RU2457629C1 - Phase radio-navigation system - Google Patents

Abstract

FIELD: radio engineering.

SUBSTANCE: device includes at least two ground and onboard receiving-transmitting stations, in which each ground receiving-transmitting station includes receiving-transmitting antenna, transmitter, receiver, antenna switch, limiting amplifier, phase detector, calculation unit, frequency synthesiser, phase changer, reference generator, shaping commutator; onboard receiving-transmitting station includes receiving-transmitting antenna, transmitter, two receivers, reference generator, indicator, antenna switch, two phase detectors, calculation unit, frequency synthesiser, limiting amplifier, and shaping commutator.

EFFECT: providing resolution of phase non-uniqueness in the whole working zone.

7 dwg

Description

The invention relates to the field of measurement technology and can be used in radio navigation to create ground-based phase radio navigation systems.

Known rangefinder system with phase measurement of the radio signal [1], containing ground and airborne transceiver stations, while the ground transmitting station contains a transceiver antenna, a transmitter and a receiver, an antenna switch, a phase detector, a decision unit, a frequency synthesizer, a phase shifter, a reference frequency generator and a switch - shaper, the outputs of which are connected to the control inputs of the transmitter, antenna switch and phase detector, the output of which is connected to the input of the deciding unit, the outputs of the deciding locks are connected to the control inputs of the frequency synthesizer and phase shifter, the output of which is connected to the input of the transmitter, the output of the reference frequency generator is connected to the first input of the phase detector, to the inputs of the frequency synthesizer and the commutator-shaper, the transceiver antenna is connected to the antenna switch, the output of which is connected to the first input the receiver, and the input of the antenna switch is connected to the output of the transmitter, the outputs of the frequency synthesizer are connected to the input of the phase shifter and the second input of the receiver, the output of which is inen with the second input of the phase detector, the airborne transceiver station contains a receiving antenna, a transmitter, a receiver, a reference frequency generator, a statistical processing unit, the output of which is connected to an indicator, an antenna switch, a phase detector, a decision block, a correction unit, a frequency synthesizer and a shaper-shaper the outputs of which are connected to the control inputs of the transmitter, the antenna switch and the phase detector, the output of which is connected to the input of the decision block, the outputs of the decision block are connected to the input m correction block, with control inputs of the driver-shaper, frequency synthesizer and reference frequency generator, the output of which is connected to the first input of the phase detector, the inputs of the frequency synthesizer and driver-shaper, the transceiver antenna is connected to the antenna switch, the output of which is connected to the first input of the receiver, and the input of the antenna switch is connected to the output of the transmitter, the outputs of the frequency synthesizer are connected to the inputs of the transmitter and the second input of the receiver, the output of which is connected to the second phase input Vågå detector correction unit output is connected to the input of the statistical processing unit, wherein the correction unit is configured to implement the equation:

, где

where

∆γ _j is the correction value at the frequency f _j ;

C is the propagation velocity of radio waves;

ψ _j is the measured phase shift at a frequency f _j ;

j is the current number of the operating frequency, j = 1, 2, ... n.

The specified rangefinder system allows the measurement of only one range between the airborne and ground-based transceiver stations and cannot be used to measure the coordinates and speed of movement of objects located, for example, in the coastal zone.

A known phase radio geodetic system (hereinafter referred to as a phase radio navigation system) [2], taken as a prototype, including an onboard and one or more ground transceiver stations, each ground transceiver station contains a transceiver antenna, a transmitter and a receiver, an antenna switch, limiter amplifier, phase detector, decision block (hereinafter referred to as the computational block), frequency synthesizer, phase shifter, reference frequency generator (hereinafter reference generator) and commutator a tor-shaper, the outputs of which are connected to the control inputs of the transmitter, antenna switch and phase detector, the output of which is connected to the input of the computing unit, the outputs of the computing unit are connected to the control inputs of the frequency synthesizer and phase shifter, the output of which is connected to the input of the transmitter, the output of the reference generator is connected to the first input of the phase detector, with the inputs of the frequency synthesizer and the commutator-shaper, the transceiver antenna is connected to the antenna switch, the output of which is connected to the first input of the receiver, and the input of the antenna switch is connected to the output of the transmitter, the outputs of the frequency synthesizer are connected to the input of the phase shifter and the second input of the receiver, the output of which is connected through the amplifier-limiter to the second input of the phase detector, the on-board transceiver station contains a transceiver antenna, a transmitter, the first a receiver, a reference generator, an indicator, an antenna switch, a phase detector, a computing unit, a frequency synthesizer, a first limiter amplifier and a signal switch, shaper-switch, the outputs of which are connected to the control inputs of the transmitter, antenna switch and phase detector, the output of which is connected to the input of the computing unit, the outputs of the computing unit are connected to the indicator input, with the control inputs of the switch-shaper, frequency synthesizer and reference generator, the output of which is connected with the first input of the phase detector, with the inputs of the frequency synthesizer and the commutator-shaper, the transceiver antenna is connected to the antenna switch, the output of which connected to the first input of the first receiver, and the input of the antenna switch is connected to the output of the transmitter, the outputs of the frequency synthesizer are connected to the input of the transmitter and the second inputs of the first and second receivers, the output of the first receiver is connected through the first amplifier-limiter to the second input of the signal switch, the output of which is connected to the third input of the phase detector, the control input of the signal switch is connected to the output of the decision unit.

A disadvantage of the known phase radionavigation system is the use of ultra-long-wave (VLD) information from the radionavigation system (RNS), for example, Omega, to obtain the a priori coordinates of the airborne transceiver station (BS) used to calculate distances from the BS to ground transceiver stations (NS). The obtained values of the a priori BS-NS distances are used as a priori values for resolving phase ambiguity. In the absence of access to the signals of the ADS RNS, obtaining an unambiguous estimate of the coordinates and ranges from the signals of the known phase radio navigation system is impossible.

The objective of the invention is to ensure the resolution of ambiguity in the entire working area of the phase radio navigation system without the need to use the measurement results from the signals of additional radio navigation systems, for example, ADS RNS "Omega".

The problem is solved in that in a phase radio navigation system containing at least two ground and airborne transceiver stations, in which each ground transceiver station contains a transceiver antenna, a transmitter and a receiver, an antenna switch, an amplifier-limiter, a phase detector, a computing unit, a frequency synthesizer , phase shifter, reference oscillator and commutator-shaper, the outputs of which are connected to the control inputs of the transmitter, antenna switch and phase detector, output which is connected to the input of the computing unit, the outputs of the computing unit are connected to the control inputs of the frequency synthesizer and phase shifter, the output of which is connected to the input of the transmitter, the output of the reference generator is connected to the first input of the phase detector, with the inputs of the frequency synthesizer and the commutator-shaper, the transceiver antenna is connected to the antenna a switch whose output is connected to the first input of the receiver, and the input of the antenna switch is connected to the output of the transmitter, the outputs of the frequency synthesizer are connected the input of the phase shifter and the second input of the receiver, the output of which is connected through the amplifier-limiter to the second input of the phase detector, the onboard transceiver station contains a transceiver antenna, a transmitter, a first receiver, a reference generator, an indicator, an antenna switch, a first phase detector, a computing unit, a frequency synthesizer, the first amplifier-limiter, switch-driver, the outputs of which are connected to the control inputs of the transmitter, antenna switch and the first phase detector, the output to connected to the first input of the computing unit, the outputs of the computing unit are connected to the indicator input, with the control inputs of the driver-shaper, frequency synthesizer and reference generator, the output of which is connected to the first input of the first phase detector, with the inputs of the frequency synthesizer and the driver-shaper, transceiver antenna connected to an antenna switch, the output of which is connected to the first input of the first receiver, and the input of the antenna switch is connected to the output of the transmitter, the outputs of the synthesizer frequencies are connected to the input of the transmitter and the second input of the first receiver, the output of the first receiver is connected through the first amplifier-limiter to the second input of the first phase detector, according to the invention, a receiving antenna, a second receiver, a second amplifier-limiter and a second phase detector are introduced into the onboard transceiver station, the receiving antenna is connected by an output to the third input of the antenna switch, the second output of which is connected to the first input of the second receiver, the second input of which is connected to the output of a frequency tezator, and the output through the second amplifier-limiter is connected to the second input of the second phase detector, which controls the input connected to the output of the commutator-shaper, the first input of the phase detector is connected to the output of the reference generator, the output of the second phase detector is connected to the second input of the computing unit, and in each of the ground transceiver stations, the third and fourth outputs of the computing unit are connected to the control inputs of the reference generator and the commutator-shaper, respectively.

The invention is illustrated by the accompanying drawings, which depict:

- figure 1 is a structural diagram of a phase radio navigation system, which shows the scheme of the airborne transceiver (BS) and one of the ground transceiver (NS) stations;

- figure 2 is a timing chart illustrating the order of radiation of stations in the operating cycle of the RNS;

- figure 3 is a timing diagram of the formation and reception of signals from an onboard and one of the ground transceiver stations;

- figure 4 - layout of equipment of ground and airborne transceiver stations;

- figure 5 is an explanation of the principle of determining the direction from the BS to the NS;

- 6 is a block diagram of the algorithm of the computing unit of the transceiver BS;

- Fig.7 is a block diagram of the algorithm of the computing unit of the transceiver NS.

Phase radionavigation system (FRS) contains an onboard transceiver station 1 and n ground transceiver stations 2 ₁ ÷ 2 _n .

, первый усилитель-ограничитель

, первый фазовый детектор

, вычислительный блок 8₁ и синтезатор частот 9₁, выходом соединенный с первым входом передатчика 3₁. Второй и третий выходы вычислительного блока 8₁ соединены соответственно с управляющими входами опорного генератора 10₁ и коммутатора-формирователя 11₁, а четвертый выход вычислительного блока 8₁ соединен с индикатором 12. Антенный переключатель 4 вторым и третьим входами соединен с приемопередающей антенной 13₁ и приемной антенной 14 соответственно, вторым выходом подключен к последовательно соединенным второму приемнику

, второму усилителю-ограничителю

и второму фазовому детектору

, выходом соединенному со вторым входом вычислительного блока 8₁, а управляющим входом - к одному из выходов коммутатора-формирователя 11₁. Второй выход коммутатора-формирователя 11₁ соединен с управляющими входами первого и второго фазовых детекторов

и

, а третий его выход - с управляющим входом передатчика 3₁. Выход опорного генератора 10₁ соединен с коммутатором-формирователем 11₁, первым

и вторым

фазовыми детекторами и синтезатором частот 9₁, который своим вторым выходом подключен ко вторым входам приемников

и

.The onboard transceiver station FRS contains serially connected transmitter 3 ₁ , antenna switch 4, the first receiver

first limit amplifier

first phase detector

, the computing unit 8 ₁ and the frequency synthesizer 9 ₁ output connected to the first input of the transmitter 3 ₁ . The second and third outputs of the computing unit 8 _{1 are} connected respectively to the control inputs of the reference generator 10 ₁ and the shaper-switch 11 ₁ , and the fourth output of the computing unit 8 _{1 is} connected to the indicator 12. The antenna switch 4 by the second and third inputs is connected to the transceiver antenna 13 ₁ and receiving antenna 14, respectively, the second output is connected to the second receiver in series

second limiting amplifier

and second phase detector

, the output connected to the second input of the computing unit 8 ₁ , and the control input to one of the outputs of the switch-shaper 11 ₁ . The second output of the switch-shaper 11 _{1 is} connected to the control inputs of the first and second phase detectors

and

, and its third output is with the control input of the transmitter 3 ₁ . The output of the reference generator 10 _{1 is} connected to the switch-former 11 ₁ , the first

and second

phase detectors and frequency synthesizer 9 ₁ , which is connected by its second output to the second inputs of the receivers

and

.

Each of the ground transceiver stations 2 contains a series-connected transmitter 3 ₂ , an antenna switch 15, a receiver 5 ₂ , an amplifier-limiter 6 ₂ , a phase detector 7 ₂ , a computational unit 8 ₂ , a frequency synthesizer 9 _2, and a phase shifter 16 connected by an output to the first input transmitter 3 ₂ . The second output of the computing unit 8 _{2 is} connected to the phase shifter 16, the third and fourth outputs of the computing unit 8 _{2 are} connected to the control inputs of the reference generator 10 ₂ and the commutator-shaper 11 _2, respectively. The outputs of the switch-shaper 11 _{2 are} connected to the control inputs of the transmitter 3 ₂ , phase detector 7 ₂ and antenna switch 15, connected to the transceiver antenna 13 ₂ , and the reference generator 10 _{2 is} connected to the second input of the switch-shaper 11 ₂ , with the third input phase detector 7 ₂ and the second input of the frequency synthesizer 9 ₂ , which is connected with its second output to the second input of the receiver 5 ₂ .

The device operates as follows.

The reference generators 10 generate continuous harmonic signals of frequency f, which are fed to the commutators-shapers 11 and frequency synthesizers 9. Frequency synthesizers 9 produce a reference signal for radiation with a frequency f ₀ and m of auxiliary signals with frequencies f ₁ , f ₂ , ..., f _m in addition, a frequency synthesizer 9 formed heterodyne signals for the receivers 5 with frequencies f _0r, f _1G, f _2r, ..., f _Mg, wherein the frequency control radiated (received) signals is carried out calculation units 8 so that between the frequencies of B the signals and the local oscillator, the ratio

f ₁ -f _1Г = f _ol,

f ₂ -f _2G = f _PR,

...

f _j -f _jГ = f _{ol ,}

...

f _m -f _Mg = f _pr

Where

j = 1, ..., m is the current number of the auxiliary signal with a frequency f _j ;

m is the total number of auxiliary frequencies;

f _CR - the intermediate frequency at which the phase measurement of the received signals is carried out.

Sequence BS and HC in the operating cycle FRNS radiation is shown in Figure 2, where the interval T corresponds to the BS _and the emission interval; T _p1 , ..., T _pn - relay intervals of BS signals by ground stations; n is the total number of NS; T _c - the duration of the time cycle of the FRS. In accordance with figure 2 in the proposed FRNS used time separation of station signals, which eliminates the possible influence of station signals on each other. The time interval between the emission of signals from neighboring stations is selected in such a way as to prevent the possibility of mutual overlapping in time of the signals of the stations in the entire working area of the FRS.

(фиг.3, в), 3₂ (фиг.3, г), 15 (фиг.3, д), 7₂ (фиг.3, е). Временные диаграммы на фиг.3 приведены для установившегося режима заявляемой системы, когда временные интервалы излучения и приема сигналов БС 1 синхронизированы с соответствующими интервалами наземных приемопередающих станций НС 2. На временной диаграмме фиг.3 изображены сигналы, излучаемые в пространство приемопередающей БС 1 (фиг.3, ж) и одной из НС 2 (фиг.3, з), например НС 2₁. Сигналы НС 2₂ - НС 2_n, следующие по времени за сигналами НС 2₁, аналогичны сигналам НС 2₁, поэтому на временной диаграмме фиг.3, с целью упрощения пояснений, не приведены. На фиг.3 обозначены: T_и - длительность интервала излучения сигналов БС; Т_р - длительность интервала ретрансляции сигналов бортовой станции наземной станцией НС 2₁; τ - интервал излучения (приема) опорного сигнала частотой f₀; 2τ - интервал излучения (приема) вспомогательных сигналов с частотами f_j.The switches-shapers 11 generate control signals for blocks 3 ₁ (Fig.3, a), 4 (Fig.3, b),

(FIG. 3, c), 3 ₂ (FIG. 3, d), 15 (FIG. 3, d), 7 ₂ (FIG. 3, e). The timing diagrams in FIG. 3 are given for the steady state of the inventive system when the time intervals of emission and reception of BS 1 signals are synchronized with the corresponding intervals of the ground transceiver stations of NS 2. The timing diagram of FIG. 3 shows the signals emitted into the space of the transceiving BS 1 (FIG. 3g) and one of HC 2 (FIG. 3, h), for example HC 2 ₁ . The signals HC 2 ₂ - HC 2 _n , following in time after the signals HC 2 ₁ , are similar to the signals HC 2 ₁ , therefore, in the time diagram of figure 3, in order to simplify the explanation, not shown. Figure 3 marked: T _and - the duration of the interval of emission of BS signals; T _p - the duration of the relay interval of the signals of the airborne station ground station NS 2 ₁ ; τ is the interval of radiation (reception) of the reference signal with a frequency f ₀ ; 2τ is the interval of emission (reception) of auxiliary signals with frequencies f _j .

In accordance with the time diagram of FIG. 3, the BS emits auxiliary frequencies f ₁ -f _m in the reverse order (FIG. 3, a), i.e. the sequence of radiation of auxiliary frequencies for a BS looks like: f _m , ..., f ₂ , f ₁ , while NS emit auxiliary frequencies in a direct order, i.e. in the sequence f ₁ , ..., f ₂ , f _m (figure 3, g).

The changed order of radiation of auxiliary frequencies allows us to uniquely identify BS signals, which is required for each of the NS to determine its place in the temporary format of the FRNS radiation, depending on the number assigned to it.

To determine the BS coordinates, simultaneous operation of at least two NS 2 (n≥2) is required, while additional radiation intervals for other NS operating in the FRNS will appear on the time diagram, which will lead to an increase in the time cycle of the device T _c (Fig. 2).

In the transmitter BS 3 ₁ the amplification of the signals from the frequency synthesizer 9 ₁ to the required value and the formation of the output radio pulse signals under the influence of control signals from the switch-former 11 ₁ (figa). The radio pulse signal from the transmitter 3 ₁ , passing through the antenna switch 4, is emitted into the space of the transceiver antenna 13 ₁ (figure 3, g). The signal emitted into the space of BS 1 during the time T _and , passing through the propagation medium, is received by the transceiver antenna 13 _{2 of} each of the HC 2 and through the antenna switch 15 is fed to the input of the receiver 5 ₂ . The second input of the receiver 5 ₂ receives signals from a frequency synthesizer 9 ₂ with frequencies f _0Г , f _mГ , ..., f _1Г . In the receiver 5 ₂ , the received signal is converted to an intermediate frequency f _pr according to relations (1), as well as filtering and amplification of the intermediate frequency signal f _pr

Then the received signal with a frequency f _pr is normalized by amplitude in the amplifier-limiter 6 ₂ and is fed to the phase detector 7 ₂ . In the phase detector 7 ₂ under the influence of control signals (Fig. 3, f), the phase shifts (FS) of the received signals are measured, while the FS φ ₀₁ , φ ₀₂ , ..., φ _0m , φ ′ _{0m of} signals of frequency f ₀ and FS are measured φ _m , ..., φ ₂ , φ ₁ auxiliary signals with frequencies f _m , ..., f ₂ , f ₁ . Information from the phase detector 7 ₂ enters the computing unit 8 ₂ , in which the phase relations are calculated:

The obtained FS values ∆φ ₁ , ∆φ ₂ , ..., ∆φ _{m are} stored in the computing unit 8 ₂ . During the interval T _p, signals from the HC 2 unit are radiated into space, while the frequency and phase of the emitted signals are controlled by the computing unit 8 ₂ through the blocks of the frequency synthesizer 9 ₂ and the phase shifter 16, respectively. At time instants τ, when the main signals of frequency f ₀ are emitted into the space by the transmitter 3 ₂ , the phase shifter 16 by the computing unit 8 _{2 is} set to its initial (zero) state. In this case, the emitted reference signals of frequency f ₀ have a phase of the signal of the reference generator 10 ₂ . During intervals 2τ, when the transmitter 3 ₂ emits auxiliary signals with frequencies f ₁ , f ₂ , ..., f _m , control signals from the computing unit 8 ₂ in the phase shifter 16 are set FS ∆φ ₁ , ∆φ ₂ , ..., ∆φ _m respectively.

Thus, during the time interval T _{p, the} transmitter 3 ₂ HC 2 ₁ emits auxiliary signals, the phase of which is equal to the phase of the received signals during the intervals T _and from the transceiver BS 1, as well as signals whose phase is equal to the phase of the reference oscillator 10 ₂ .

In the transmitter 3 ₂ the amplification of the signals from the phase shifter 16 and the formation of the output radio pulse signals under the influence of control signals from the switch-former 11 ₂ (Fig.3, g). The radio pulse signal from the transmitter 3 ₂ , passing through the antenna switch 15, is radiated into the space of the transceiver antenna 13 ₂ (Fig.3. H).

и

от антенн 13₁ и 14 соответственно. На вторые входы приемников

и

подаются сигналы от синтезатора частот 9₁ с частотами f_0Г, f_1Г, …, f_mГ. В приемниках

и

осуществляется преобразование сигналов на частоту f_пр согласно соотношению (1). Сигналы с частотой f_пр фильтруются и усиливаются, а затем нормируются по амплитуде в усилителях-ограничителях

и поступают на фазовые детекторы

. В фазовых детекторах

под воздействием управляющих сигналов (фиг.3, в) коммутатора-формирователя 11₁ осуществляется измерение (ФС) принятых сигналов, при этом измеряются ФС ψ₀₁, ψ₀₂, …, ψ_0m, ψ′_0m опорных сигналов частоты f₀ и ФС ψ₁, ψ₂, …, ψ_m вспомогательных сигналов с частотами f₁, f₂, …, f_m. Информация с фазовых детекторов

поступает в вычислительный блок 8₁, в котором вычисляются фазовые соотношения:The signal radiated into the space of the transceiver NS 2 during the relay time interval T _p , passing through the propagation medium, is received by the transceiver antenna 13 ₁ and the receiving antenna 14 of the BS transceiver unit 1 and through the antenna switch 4, controlled by the former switch 11 ₁ in accordance with the time diagram (figb), is fed to the inputs of the receivers

and

from antennas 13 ₁ and 14, respectively. To the second inputs of the receivers

and

signals are sent from the frequency synthesizer 9 ₁ with frequencies f _0G , f _1G , ..., f _mG . In receivers

and

the signals are converted to the frequency f _CR according to the relation (1). Signals with a frequency f _{pr are} filtered and amplified, and then are normalized by amplitude in limiting amplifiers

and arrive at the phase detectors

. In phase detectors

under the influence of control signals (Fig. 3, c) of the shaper-switch 11 ₁ , the measurement (FS) of the received signals is measured, while the FS ψ ₀₁ , ψ ₀₂ , ..., ψ _0m , ψ ′ _{0m of the} reference signals of frequency f ₀ and FS ψ ₁ , ψ ₂ , ..., ψ _m auxiliary signals with frequencies f ₁ , f ₂ , ..., f _m . Information from phase detectors

enters the computing unit 8 ₁ , in which the phase relations are calculated:

As a result, in the computing unit 8 ₁ , the FS values of the signals ∆ψ ₁ , ∆ψ ₂ , ..., ∆ψ _m received by the B antennas 13 ₁ and 14 of the BS separated by distance B are determined (FIG. 4).

поступают значения ФС, пропорциональные расстояниям от НС до точек 13₁ и 14 БС. Для точки расположения приемопередающей антенны 13₁ фазовым детектором

будут измерены ФС

,

, …,

, а точки расположения приемной антенны 14 вторым фазовым детектором

будут измерены ФС

,

, …,

.Since the measurement of FS signals is carried out independently by the signals received by antennas 13 ₁ and 14, then to the computing unit 8 ₁ from phase detectors

FS values proportional to the distances from the NS to points 13 ₁ and 14 BS come in. For the location point of the transceiver antenna 13 ₁ phase detector

FS will be measured

,

, ...,

, and the location of the receiving antenna 14 by the second phase detector

FS will be measured

,

, ...,

.

,

, …,

и ФС

,

, …,

запоминаются в вычислительном блоке 8₁ и используются для устранения многозначности фазовых отсчетов.The obtained values of FS

,

, ...,

and FS

,

, ...,

stored in the computing unit 8 ₁ and used to eliminate the ambiguity of phase samples.

In practice, the frequencies f ₀ , f ₁ , f ₂ , ..., f _m are chosen in such a way that the relations are satisfied:

F _m - frequency of the m-th stage (operating frequency of the phase radio navigation system);

F ₁ , F ₂ , ..., F _m-1 are the frequencies of the coarse steps, arranged in increasing order;

k ₁ , k ₂ , ..., k _m-1 - frequency conjugation coefficients.

In further application materials, frequencies F ₁ , F ₂ , ..., F _m will be called metric frequencies.

до

, где

- длина волны сигнала с частотой F₁, с - скорость распространения сигналов.When using the phase method for determining the radio navigation parameters (RNP), which in this case represents doubled the distance between the transceiver BS 1 and each of the transceiver NS 2, the range of an unambiguous assessment of the RNP is determined by the lowest metric frequency (F ₁ ) and is in the range

before

where

- wavelength of the signal with a frequency of F ₁ , s - the speed of propagation of signals.

с погрешностью не более

, поскольку реальная фазометрическая аппаратура выполняет измерения ФС в пределах ±180°, что соответствует половине длины волны сигнала, на котором происходят измерения ФС.Due to the need to ensure the operation of a large number of NS and the implementation of a high rate of issuing BS coordinates, the metric frequency F ₁ , as a rule, does not provide an unambiguous determination of distances in the entire working area of the FRS. In addition, as mentioned above, the FS value ∆ψ ₁ at the metric frequency F ₁ corresponds to a signal of a given frequency that has passed twice the distance from the BS to the NS. These factors lead to the need to set the initial values of the distances from the BS of the i-th NS

with an error of no more

since the real phase-measuring equipment performs FS measurements within ± 180 °, which corresponds to half the wavelength of the signal at which the FS measurements take place.

(i=1, …, n) между БС и НС было предложено использовать результаты определения координат БС, полученных по каналу СДВ РНС, например «Омега». Для этого требуется, чтобы БС находилась в рабочей зоне СДВ РНС с обеспечением возможности приема сигналов не менее чем трех станций данной СДВ РНС [3]. Следует отметить, что в настоящее время в связи с развитием спутниковых радионавигационных систем поддержка функционирования СДВ систем сокращена и вышеприведенное условие не всегда выполняется на территории РФ и прилегающих морских акваторий.In the prototype of the invention for the initial assessment of distance values

(i = 1, ..., n) between the BS and the NS, it was proposed to use the results of determining the coordinates of the BS obtained through the channel of the ADS RNS, for example, "Omega". This requires that the BS be in the working area of the ADS RNS with the possibility of receiving signals from at least three stations of this ADD RNS [3]. It should be noted that at present, due to the development of satellite radio navigation systems, support for the operation of ADD systems has been reduced and the above condition is not always fulfilled in the territory of the Russian Federation and adjacent sea areas.

(i=1, …, n) предлагается использовать радиопеленгационный метод определения приближенных координат БС. При этом не требуется использования сигналов дополнительных РНС, а определение начальных значений при устранении неоднозначности осуществляется ФРНС автономно. Для решения поставленной задачи может быть использован интерферометрический метод измерения курсовых углов с БС на НС.In this invention to determine the initial coordinates of the airborne station and rough values of distances

(i = 1, ..., n) it is proposed to use the radio direction finding method for determining the approximate coordinates of a BS. It does not require the use of additional RNS signals, and the determination of the initial values when disambiguation is carried out autonomously by the FRNS. To solve this problem, an interferometric method of measuring heading angles from BS to NS can be used.

With the interferometric method of measuring heading angles, signals are received at antennas spaced apart by a certain distance. When this is measured, the difference in the signal path ΔR _i from the i-th transceiver NS on two separated antennas BS 13 ₁ and 14 (figure 5).

The cosine of the angle of the heading angle α _i between the vector connecting the antennas 13 ₁ and 14 and the direction vector from the BS to the transceiver antenna 13 _{2 of the} i-th NS is related to the phase difference of the signals received by the antennas 13 ₁ and 14, the following ratio:

i = 1, ..., n is the current number of the ground station;

n is the total number of ground stations whose signals are received by the BS;

λ _i - wavelength of the signal of the i-th NS at the measuring frequency;

In - the distance between the antennas 13 ₁ and 14;

∆R _i is the difference in the signal path of the i-th NS to antennas 13 ₁ and 14;

Ф _i = 2π · N _i + φ _i is the value of the total FS between the signals of the i-th NS received by the antennas 13 ₁ and 14 BS 1;

φ _i - the measured value of the FS, which is within ± 180 ° (± 0.5 phase cycle (f.ts.));

N _i is an integer ambiguity corresponding to an integer number of phase cycles that fit into the full FS.

The value of FS in order to obtain maximum accuracy in determining rough coordinates can be calculated at the metric frequency F _{m of the} phase RNS. In this case, the FS value is determined based on the measured FS values for antennas 13 ₁ and 14 as:

m is the number of the most accurate disambiguation stage corresponding to the operating frequency of the RNS F _m .

If the distance between antennas B is less than λ _m / 2, then the phase shift value Φ _mi will not contain an integer ambiguity. In this case, according to expression (6), the course angles α ₁ , α ₂ , ..., α _n to each of the ground stations will be uniquely determined (Fig. 4). If the heading ψ _to the BS carrier vessel is known, when the antennas 13 ₁ and 14 are located, for example, parallel to the ship’s longitudinal axis, the azimuths of directions from the antenna 13 ₁ BS to the transmitting and receiving antennas 13 _{2 of} each of the NS (radio bearings on the NS) can be determined expression:

i = 1, ..., n is the current number of the received NS;

n is the total number of received NS;

ψ _ai - radio direction finding from the BS to the i-th NS.

Using the known values of the radio bearings Ψ _a1 , ..., Ψ _an for n≥2 NS, one can find the coordinates of the BS using the well-known expressions relating the azimuths and coordinates of the NS and BS, according to which the azimuth to the ith NS in the Gaussian-Krueger rectangular coordinate system [4 , p.129] is defined as:

x _si , y _si - coordinates of the i-th NS;

,

- приближенные координаты приемопередающей антенны 13₁, подлежащие определению.

,

- approximate coordinates of the transceiver antenna 13 ₁ to be determined.

,

, соответствующими координатам приемопередающей антенны 13₁.As a result, for n≥2 NS, a system of n equations of the form (8) with 2 unknown - approximate BS coordinates will be obtained

,

corresponding to the coordinates of the transceiver antenna 13 ₁ .

Moving the unknown approximate coordinates of the BS to the left side, the system of equations (9) can be written as follows:

Equations (10) in matrix form will take the form:

- матрица коэффициентов системы уравнений (11), размерностью n×2;

- matrix of coefficients of the system of equations (11), dimension n × 2;

- вектор свободных членов из n элементов;

- vector of free members of n elements;

- вектор неизвестных координат БС, подлежащих определению радиопеленгационным методом.

- a vector of unknown BS coordinates to be determined by the direction finding method.

Due to the redundancy of equations (11), their solution is conveniently carried out by the least squares method (OLS). In this case, the solution to system (11) is written in the form:

,

, которые в дальнейшем используются в качестве координат начального приближения в процедуре разрешения многозначности фазовых измерений, осуществляемой, например, по методу пересчета измерений (МПИ) [5].As a result of solving the system of equations (11), unknown approximate BS coordinates are determined

,

, which are subsequently used as the coordinates of the initial approximation in the procedure for resolving the ambiguity of phase measurements, carried out, for example, by the method of conversion of measurements (MPI) [5].

в соответствии с выражением:The coordinates of the initial approximation found in accordance with (12) are used to calculate the initial values of the BS ranges - the i-th NS

in accordance with the expression:

i = 1, ..., n is the current number of the received NS.

According to the MPI, the values of the integer ambiguity N _1i for the first metric frequency F _{1 are} determined in accordance with the expression:

i = 1, ..., n is the current number of the received NS;

n≥2 is the total number of received NS;

N _1i is the value of the integer ambiguity of phase measurements on the track formed by the frequency F ₁ for the i-th NS;

- значение измеренного ФС сигнала первой метрической частоты;λ ₁ is the wavelength of the signal of the first metric frequency;

- the value of the measured FS signal of the first metric frequency;

[.] - operation to select the integer part of a number.

After determining N _1i , the value of the total FS for the signal of the first metric frequency F _{1 is} calculated:

Ψ _1i is the total FS between the signal received from the i-th NS and the signal emitted by the BS, proportional to the double distance from the BS to the i-th NS.

Then the sequential resolution of ambiguity (PH) for each of the steps is carried out up to the most accurate step m formed by the working metric frequency F _m . The pH procedure is carried out in accordance with the expressions:

j = 2, ..., m is the current stage number of the launch vehicle; m is the total number of stages of the pH;

λ _j-1 is the wavelength of the signal with a frequency of F _j-1 ; λ _i - wavelength of the signal with a frequency F _j ; Ψ _{(j-1) i} is the value of the total FS signal of the i-th NS at a frequency F _j-1 ;

Ψ _ji is the value of the total FS signal of the i-th NS at a frequency F _j ;

N _ji is the value of integer ambiguity in the full FS of the signal of the i-th NS at a frequency of F _j ;

- измеренное значение ФС сигнала i-й НС на частоте F_j для точки расположения фазового центра приемопередающей антенны 13₁.

- the measured value of the FS signal of the i-th NS at a frequency F _j for the location point of the phase center of the transceiver antenna 13 ₁ .

Thus, in accordance with expressions (16) and (17), the complete FS is sequentially determined for the frequencies F ₂ , ..., F _m . At the end of the LV, the values of the total FS Ψ _mi at the operating frequency of the FRNS corresponding to the highest metric frequency F _m become known.

The obtained values of the total FSs Ψ _m1 , Ψ _m2 , ..., Ψ _mn with the ambiguity removed correspond to signals with a frequency F _m passing twice the distance from the BS to the corresponding NS twice through the propagation medium. The values of the total FS are proportional to the delay time of the radio waves at the receiving point with respect to the moment of their emission and do not contain phase raids due to the equipment of the BS 1 and HC 2 units ₁ ÷ 2 _n .

The values Ψ _m1 , Ψ _m2 , ..., Ψ _mn are used to accurately determine the distance R _i between the antenna 13 _{1 of} block 1 (BS) and the antenna 13 _{2 of} block 2 (NS) at a known propagation velocity of the radio waves according to the formula:

C is the propagation velocity of radio waves.

The obtained values of the exact distances R _i between the BS and the NS are used to calculate the coordinates of the BS by solving a system of n equations for the range-finding mode of determining the location:

i = 1, ..., n - current number of the National Assembly; n is the total number of NS.

The solution of the system of nonlinear equations (19) in order to determine the exact coordinates of the BS can be carried out, for example, on the basis of the iterative method considered in [6, pp. 49-53].

The block diagram of the algorithm of the computing unit 8 ₁ when determining the coordinates of the BS 1 as part of the proposed FRS shown in Fig.6.

This algorithm is given for one step of processing the results of measurements of FS by signals HC ₁ -HC _n , the equipment provides for a cyclic repetition of the algorithm with a period corresponding to the duration of the RNS operating cycle T _c .

At the first step of this algorithm, input of the initial data is carried out, in particular: the current heading angle of the vessel Ψ _k ; coordinates of all NS; metric frequencies F ₁ ÷ F _m ; the speed of propagation of signals in the atmosphere

Then begins the cyclic operation of the algorithm with a repetition period T _c .

When this is the formation of control signals for the blocks of the frequency synthesizer 9 ₁ and the commutator-shaper 11 ₁ in accordance with the time diagram for the radiation time interval T _and shown in Fig.3. At the end of the BS signal emission, the computing unit 8 ₁ switches to the mode of alternating reception of the NS signals, which corresponds to the reception cycle i = 1, ..., n shown in the block diagram of the algorithm. In this cycle, i corresponds to the current number of the received NS, the total number of received BS NS is n.

In the cycle of signal reception of the i-th NS, the following actions are carried out.

The first step is the issuance of a code for adjusting the frequency of the exhaust gas BS 10 ₁ in accordance with a certain deviation of the frequency of the exhaust gas BS with respect to the signal of the current received NS. The determination of the deviation of the frequency of the exhaust gas can be carried out on the basis of the analysis of the values of the FS ψ ₀₁ , ψ ₀₂ , ..., ψ _0m , ψ ′ _0m from signals with a frequency f ₀ received from each of the NS. This ensures that the frequency of the exhaust gas 10 _{1 is} adjusted to the frequency of the exhaust gas 10 _{2 of the} current received NS, which eliminates the measurement error of the FS caused by the frequency mismatch of the BS and NS signals. The algorithm for determining the deviation of the exhaust gas frequency for the signal structure of the FRS given in the application materials can be implemented in accordance with [7].

и

. Далее в соответствии с выражением (3) осуществляется расчет разностей фазовых сдвигов

,

, …,

для точки 13₁ и

,

, …,

для точки 14. Затем происходит расчет разностей ФС между сигналами, принятыми антеннами 14 и 13₁, Φ_mi на рабочей частоте РНС F_m в соответствии с выражением (6). На следующем шаге алгоритма определяются значения курсового угла α_i между продольной осью судна и направлением на i-ю НС согласно выражению (5). Затем используя известный курс судна Ψ_к определяются радиопеленги на НС согласно (7).Next, the formation of control signals for the blocks of the frequency synthesizer 9 ₁ and the commutator-shaper 11 ₁ for the relay interval T _p shown in Fig.3. In this case, the measured values of the phase shifts ψ ₀₁ , ψ ₀₂ , ..., ψ _0m , ψ ′ _{0m of the} reference signals of frequency f ₀ phase shifts ψ ₁ , ψ ₂ , ..., ψ _{m of} auxiliary signals with frequencies f are received and stored in the computing unit 8 _{1 1} , f ₂ , ..., f _m measured by blocks of phase detectors

and

. Further, in accordance with expression (3), the differences in phase shifts are calculated

,

, ...,

for point 13 ₁ and

,

, ...,

for point 14. Then, the FS differences are calculated between the signals received by antennas 14 and 13 ₁ , Φ _mi at the operating frequency of the RNS F _m in accordance with expression (6). At the next step of the algorithm, the values of the heading angle α _i between the longitudinal axis of the vessel and the direction to the i-th NS are determined according to expression (5). Then, using the known heading of the vessel Ψ _k , the radio direction finding on the NS is determined according to (7).

,

) согласно формуле (12), при этом значения матрицы коэффициентов А и столбца свободных членов С определяются из обозначений матричной системы уравнений (11).After determining the values of the FS and radio bearings on the received NS, the approximate coordinates of the BS are calculated (

,

) according to formula (12), while the values of the matrix of coefficients A and the column of free terms C are determined from the notation of the matrix system of equations (11).

в соответствии с выражением (13). При этом предельная погрешность полученного приближенного значения расстояния, как было отмечено выше, не должна превышать значения ±λ₁/4.After determining the approximate coordinates of the BS, the approximate distances between the BS and the i-th NS are calculated

in accordance with the expression (13). The limit error obtained approximate value of the distance, as noted above, should not exceed ± λ _1/4.

Observance of this condition leads to an error-free determination of the integer ambiguity N _1i at the metric frequency F ₁ in accordance with expression (14), which is performed at the next step of the algorithm. Then, the total phase Ψ _1i is calculated for the signal of the ith NS at the frequency F ₁ according to expression (15).

Next, the computing unit 8 ₁ executes a series RN cycle at metric frequencies F _j (j = 2, ..., m) in accordance with expressions (16) and (17). At the end of this cycle, the magnitude of the total phase shift Ψ _mi at the operating frequency of the RNS F _m becomes known.

Using the FS Ψ _mi value and the propagation speed of signals c introduced in advance in the computing unit 8 ₁ , the exact distance between the BS and the ith NS R _i is determined. At the end of the processing cycle of the FS measurement results for n NS signals, the exact BS coordinates x _b , y _b are calculated from the exact values of the distances R ₁ ÷ R _n by solving the system of equations (19).

At the end of the calculations, the obtained values of the exact coordinates of the BS x _b , y _b in the rectangular Gaussian-Krueger system and the distances BS - NS R ₁ ÷ R _n are issued for indication to consumers in block 12.

The duration of the work cycle of the computing unit 8 _{1 is} chosen so that, during the time T _{c, the} FS measurement operations for all NSs have been completed, the rough coordinates of the BS are calculated on the basis of radio bearings, as well as the ambiguity resolution, the calculation of the BS ranges and coordinates.

In addition, the computing unit 8 ₁ can solve service problems, for example, recalculate coordinates from a rectangular coordinate system to geographic coordinates on a user-defined ellipsoid, solve ship navigation problems, etc.

The results of the solution of service and navigation problems, if necessary, go to the display unit 12 for display to the operator.

The block diagram of the algorithm of the computing unit NS 8 ₂ when solving the problem of receiving and measuring parameters, as well as radiation of BS signals is shown in Fig.7.

At the first step of the algorithm of Fig. 7, the input data are input, in particular, metric frequencies F ₁ ÷ F _m and the speed of signal propagation in the atmosphere c.

After that, NS 2 searches for BS 1 signals by repeatedly accumulating signals at specified delay values within the operating cycle. To distinguish between BS and NS signals, the radiation order of the auxiliary frequencies BS is reversed, i.e. The BS emits auxiliary frequency signals in the sequence f _m , f _m-1 , ..., f _j , ..., f ₂ , f ₁ .

In case of a successful search BS NA 2 starts synchronization signal receiving time format BS signals by shifting the ON time control, switch driver signals NA February ₁₁ at a predetermined pitch.

Upon reaching the specified accuracy of synchronization, each of the NS 2 goes into the duty cycle of measuring the FS of the BS signals and relaying the BS signals in the intervals T _pi allocated for the signals of the NS 2 _i . The repetition period of the working cycle of the algorithm is determined by the duration of the working cycle of the system T _c .

At the first step of the working cycle, the computing unit 8 ₂ issues the block 10 ₂ of the exhaust gas frequency adjustment code НС 10 ₂ in accordance with the previously measured deviation of the exhaust gas frequency relative to the BS signal. The value of the deviation of the exhaust gas frequency can be determined based on the analysis of the FS values φ ₀₁ , φ ₀₂ , ..., φ _0m , φ ′ _{0m of} signals with a frequency f ₀ received by each of the NS from the BS. This ensures that the frequency of the exhaust gas 10 _{2 is} adjusted to the frequency of the exhaust gas 10 ₁ BS, which eliminates the measurement error of the FS caused by the frequency mismatch of the BS and NS signals. The algorithm for determining the deviation of the exhaust gas frequency can be implemented in accordance with [7].

Then the NS waits for the arrival of BS signals.

Further, during the reception of BS signals, control signals are generated for the frequency synthesizer blocks 9 ₂ and the commutator-shaper 11 ₂ in accordance with the time diagram for the BS T radiation time interval _and shown in FIG. 3. In this case, the phase detector unit 7 ₂ measures the FS of the BS signals, after which the computing unit 8 ₂ calculates the FS values at metric frequencies F ₁ ÷ F _m .

Then, the deviation of the frequency of the NS with respect to the BS is calculated based on the magnitude of the change in the measured FS BS in the interval T _c between two adjacent moments of BS signal reception. This value is remembered by the computing unit 8 ₂ and is used to calculate the tuning code of the exhaust gas of the NS in order to minimize the frequency difference between the NS and BS.

At the next step of the algorithm, the signal retransmission time T _pi is expected, after which HC 2 _i starts emitting its own signals, the order of auxiliary frequencies of which is direct, i.e. auxiliary frequencies are emitted in the sequence f ₁ , f ₂ , ..., f _j , ..., f _m-1 , f _m.

In this case, the computing unit 8 ₂ controls the blocks of the frequency synthesizer 9 ₂ and the commutator-shaper 11 ₂ for emission by the transmitter 3 _{2 of the} signal in accordance with the time diagram of FIG. 3,

In addition, the computing unit 8 ₂ controls the phase shifter 16, the FS of which when emitting auxiliary frequency signals f ₁ ÷ f _{m is} set equal to the value of the FS FS measured by the NS, and when emitting frequency signals f _{0 the} phase shifter is set to zero.

Thus, during the time interval T _p, each of the transceiver NS 2 emits auxiliary signals whose phase is equal to the phase of the received signals during the intervals T _and from the BS unit 1, as well as signals whose phase is equal to the phase of the reference oscillator 10 ₂ .

The duration of the operation cycle of the computing unit 8 ₂ are selected so that the time T _i had time to be performed BS FS measurement operation at time T _and the BS and relay signals during the NA T _pi radiation.

Computing units 8 ₁ and 8 ₂ due to high performance requirements, a large amount of calculations and the complexity of control algorithms and programs must be implemented, for example, on the basis of modern high-speed universal microprocessors of the Intel family according to the standard structure described, for example, in [8, p. .48].

Consider a numerical example.

Let the phase RNS generate signals with frequencies f ₀ = 421 MHz (reference frequency) and auxiliary frequencies f ₁ = 421.01 MHz, f ₂ = 421.1 MHz, f ₃ = 422 MHz, f ₄ = 426 MHz, f ₅ = 431 MHz (selected operating frequencies of the Crabhik UHF band [9]). The use of these frequencies allows the determination of phase shifts of signals at metric frequencies, the values of which, determined in accordance with expression (4), form a series: F ₁ = 10 kHz, F ₂ = 100 kHz, F ₃ = 1 MHz, F ₄ = 5 MHz, F ₅ = 10 MHz.

выполняется.Thus the uniqueness of the reference range of distances between the BS and the NA of ± λ _1/4 or ± 7.5 km. When the distance B between the antennas 13 ₁ and 14 is, for example, 10 m, an unambiguous determination of the phase difference Φ _5i will be provided for any of the received NS, since the value of the wavelength λ _{5 of the} frequency F ₅ is about 30 m and the condition

performed.

рад ≈ 1.7° (в данном выражении значение ∆Φ₅ выражено в ф.ц.).If we take the error in measuring the phase difference ∆Φ _{5i to be the} same for all NSs and equal to ∆Φ ₅ = 0.01 ps (3.6 °), then the error in determining the course angle α is determined from the approximate expression:

rad ≈ 1.7 ° (in this expression, ∆Φ _{5 is} expressed in pc).

If we take the error in determining the azimuth of the longitudinal axis of the vessel ∆Ψ _to equal 1 °, then the total error in determining the radio direction from point 13 ₁ BS to point 13 ₂ NS will be defined as:

The resulting measurement error of the radio bearing will lead to an error in determining the location of point 13 ₁ BS in the direction perpendicular to the direction of the BS-NS. The value of the indicated error ∆r is determined from the relation: ∆r = R · tg (∆Ψ _a ), where R is the BS-NS range value.

If we take the BS-NS range equal to 100 km, which is the maximum practicable range for the RNS of the indicated frequency range, then the ∆r value according to the above formula will be about 3.5 km. With the geometrical factor of the placement of NS GF≤2, the maximum possible error in determining the approximate coordinates of the BS by the radio direction finding method will be no more than 7 km, which will provide an unambiguous determination of the integer ambiguity N ₁ for the phase track given by the lowest metric frequency F ₁ = 10 kHz, without the need for information from other navigation information sensors.

Thus, thanks to new elements and relationships, the zone of unambiguous determination of the distance is achieved and the FRS operation is automated due to autonomous LV phase measurements of the BS based on the determination of the approximate coordinates of the BS by the radio direction finding method. To implement this method of determining the approximate coordinates of the BS, the heading data is used, which are entered into the computing unit BS 8 ₁ in accordance with the gyrocompass, which is part of the on-board equipment of almost all currently used ships. Since most modern gyrocompasses make it possible to automatically issue the course in accordance with the NMEA-0183 exchange protocol [10], it is possible to automatically enter the ship's heading into the computing unit 8 ₁ with the aim of further automating the operation of the proposed FRS.

After determining the initial coordinates of the BS, a transition is made to the resolution of the ambiguity of phase measurements, which allows us to determine the exact distances between the BS and the NS, as well as the exact coordinates of the BS with an error of units of meters or less.

Literature

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10. IEC 61162-1: 2000, Maritime navigation and radiocommunication equipment and systems - Digital Interfaces - Part 1: Single talker and multiple listeners.

Claims (1)

A phase radio navigation system containing at least two ground and airborne transceiver stations, in which each ground transceiver station contains a transceiver antenna, a transmitter and a receiver, an antenna switch, an amplifier-limiter, a phase detector, a computing unit, a frequency synthesizer, a phase shifter, a reference generator and a switch - shaper, the outputs of which are connected to the control inputs of the transmitter, antenna switch and phase detector, the output of which is connected to the input of the calculator of the unit, the outputs of the computing unit are connected to the control inputs of the frequency synthesizer and phase shifter, the output of which is connected to the input of the transmitter, the output of the reference generator is connected to the first input of the phase detector, with the inputs of the frequency synthesizer and the commutator-shaper, the transceiver antenna is connected to the antenna switch, the output of which connected to the first input of the receiver, and the input of the antenna switch is connected to the output of the transmitter, the outputs of the frequency synthesizer are connected to the input of the phase shifter and the second input the receiver, the output of which is connected through the amplifier-limiter to the second input of the phase detector, the on-board transceiver station contains a transceiver antenna, a transmitter, a first receiver, a reference generator, an indicator, an antenna switch, a first phase detector, a computing unit, a frequency synthesizer, a first amplifier-limiter, shaper-switch, the outputs of which are connected to the control inputs of the transmitter, the antenna switch and the first phase detector, the output of which is connected to the first input of the calculator the output unit, the outputs of the computing unit are connected to the indicator input, to the control inputs of the driver-shaper, frequency synthesizer and reference generator, the output of which is connected to the first input of the first phase detector, to the inputs of the frequency synthesizer and the driver-shaper, the transceiver antenna is connected to the antenna switch, the output of which is connected to the first input of the first receiver, and the input of the antenna switch is connected to the output of the transmitter, the outputs of the frequency synthesizer are connected to the input of the transmitter the second input of the first receiver, the output of the first receiver is connected through the first amplifier-limiter to the second input of the first phase detector, characterized in that a receiving antenna, a second receiver, a second amplifier-limiter and a second phase detector are introduced into the onboard transceiver station, and the receiving antenna is connected by an output with the third input of the antenna switch, the second output of which is connected to the first input of the second receiver, the second input of which is connected to the output of the frequency synthesizer, and the output through the second the limiter is connected to the second input of the second phase detector controlling the input connected to the output of the shaper-switch, the first input of the phase detector is connected to the output of the reference generator, the output of the second phase detector is connected to the second input of the computing unit, and in each of the ground transceiver stations there is a third and the fourth outputs of the computing unit are connected to the control inputs of the reference generator and the commutator-shaper, respectively.

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