physical error determination unit, and the inputs from the fifth to eighth are connected respectively to the outputs from the third to sixth state vector computer, the first and second outputs of the compensation unit integral errors, the first, second, third and fourth outputs of the physical error compensation unit are the outputs of the inertial-satellite module, respectively, from the first to its sixth, seventh output is the third output of the satellite navigation system receiver indicator.

 The technical result of the invention is also achieved by the fact that a comprehensive inertial-satellite navigation, communication, lighting, control and monitoring system comprising a basic inertial-satellite module and series-connected automatic object control system, an object control unit and a control sensor unit are introduced n inertial-satellite modules spaced over the body of the object, n linear strain detection blocks, n angular strain detection blocks, and also an ind ikators, having n first and n second inputs, a registration unit having n first and n second inputs, a unit for determining disturbing forces, a unit for determining inertial forces, a unit for determining control forces, a navigation communication unit and a lighting unit for the navigation situation, the first input i- of the first block of determining linear deformations (i 1.n) is connected to the seventh output of the base inertial-satellite module, and the second input to the seventh output of the i-th inertial-satellite module, the first input of the i-th block of determining angular deformations is connected to the third m output of the base inertial-satellite module, and the second input with the third output of the i-th inertial-satellite module, the inputs of the automatic control system of the object from the first to the ninth are connected respectively to the outputs of the base inertial-satellite module from the third to the sixth, with the first and second outputs the base inertial-satellite module, the output of the block determining the disturbing forces, the sensor block of the controls and the output of the lighting unit of the navigation situation, the first and second inputs of the block determining the perturbation of forces are connected respectively to the output of the inertial force determination unit and the output of the control force determination unit, the input of which is connected to the output of the control unit sensor unit, the first and second inputs of the navigation communication unit are connected respectively to the first and second outputs of the inertial-satellite module, and the first and second the outputs are connected respectively to the first and second inputs of the lighting unit of the navigation situation, the third and fourth inputs of which are connected respectively to the first and second outputs of the base inertial-supchnik module, the inputs of the inertial-force determination unit from the first to the fourth are connected respectively to the outputs of the base inertial-satellite module from the third to the sixth, the n first inputs of the display unit are connected respectively to the outputs of the n units of linear deformations, n its second inputs are connected respectively to the outputs of n blocks for determining angular deformations, n of its second inputs are connected respectively to the outputs of n blocks for determining angular deformations, the third input is connected to the third output b of the inertial-satellite module, the fourth with the output of the navigation unit, and the fifth and sixth inputs are connected respectively to the first and second outputs of the base inertial-satellite module, the n first inputs of the registration unit are connected respectively to the outputs of n linear deformation determination blocks, and n of it second inputs, respectively, with the outputs of n blocks for determining angular deformations.

 The proposed inertial-satellite module continuously assesses the errors of six object parameters (three spatial coordinates and three projections of linear velocity) by determining nine integral parameters for each of the six errors using the least squares method and then determining these six errors, as well as determining physical errors (errors measuring acceleration components, pitching and yaw angles, angular velocities and accelerations) according to a specific algorithm and continuously Compensate for measurement error in the process of inertial-satellite module.

 The proposed integrated navigation, communication, lighting, control and monitoring system is based on the use of the most complete and accurate information about the parameters of the absolute motion of the vessel being the object of control, and about the parameters of its relative motion with respect to the oncoming vessels, about the current values of the disturbing forces acting on a controlled moving object, about the current values of linear and angular deformations of the casing of a controlled moving object, which together allows you to implement an integrated system of optimal and adaptive control law by a mobile unit in all operating conditions, including in extreme conditions.

 Figure 1 presents the structural diagram of the inertial-satellite module; in FIG. 2 is a structural diagram of an integrated navigation, communication, lighting system, control and monitoring system.

 In the drawings, the positions indicated: receiver indicator 1 of the satellite navigation system, block 2 generating relative linear and angular coordinates of the satellite and the object, block 3 inertial sensors, calculator 4 of the state of the object, block 5 generating corrections, block 6 for determining the integral errors, block 7 for the compensation of integral errors , block 8 for determining physical errors, block 9 for compensating physical errors, basic inertial-satellite module 10, the first 11 and i-th 12 inertial-satellite modules, block 13 division of linear deformations, block 14 determine the angular deformations, block 15 indicators, block 16 registration, block 17 navigation communication, block 18 lighting navigation situation, system 19 for automatic control of the object, block 20 for determining inertial forces, block 21 for determining control forces, block 22 for determining disturbing forces, block 23 sensors controls, block 24 controls the object.

 The inertial-satellite module (Fig. 1) includes a satellite navigation system receiver 1, consisting of a series-connected antenna, a high-frequency amplifier, a first mixer, an intermediate-frequency amplifier, a second mixer, and also m parallel circuits, each of which consists of a selection unit Doppler frequency, correlator and analog-to-digital converter (ADC). The inputs of the Doppler frequency isolation blocks are combined and connected to the output of the second mixer, the ADC outputs are connected to the inputs of the control processor (UP), the control inputs of the correlators are connected to the outputs of the code generator, the control inputs of the mixers are connected to the outputs of the reference frequency generator, the receiver has three inputs that are connected with the input of the control unit, and three outputs, the first output through the phase detector connected to the output of the second mixer, and the second and third outputs connected to the outputs of the control unit. Block 2 of the development of the relative linear and angular coordinates of the satellite and the object will support the sensor of the parameters of motion of the satellite and the calculator of the corresponding parameters of relative motion. Block 2 has three inputs and three outputs. Block 3 of inertial sensors consists of three accelerometers and three laser gyroscopes and has two outputs. The computer 4 of the state vector of the object has two inputs and six outputs. Block 5 generation of amendments is a block of subtractors and has first, second, third and fourth inputs and first and second outputs. Block 6 determination of integral errors is a set of adders and integrators that perform a number of operations according to a certain algorithm and has first and second inputs and first and second outputs. Block 7 compensation of integral errors is a set of adders and has first, second, third and fourth inputs and first and second outputs. Unit 8 for determining physical errors is a set of adders and multipliers and has first and second inputs and four outputs. Block 9 compensation of physical errors is a set of adders and has eight inputs and four outputs.

 The blocks are interconnected as follows: the first, second and third inputs of the receiver-indicator 1 of the satellite navigation system are connected respectively to the first, second and third outputs of the block 2 for generating relative linear and angular coordinates, the first and second inputs of which are connected to the first and second inputs of the block 5 generation amendments, the third and fourth inputs of block 5 are connected respectively to the second and third outputs of the receiver 1, the first and second outputs of block 5 are connected to the first and second inputs of the block 6 total errors, the first and second outputs of which are connected respectively to the first and second inputs of the integral error compensation unit 7 and to the first and second inputs of the physical error determination unit 8, the first, second, third and fourth outputs of unit 8 are connected to the first, second, third and the fourth inputs of the physical error compensation unit 9, the first and second outputs of the inertial sensor unit 3 are connected to the first and second inputs of the calculator 4 of the object state vector, the first and second outputs of which are connected respectively, with the third and fourth inputs of the integral error compensation unit 7, the third, fourth, fifth and sixth outputs of the calculator 4 are connected to the fifth, sixth, seventh and eighth inputs of the physical error compensation unit 9, the first and second outputs of unit 7 are connected to the first and second inputs block 2 generating relative linear and angular coordinates, the third input of block 2 is connected to the first output of block 9, the outputs of the inertial-satellite module are the four outputs of block 9 and the first and second outputs of block 7, as well as the first 1st output of indicator 1.

 Inertial-satellite module operates as follows.

The accelerometers of the block 3 of inertial sensors generate signals proportional to the angular velocity of rotation relative to the associated axes. The signals from the output of block 3 enter the computer 4 of the state vector of the object. Block 3 and calculator 4 implement a strapdown inertial navigation system (SINS). At the output of the calculator 4 of the object state vector, signals are generated that are proportional to the linear coordinates X _c , Y _c , Z _c and linear speeds X _c , Y _c , Z _{c of the} vessel in the common Earth coordinate system, roll angles of trim and yaw, as well as lateral acceleration of the vessel, angular speeds and angular accelerations of the vessel. These signals, as a rule, contain large errors that accumulate over time, which is characteristic of inertial systems. The signals from the first and second outputs (linear coordinates and speeds) of the calculator 4 of the state vector of the object are fed to the third and fourth inputs of the block 7 compensation of integral errors. The receiver-indicator 1 of the satellite navigation system generates high-precision signals proportional to the linear coordinates and linear velocities of the vessel, which are supplied to the third and fourth inputs of the correction generating unit 5. Similar signals generated by the ANN (block 3 and calculator 4), through block 7, are fed to the first and second inputs of block 5, which generates error signals in the measurement of coordinates and velocities and feeds them to the input of the integral error determination block 6. In this case, at the first output of block 5, error signals are generated in the measurement of coordinates, and at the second output of block 5, error signals in the measurement of linear velocities are generated. It is established that the ANN error can be represented by a polynomial that contains trigonometric terms with the Shuler and daily periods and their combinations and has the form
Δx _i a _io + a _i1 cos Ut + a _i2 sin Ut +
+ a _i3 cos (ν U) t + a _i4 sin (ν- U) +
+ a _i5 cos νt + a _i6 sin νt + a _i7 cos (ν + U) t +
+ a _i8 sin (ν + U) t + δx _i (i 1, 2.6) (1) where Δx _{i is the} measurement error of the ANN of each of the three geographical coordinates and the three components of the velocity vector;
ν circular frequency corresponding to the Schuler period;
U is the circular frequency corresponding to the daily period;
δx _i random component;
a _ik integral parameters to be determined (K 0, 1.8)
The proposed module implements a technique for estimating the errors of six parameters (three coordinates and three projections of linear velocity) by determining nine integral parameters for each of the six errors by the least square method and then determining these errors in accordance with expression (1) as given time functions. This assessment is performed in block 6 for determining the integral errors.

+

cosu_тdτ+

sinuτdτ+

cos(ν-u)τdτ+
+

sin(ν-u)τdτ+

cosντdτ+

sinντdτ

cosuτdτ+

cos²uτdτ+

sinuτcosuτdτ+
+

cos(ν-u)τcosuτdτ+

sin(ν-u)τcosuτdτ+
+

cosντcosuτdτ+

sinντcosuτdτ+
+

cos(ν+u)τcosuτdτ+

sin(ν+u)τcosuτdτ=

▽x₁(τ)cosuτdτ; (2)

sin(ν+u)τdτ+

cosuτsin(ν+u)τdτ+
+

sinuτsin(ν+u)τdτ+

cos(ν-u)τsin(ν+u)τdτ+
+

cos(ν+u)τsin(ν+u)τdτ+

sin²(ν+u)τdτ=

▽x₁(τ)sin(ν+u)τdτ, где

(К 0, 1.8) оценки параметров а_1К;
τ_c период наблюдения;
▽x₁(t)=Δx $\genfrac{}{}{0ex}{}{\text{и}}{\text{1}}$ (t)-Δx $\genfrac{}{}{0ex}{}{\text{c}}{\text{1}}$ (t) разность погрешностей измерения координаты х₁ судна с помощью ИНС (погрешность Δх₁ ^и) и приемоиндикатора 1 (погрешность Δх₁ ^с),
▽х₁ выходной сигнал блока 5.In accordance with the least squares method, the integral parameters a _ik (i 1.6, K 0, 1.8) can be determined by solving the following algebraic system of equations. For the first error (error ▽ x ₁₎ this system has the form

+

cosu _t dτ +

sinuτdτ +

cos (ν-u) τdτ +
+

sin (ν-u) τdτ +

cosντdτ +

sinντdτ

cosuτdτ +

cos ² uτdτ +

sinuτcosuτdτ +
+

cos (ν-u) τcosuτdτ +

sin (ν-u) τcosuτdτ +
+

cosντcosuτdτ +

sinντcosuτdτ +
+

cos (ν + u) τcosuτdτ +

sin (ν + u) τcosuτdτ =

▽ x ₁ (τ) cosuτdτ; (2)

sin (ν + u) τdτ +

cosuτsin (ν + u) τdτ +
+

sinuτsin (ν + u) τdτ +

cos (ν-u) τsin (ν + u) τdτ +
+

cos (ν + u) τsin (ν + u) τdτ +

sin ² (ν + u) τdτ =

▽ x ₁ (τ) sin (ν + u) τdτ, where

(K 0, 1.8) estimates of the parameters a _1K ;
τ _c observation period;
▽ x ₁ (t) = Δx $\genfrac{}{}{0ex}{}{\text{and}}{\text{1}}$ (t) -Δx $\genfrac{}{}{0ex}{}{\text{c}}{\text{1}}$ (t) difference in the measurement error of the coordinate x _{1 of the} vessel using the ANN (error Δx ₁ ^and ) and receiver indicator 1 (error Δx ₁ ^s ),
▽ x ₁ block 5 output signal.

Similarly to the system of equations (2), systems of equations are written for the other five errors ▽ x _i (i 2, 3.6)
Thus, in block 6 of the determination of integral errors, an assessment is made of 54 integral parameters (six systems of equations with nine equations each).

 After determining the integral parameters in block 6 (i 1.6, K 0.8) in the same block, each of the determined parameters is multiplied by the corresponding function of time in accordance with equation (1). Thus, at the output of block 6, signals of estimates of each of the six errors of the inertial system (three location coordinates and three velocity vector projections) are generated. These signals are fed to the inputs of the integral error compensation unit 7, where, by summing them with the corresponding ANN output signals, the corrected current values of the three position coordinates and the three components of the ship's velocity vector are generated.

,

,

на связанные оси;
проекции линейного ускорения судна W_x, W_y, W_z на общеземные оси.In addition to the correction of these signals in the inertial-satellite module, the physical parameters generated by the ANN are corrected (block 3 and calculator 4):
three angular coordinates of the vessel (trim ν, yaw Ψ roll κ);
three projections of the angular velocity of the vessel on the connected axes ω _x , ω _y , ω _z );
three projections of the angular acceleration of the ship

,

,

on connected axes;
projections of the linear acceleration of the vessel W _x , W _y , W _z on common earth axes.

, d

, d

;
смещения нуля каждого из трех акселерометров dW_x, dW_y, dW_z;
погрешности масштабного коэффициента каждого из трех акселерометров dm_x, dm_y, dm_z.The assessment of the data of physical parameters not observed using receiver 1 is carried out by developing estimates of the errors of these parameters, namely
measurement errors of the three angles of the initial orientation of the vessel dν, dΨ, dκ;
measurement errors of three projections of angular velocity and angular rooting on the connected axes dω _x , d ω _y , dω _z, d

, d

, d

;
zero offsets of each of the three accelerometers dW _x , dW _y , dW _z ;
errors of the scale factor of each of the three accelerometers dm _x , dm _y , dm _z .

 The estimation of the listed errors is performed by block 8.

f $\genfrac{}{}{0ex}{}{\text{(ν}}{\text{ik}}$ ⁾a_ik, (3) где dν оценка погрешности физического параметра (dν= d ω_x, d

и т.д.);
f_ik априорно известные численные коэффициенты.It is established that the errors of physical parameters are associated with integral parameters through the following relationships:
dν

f $\genfrac{}{}{0ex}{}{\text{(ν}}{\text{ik}}$ ⁾ a _ik , (3) where dν is the error estimate of the physical parameter (dν = d ω _x , d

etc.);
f _{ik a} priori known numerical coefficients.

 In block 8, periodic (with a period equal to the observation interval T) calculation of the estimates of the errors of the physical parameters ν, their storage in the observation interval T, and replacement of the estimates developed in the previous observation interval with the estimates developed after the current observation interval are performed. The evaluation signals from the output of block 8 are fed to the inputs of block 9 for compensating for errors in physical parameters. In this case, the signals of three angular errors of the ANN are fed to the first input of block 9, the signals of errors of zero offset and the scale factor of three accelerometers are sent to the second input, the signals of measurement errors of the three components of the angular velocity of the vessel to the third input, and the signals of the errors of the three components of the angular acceleration of the vessel to the fourth input.

 Simultaneously, from the output of the calculator 4 of the state vector of the object 4, the signals of the three components of the angular acceleration vector are sent to the inputs of the block 9, the signals of the three components of the angular velocity vector are sent to the sixth input of the block 9, and the eighth input is sent to the seventh input of the block 9 of the projection of the linear vector acceleration vector unit 9 signals the angles of rotation of the vessel relative to the three connected axes.

=

+d

,

=ω $\genfrac{}{}{0ex}{}{\text{и}}{\text{y}}$ +d

,

=

+d

; (4)
θ=θ^и+

dω_y(τ)dτ+Δθ^и, Ψ=Ψ^и+

dω_z(τ)dτ+dΨ^и,
κ=κ^и+

dω_x(τ)dτ+dκ^и, где dW_x, dW_y, dW_z; dm_x, dm_y, dm_z;
dω_x, dω_y, dω_z; d

, d

, d

,
dθ^и, dΨ^и, dκ^и, оценки погрешностей физических параметров ИНС, вырабатываемые блоком 8;
W_x ^и, W_y ^и, W_z ^и; ω_x ^и, ω_y ^и, ω_z ^и;

,

,

, θ^и, Ψ^и, κ^и физические параметры, вырабатываемые ИНС (блок 3 и вычислитель 4);
W_x, W_y, W_z; ω_x, ω_y, ω_z;

,

,

, θ, Ψ, κ физические параметры, вырабатываемые блоком 9.In block 9, the correction of the physical parameters of the ANN is carried out according to the following formulas:
W _x (W _x ^and + dW _x ) (m _x + dm _x) ,
W _y (W _y ^and + dW _y ) (m _y + dm _y ),
W _z (W _z ^and + dW _z ) (m _z + dm _z );
ω _x ω _x ^and + dω _x , ω _y ω _y ^and + dω _y ;
ω _z ω _z ^and + dω _z ;

=

+ d

,

= ω $\genfrac{}{}{0ex}{}{\text{and}}{\text{y}}$ + d

,

=

+ d

; (4)
θ = θ ^and +

dω _y (τ) dτ + Δθ ^and , Ψ = Ψ ^and +

dω _z (τ) dτ + dΨ ^and ,
κ = κ ^and +

dω _x (τ) dτ + dκ ^and , where dW _x , dW _y , dW _z ; dm _x , dm _y , dm _z ;
dω _x , dω _y , dω _z ; d

, d

, d

,
dθ ^and , dΨ ^and , dκ ^and , error estimates of the physical parameters of the ANN generated by block 8;
W _x ^and , W _y ^and , W _z ^and ; ω _x ^and , ω _y ^and , ω _z ^and ;

,

,

, θ ^and , Ψ ^and , κ ^and physical parameters generated by the ANN (block 3 and calculator 4);
W _x , W _y , W _z ; ω _x , ω _y , ω _z ;

,

,

, θ, Ψ, κ are physical parameters generated by block 9.

 The output signal from the first output of block 9, proportional to the angles of trim and roll, is fed to the third input of block 2 of generating relative linear and angular coordinates, the first and second inputs of which receive signals from the first and second outputs of block 7. These signals are proportional to the current values of the coordinates and projections of the linear speed of the vessel on the axis of the Earth-wide coordinate system.

; (5)
относительная скорость движения судна относительно спутника по формуле

(

-

)(x^c-x)+(

-

)(y^c-y)+(

-

)(z^c-z)

; (6)
относительные угловые координаты спутника по формулам
ε= arcsin

П=arcsin

, (7) где x^c, y^c, z^c координаты места спутника в общеземной системе координат.In block 2, the programmed linear satellite coordinates are generated in the Earth-wide coordinate system, the projections of the satellite linear velocity on the axis of this coordinate system, and the satellite’s angular coordinates, while the satellite is selected from the available in the Earth’s satellite catalog based on the conditions for ensuring the most favorable conditions for communication with the satellite, what the information about the current coordinates of the vessel is received at the sensor input. Based on the information generated by the unit 2 calculator, the following satellite parameters are determined:
range to the satellite according to the formula
D =

; (5)
the relative speed of the vessel relative to the satellite according to the formula

(

-

) (x ^c -x) + (

-

) (y ^c -y) + (

-

) (z ^c -z)

; (6)
relative angular coordinates of the satellite according to the formulas
ε = arcsin

N = arcsin

, (7) where x ^c , y ^c , z ^{c are the} coordinates of the satellite’s location in the Earth-wide coordinate system.

,

относительных угловых координат спутника ε, п.Differentiating the algebraic equations (7) with respect to time, we obtain the expressions of the first derivatives with respect to time

,

relative angular coordinates of the satellite ε, p.

 The generated values of the relative parameters of the satellite’s motion from the output of block 2 go to the inputs of the transceiver 1.

вырабатываются стробирующие импульсы для управления блоками измерения относительной дальности и относительной скорости спутника. Эти сигналы поступают на входы коррелятора и блока выделения допплеровского смещения. Введение опорных стробирующих сигналов в приемнике позволяет существенно упростить аппаратуру приемника за счет сокращения числа каналов, осуществляющих поиск сигнала спутника по относительной дальности и относительной скорости движения. С другого выхода УП на вход антенны поступают сигналы управления диаграммой направленности фазовой антенной решетки, вырабатываемые УП по сигналам п, ε угловой ориентации спутника относительно судна и выходным сигналам ИНС.The UE includes a digital-pulse converter, the output of which, according to the values of D and

gating pulses are generated to control the units for measuring the relative range and relative speed of the satellite. These signals are fed to the inputs of the correlator and the Doppler shift biasing unit. The introduction of reference gate signals in the receiver can significantly simplify the receiver equipment by reducing the number of channels that search for a satellite signal by relative range and relative speed. From the other output of the UE, the antenna input signals the directional diagram of the phase antenna array, which are generated by the UE from the signals n, ε of the angular orientation of the satellite relative to the vessel and the output signals of the ANN.

 The proposed inertial-satellite module provides a solution to the problem of increasing the accuracy and reliability of the development of navigational parameters of the vessel’s movement and improving the reliability of computing processes due to the development of integral and physical errors of the ANN.

 An integrated navigation, communication, lighting, control and monitoring system includes a basic inertial-satellite module and n additional modules of the same type, where the number is determined by the number of characteristic points on the vessel that are subject to control for relative deformation (angular and linear) under the influence of external disturbances (wind gusts) , shock waves, etc.) in order to ensure the safety of the current maneuvers of the vessel, as well as to improve the accuracy of the meters installed at these points, and the accumulation of static data s of strains used for optimal reserves vessel strength in the construction of vessels in this series.

An integrated navigation, control and monitoring system (FIG. 2) comprises a basic inertial-satellite module 10; the first module 11 and the i-th module 12 (i 1-n) of the same type; the same blocks 13 ¹ and 13 ⁱ determine linear strains for the first and i-th modules, each of which is a set of comparison blocks; the same type of blocks 14 ¹ and 14 ⁱ determine the angular deformations for the first and i-th modules, each of which is a set of comparison blocks; block 15 indicators having n first and n second inputs; a registration unit 16 having n first and n second inputs, which is a set of recorders; a navigation communication unit 17, which is, for example, a receiver and transmitter of the Inmorsat space radio communication system, by means of which the νth oncoming moving object and our moving object transmit their absolute position coordinates and their derivatives via satellite; block 18 lighting the navigation situation, generating the relative coordinates between the νth and our moving object, including the distance to the νth moving object and the bearing angle to the νth moving object, as well as derivatives of the relative coordinates; a system 19 of automatic control of the object, which has six inputs from the base inertial-satellite module 10, one input from the lighting unit 18 of the navigation situation, as well as two inputs according to the actual position of the controls (steering wheel, thruster, etc.) and perturbing forces ( the system has one output); block 20 determining inertial forces acting on a moving object, which is a set of factors, adders and differentiating devices; block 21 determining the control forces acting on a moving object, which is a set of factors and adders; block 22 determining disturbing forces acting on a moving object, representing a set of adders; a block 23 of sensors of the controls, which in a particular case is a set of potentiometers; a block of 24 controls representing a set of control (steering) mechanisms.

 The system blocks are interconnected as follows.

The first output of the receiver-indicator 1 of the base inertial-satellite module 10 is connected to the first inputs of the linear deformations blocks 13 ¹ and 13 ⁱ . The first output of the receiver 1 of modules 11 and 12 is connected respectively with the second input of blocks 13 ¹ and 13 ⁱ . The first output of block 9 of the base module 10 is connected to the third input of block 15 and to the first inputs of blocks 14 ¹ and 14 ^{i of} determining angular deformations. The second input of each block 14 ¹ and 14 ^{i is} connected respectively to the output of blocks 9 ¹ and 9 ⁱ . The outputs of blocks 13 ¹ and 13 ^{i are} connected respectively with the inputs 1 ¹ and 1 ^{i of the} block 15 indicators and with the inputs 1 ¹ and 1 ^{i of the} block 16 registration. The outputs of blocks 14 ¹ and 14 ^{i are} connected respectively with the inputs 2 ¹ and 2 ^{i of} block 15 and with the inputs 2 ¹ and 2 ^{i of} block 16. The first and second outputs of block 17 of the navigation communication are connected to the first and second inputs of block 18 of the lighting of the navigation situation. The third and fourth inputs of block 18 are connected to the first and second outputs of the integral error compensation block 7 of the base module 10, the output of block 18 is connected to the fourth input of the block 15 and the ninth input of the system 19, the first, second, third and fourth outputs of the base physical error compensation block 9 module 10 are connected respectively with the first, second, third and fourth inputs of the system 19 for automatic control of the object and with the first, second, third and fourth inputs of the unit 20 for determining the inertial forces. The fifth and sixth inputs of the system 19 are connected respectively with the first and second outputs of the integral error compensation unit 7 of the base module 10, with the fifth and sixth inputs of the indicator unit 15 and with the first and second inputs of the navigation communication unit 17. The third input of block 17 is the input of the integrated system, and the third output of block 17 is its output. The output of block 20 is connected to the first input of block 22. The output of block 21 is connected to the second input of block 22 of determining disturbing forces, the output of block 22 is connected to the seventh input of system 19. The output of system 19 is connected to the input of block 24 of the controls. The output of block 24 is connected to the input of block 23 of the sensors of the controls. The output of the sensor block 23 is connected to the input of the block 21 and with the eighth input of the system 19.

 An integrated system of navigation, communication, lighting, control and monitoring works as follows.

 The system contains a base module 10, installed in the least disturbed place of the vessel, and n additional modules, which are installed at various points of objects.

 Consider the operation of a complex system, bearing in mind some i-th module (any of the n additional modules).

The base inertial-satellite module 10 has the following signals at the output:
at the first and second outputs of the integral error compensation unit 7, signals are generated that are proportional to the coordinates and components of the object’s velocity vector;
at the first, second, third and fourth outputs of the physical error compensation unit 9, signals are generated that are proportional to the yaw and pitch angles of the vessel, angular velocities and accelerations and components of the linear acceleration vector of the vessel;
at the first output of the receiver 1 of the satellite navigation system, signals are generated containing information about the phase of the carrier of the received signal from the artificial Earth satellite.

Block 9 ^{i of the} i-th inertial-satellite module 12 generates values of the angular parameters of the vessel at the installation points of the i-th module 12, which are fed to the input of the block 14 ^{i of} determining the angular deformations of the vessel. In the comparison blocks included in block 14 ⁱ , the signals of the angular position of the vessel are subtracted for each of the angles θ, Ψ, γ generated by blocks 9 and 9 ^{i of the} base and i-th inertial-satellite modules. The values of the differences determine the deformation of the vessel and are sent to a block of 15 indicators for information to the skipper about the degree of safety of the vessel when performing maneuvers, as well as when exposed to external disturbances (wind and wave). At the same time, the difference values are sent to the registration unit 16 to collect statistical information on the deformability of the hull in order to ensure optimal safety margins in the vessels of this series being built. Linear deformations of the ship's hull at the installation point of the i-th module are determined as part of block 13. It produces the phase difference of the incoming signals from the satellite along the carrier frequency and received by the receiver module 1 of the base module and the receiver indicator 1 of the i-module.

, (8) где ΔUi измеряемая разность выходных фазовых сигналов приемоиндикатора 1ⁱ i-го модуля и базового модуля;
с скорость света;
А_н амплитуда несущей сигнала;
ΔD_i измеряемое с учетом линейной деформации расстояние между точками установки i-го и базового модулей на корпусе судна.The linear strain measurement is calculated using the formula
Δu _i (t) = A _n cos

, (8) where ΔUi is the measured difference of the output phase signals of the receiver 1 ⁱ i-th module and the base module;
with the speed of light;
And _{n is the} amplitude of the carrier signal;
ΔD _i measured between linear deformation of the distance between the installation points of the i-th and base modules on the ship's hull.

The values of the signals ΔD _i are fed to the inputs of block 15 for information to the skipper and to the inputs of block 16 for their registration.

 In extreme conditions, such as during a storm, the skipper uses the information received about him about the current deformations of the ship's hull for the purpose of safe control of the ship. For example, the skipper can reduce the speed of the ship during a storm, quickly turn the hull of the ship "nose to wave", taking into account the fact that the direction of the waves changes, etc.

 In the present invention, not only the principle of controlling a moving object "by deviation" is realized, but also the principle of controlling a moving object "by perturbation".

 For this, an indirect measurement of the current values of the disturbing forces and moments (hydrodynamic, aerodynamic) acting on the body of a moving object is carried out.

 An indirect measurement of disturbing forces and moments is based on the fact that they can be defined as the difference between inertial and control forces and moments.

 Inertial forces and moments are determined in block 20 by the output signals of the base module 10, and are determined in the coordinate system associated with the body of the moving object, the origin of which is combined with the installation point of the base module on the body of the controlled moving object.

инерционных сил имеют следующие выражения:
F_иx MW_x, F_иy MW_y, F_z MW_z (9) где М масса подвижного объекта (с учетом присоединенной массы воды для судна);
W_x, W_y, W_z составляющие вектора абсолютного линейного ускорения точки 0 по осям трехгранника Oxyz.Components in the coordinate system Oxyz of the main vector

inertial forces have the following expressions:
F _THEIR MW _x, F _{and Y} MW _y, F _z MW _z (9) wherein M is the mass of a moving object (with the added mass of water to the vessel);
W _x , W _y , W _z components of the absolute linear acceleration vector of point 0 along the axes of the trihedron Oxyz.

(I_xω_x-I_xyω_y-I_xzω_z)+ω_y(-I_xzω_x-I_yzω_y+I_zω_z)-
-ω_z(-I_xyω_x+I_yω_y-I_yzω_z)+M(W_yl_z-W_zl_y);
L_иy

(-I_xyω_x+I_yω_y-I_yzω_z)+ω_z(I_xω_x-I_yω_y-I_xzω_z)-
-ω_x(-I_xzω_x-I_yzω_y+I_zω_z)+M(W_zl_x-W_xl_z); (10)
L_иz

(-I_xzω_x-I_yzω_y+I_zω_z)+ω_x(-I_xyω_x+I_yω_y-I_yzω_z)-
-ω_y(I_xω_x-I_xyω_y-I_xzω_z)+M(W_xl_y-W_yl_x), где i_x, i_y, i_z, i_xy, i_xz, i_yz моменты инерции и центробежные моменты инерции корпуса подвижного объекта в системе координат Oxyz;
l_x, l_y, l_z составляющие вектора

, проведенного из точки 0 к центру масс корпуса подвижного объекта;
ω_x, ω_y, ω_z проекции на оси трехгранника Oxyz вектора

абсолютной угловой скорости вращения корпуса объекта;
W_x, W_y, W_z проекции на оси трехгранника Oxyz вектора

абсолютного ускорения тoчки 0.The components in the coordinate system Oxyz of the principal moment L _and inertial forces with respect to point 0 have the following expressions:
L _them

(I _x ω _x -I _xy ω _y -I _xz ω _z ) + ω _y (-I _xz ω _x -I _yz ω _y + I _z ω _z ) -
-ω _z (-I _xy ω _x + I _y ω _y -I _yz ω _z ) + M (W _y l _z -W _z l _y );
L and _y

(-I _xy ω _x + I _y ω _y -I _yz ω _z ) + ω _z (I _x ω _x -I _y ω _y -I _xz ω _z ) -
-ω _x (-I _xz ω _x -I _yz ω _y + I _z ω _z ) + M (W _z l _x -W _x l _z ); (10)
L and _z

(-I _xz ω _x -I _yz ω _y + I _z ω _z ) + ω _x (-I _xy ω _x + I _y ω _y -I _yz ω _z ) -
-ω _y (I _x ω _x -I _xy ω _y -I _xz ω _z ) + M (W _x l _y -W _y l _x ), where i _x , i _y , i _z , i _xy , i _xz , i _yz moments of inertia and centrifugal moments of inertia of the body of a moving object in the Oxyz coordinate system;
l _x , l _y , l _z components of the vector

drawn from point 0 to the center of mass of the body of the moving object;
ω _x, ω _y , ω _z projections on the axis of the trihedron Oxyz of the vector

absolute angular speed of rotation of the body of the object;
W _x , W _y , W _z projections on the axis of the trihedron Oxyz of the vector

absolute acceleration of point 0.

 In the particular case, from expressions (9) and (10) of inertial forces and moments, we can obtain their simplified expressions.

The control forces and moments acting on the moving object are determined in block 21 by the output signals of the block 23 of the sensors of the controls of the moving object. These sensors measure the current position K of the controls.
U _K (K 1, 2.K) (11)
The controls of the ship, for example, are aft steering wheel, bow thruster, constant-pitch propeller (adjustment is made by the angular speed of rotation of the propeller), adjustable-pitch propeller (the rotation of the propeller blades is controlled), extendable side rudders of the pitching damper, etc.

For each control U _k, control forces and control moments can be calculated in the Oxyz coordinate system using the formulas
f _ykx C _kx U _k , f _yky C _ky U _k , f _ykz C _kz U _k ; (12)
L _ykx l _ky f _kyz l _kz f _yky , L _yky l _kz f _ykx l _kx f _ykz ,
L _ykz l _kx f _yky l _ky f _ykz , (13) where С _kx , C _ky , C _{kz are the} coefficients of each control force (hydrodynamic coefficients, etc.), which are known functions of the speed of other parameters of the object’s movement;
l _kx , l _ky , l _kz coordinates of the point of application of the _Kth control force in the associated coordinate system Oxyz.

по осям системы координат Oxyz имеют следующие выражения:
F_уx

C_kxu_k, F_уy

C_kyu_k, F_уz

C_kzu_k. (14)
С учетом выражений (11), (12) и (13) составляющие главного момента управляющих по осям системы координат имеют следующие выражения:
L_уx

L_уkx

(l_kyC_kz-l_kzC_ky)u_k,
L_уy

L_уky

(l_kzC_kx-l_kxC_kz)u_k, (15) L_уz

L_уkz

(l_kxC_ky-l_kyC_kx)u_k, Возмущающие силы и моменты, действующие на подвижный объект, определяются в блоке 22 по выходным сигналам блока 20 определения инерционных сил и блока 21 определения управляющих сил, основываясь на следующих очевидных векторных уравнениях:

+

+

=0, (16)

+

+

= 0, (17) где

главный вектор волзмущающих сил, действующих на подвижный объект;

главный вектор момента возмущающих сил относительно точки 0.Given formulas (11) and (12), the components of the main vector of control forces

Oxyz coordinate system axes have the following expressions:
F _yx

C _kx u _k , F _yy

C _ky u _k , F _уz

C _kz u _k . (fourteen)
Given the expressions (11), (12) and (13), the components of the main moment of the axes of the coordinate system have the following expressions:
L _yx

L _ukx

(l _ky C _kz -l _kz C _ky ) u _k ,
L _yy

L _uky

(l _kz C _kx -l _kx C _kz ) u _k , (15) L _уz

L _ukz

(l _kx C _ky -l _ky C _kx ) u _k , Perturbing forces and moments acting on the moving object are determined in block 22 by the output signals of the inertial force determination unit 20 and the control force determination unit 21, based on the following obvious vector equations:

+

+

= 0, (16)

+

+

= 0, (17) where

the main vector of exciting forces acting on a moving object;

the main vector of the moment of disturbing forces relative to point 0

From vector equations (16) and (17) in projections on the axis of the coordinate system Oxyz we obtain
F _in - - (F _them + F _yx ), F _вy - (F _иy + F _yy ),
F _bz - (F and _z + F _yz ) (18)
L _bx - (L _x + L _yx ), L _by - (L _x + L _yy ),
L _bz - (L and _z + L _yz ) (19)
These formulas are implemented in block 22, the output of which is six signals
F _in , F _in , F _in , L _in , L _in , L _in (20) are fed to the seventh input of the control system 19.

 The system 19 is the formation of laws governing the vessel, taking into account the signals of disturbance generated by the block 22, the signals of the parameters of the vessel’s movement generated by the base module 10, and the signals of the actual position of the controls generated by the block 23.

 The control of a moving object, taking into account disturbing forces and moments, ensures the invariance of the vessel to external disturbances, which increases the seaworthiness of the vessel and creates comfortable conditions for the crew.

 The proposed integrated system also improves navigation safety by providing the ability to determine the relative coordinates of moving objects located in a given limited area, as well as their derivatives. Currently, the relative coordinates (range, bearing) are measured on ships by means of a radar, which is a means of lighting the situation. In this complex system, it is proposed, independently of the radar, to determine the relative coordinates of moving objects, including range and bearing, by obtaining the absolute coordinates of the location of moving objects through the navigation communication channels and comparing them with the absolute coordinates of the location of your moving object. Relative coordinates and their derivatives are calculated in the lighting unit 18 of the navigation situation, the third and fourth inputs of which are fed signals of the current coordinates and speed components of the moving object, respectively, and the first and second inputs are respectively signals of the coordinates and speed components of another moving object, transmitted from block 17 navigation communication. The signals of coordinates and their derivatives of our object are transmitted to the first and second inputs of block 17 for broadcasting and generating relative parameters by other moving objects.

X_ν,

Y_ν,

Z_ν (ν=1,2.N) (22) ν-го подвижного объекта по отношению к нашему подвижному объекту определяются по формулам
▽X_ν=X_ν-X, ▽Y_ν=Y_ν-Y, ▽Z_ν=Z_ν-Z (ν=1,2.N); (23)

X_ν=

-

,

Y_ν=

-

,

Z=

-

(ν=1,2.N), (24) где абсолютные координаты ν-го подвижного объекта

, Y_ν, Z_ν (ν=1,2.N) (25) и составляющие абсолютной скорости ν-го подвижного объекта

,

,

(ν=1,2.N) (26) передаются по каналам связи, например по каналам радиосвязи, через спутник связи космической системы "Инморсат".Relative linear coordinates and velocity components
▽ X _ν , ▽ Y _ν , ▽ Z _ν (ν = 1,2.N); (21)

X _ν

Y _ν

Z _ν (ν = 1,2.N) (22) of the νth moving object with respect to our moving object are determined by the formulas
▽ X _ν = X _ν -X, ▽ Y _ν = Y _ν -Y, ▽ Z _ν = Z _ν -Z (ν = 1,2.N); (23)

X _ν =

-

,

Y _ν =

-

,

Z =

-

(ν = 1,2.N), (24) where the absolute coordinates of the νth moving object

, Y _ν , Z _ν (ν = 1,2.N) (25) and the absolute velocity components of the νth moving object

,

,

(ν = 1,2.N) (26) are transmitted via communication channels, for example, radio communication channels, through the communication satellite of the Inmorsat space system.

, (27)
ε_ν=arcsin

.The range of the νth moving object, as well as the angular coordinates for this object, are determined in block 18 using the following formulas:
D _ν = (▽ X $\genfrac{}{}{0ex}{}{\text{2}}{\text{ν}}$ + ▽ Y $\genfrac{}{}{0ex}{}{\text{2}}{\text{ν}}$ + ΔZ $\genfrac{}{}{0ex}{}{\text{2}}{\text{ν}}$ ) ^1/2 ,
N _ν = arcsin

, (27)
ε _ν = arcsin

.

 Thus, the proposed integrated navigation, communication, lighting, control and monitoring system provides improved navigation safety, improved seaworthiness of the vessel and control of its strength characteristics on the basis of accurate, reliable and most complete information about the movement and condition of the vessel received from inertial-satellite modules, processed by newly entered blocks according to its own algorithms.

Claims (2)

 1. Inertial-satellite module containing a receiver indicator of the satellite navigation system, a unit for generating relative linear and angular coordinates of the satellite and the object, the first to third outputs of which are connected to the inputs of the receiver indicator of the satellite navigation system from first to third, the inertial sensor unit and the state vector calculator object, the first and second inputs of which are connected respectively with the first and second outputs block of inertial sensors, characterized in that it entered the block corrections processing, integral error determination unit, integral error compensation unit, physical correction determination unit and physical correction compensation unit, wherein the first and second outputs of the integral error compensation unit are connected respectively to the first and second inputs of the correction generation unit and the relative linear and angular coordinate generation unit satellite and an object, the third input of which is connected to the first output of the compensation block for physical corrections, the third and fourth inputs of the block corrections are connected respectively to the first and second outputs of the receiver-indicator of the satellite navigation system, and the first and second outputs are connected respectively to the first and second inputs of the integral error determination unit, the first and second outputs of which are connected respectively to the first and second inputs of the physical error determination unit and the first and the second inputs of the integral error compensation unit, the third and fourth inputs of which are connected respectively to the first and second outputs of the vector computer with the state of the object, the inputs of the physical error compensation unit from the first to fourth are connected respectively to the outputs from the first to fourth physical error determination unit, and the outputs from the fifth to eighth are connected respectively to the outputs from the third to sixth state vector computer, the first and second outputs of the compensation unit integral errors, the first, second, third and fourth outputs of the physical error compensation unit are the outputs of the inertial-satellite module, respectively, from the first The sixth, seventh, output is the third output of the satellite navigation system receiver indicator.  2. A comprehensive inertial-satellite navigation, communication, lighting system, control and monitoring system, comprising a basic inertial-satellite module and series-connected automatic object control system, an object control unit and a control unit sensor unit, characterized in that it is additionally introduced n inertial-satellite modules spaced over the object’s body, n linear deformation detection blocks, n angular strain detection blocks, and also an indicator block having n p first and n second inputs, a registration unit having n first and n second inputs, a disturbing force determination unit, an inertial force determination unit, a control force determination unit, a navigation communication unit and a navigation situation lighting unit, the first input of the i-th linear determination unit deformations (i 1, n) is connected to the seventh output of the base inertial-satellite module, and the second input with the seventh output of the i-th inertial-satellite module, the first input of the i-th block of determination of angular deformations is connected to the third output of the base of the inertial-satellite module, and the second input with the third output of the i-th inertial-satellite module, the inputs of the automatic control system of the object from the first to the ninth are connected respectively to the outputs of the base inertial-satellite module from the third to the sixth, with the first and second outputs of the base inertial satellite module, the output of the unit determining the disturbing forces, the sensor unit of the controls and the output of the lighting unit of the navigation situation, the first and second inputs of the block determining the disturbing forces are connected respectively, with the output of the inertial force determination unit and the output of the control force determination unit, the input of which is connected to the output of the control unit sensor unit, the first and second inputs of the navigation communication unit are connected respectively to the first and second outputs of the inertial-satellite module, and the first and second outputs are connected respectively, with the first and second inputs of the navigation lighting unit, the third and fourth inputs of which are connected respectively to the first and second outputs of the base inertial-satellite of the IK module, the inputs from the first to the fourth inertial force determination unit are connected respectively to the outputs of the inertial-satellite base module from the third to the sixth, n first inputs of the display unit are connected respectively to the outputs of n linear deformation determination units, n its second inputs are connected respectively to the outputs of the blocks determining angular deformations, the third input is connected to the third output of the base inertial-satellite module, the fourth to the output of the navigation unit lighting, and the fifth and the inputs are connected respectively to the first and second outputs of the base inertial-satellite module, the n first inputs of the registration unit are connected respectively to the outputs of n blocks of determining linear deformations, and n of its second inputs, respectively, to the outputs of n blocks of determining angular deformations.

Images