RU2487365C1 - Speed metre for icebreaking ships - Google Patents

Abstract

FIELD: measurement equipment.SUBSTANCE: speed metre for icebreaking ships comprises an antenna, a mixer, a generator of microwave oscillations, a metre of Doppler frequency and a phase metre. At the same time the outlet of the microwave oscillations generator is connected with the inlet of the mixer, connected with the inlet-outlet with the antenna, the detector's outlet is connected with one inlet of the Doppler frequency metre, the other inlet of which is connected with the outlet of the phase metre, a modulator, a demodulator, a wideband amplifier, an amplifier of intermediate frequency and a generator, the first outlet of which is connected with the modulator's inlet, the second outlet is connected with the third inlet of the Doppler frequency metre, outlets of the modulator are connected accordingly with the inlet of the generator of microwave oscillations, the inlet of the detector and the inlet of the demodulator, two outlets of which are connected with inlets of the phase metre, and the other inlet is connected with the outlet of the wideband amplifier, the inlet of which is connected with the outlet of the mixer, the other outlet of the wideband amplifier is connected with the inlet of the intermediate frequency amplifier, the outlet of which is connected with the other inlet of the detector. In addition the metre comprises a unit for detection of a correction signal in frequency form, which is specified by error from speed and direction of wind, and flow, connected by two inlets with two outlets of a ship hydrometeorological complex, with another two outlets with two inlets of the Doppler frequency metre, and with its inlet-outlet - to a computer, a transceiving antenna is equipped with sensors of angular accelerations and linear speed, which with their outlets are connected with the computer's inlet.EFFECT: improved accuracy of speed detection.2 dwg

Description

The invention relates to navigation, in particular for measuring the speed of moving objects.

Known devices for measuring speed (Doppler speed meters) comprise an antenna, a microwave oscillator, a directional coupler, a circulator, a modulator, a mixer, an amplifier, a calculator, and an indicator (copyright certificate SU No. 1341594, 1987 [1]) or a microwave oscillator , directional coupler, circulator, transceiver antenna, mixer, Doppler signal amplifier, frequency meter, strobe driver at the time of locking the Doppler signal and phase shifter (US patent No. 4527160, 1985 [2]).

In contrast to the device [1], the device [2] introduced a strobe-pulse shaper at the time of locking the Doppler signal and a phase shifter to increase accuracy. This device really improves the measurement accuracy by changing the phase of the local oscillator signal at the time the signal disappears (in most known devices, the previous signal is stored in a memory circuit, that is, they switch to the "memory" operating mode).

However, in the known devices there is an error due to the influence of vibration of the antenna-feeder elements.

Speed meters are also known (GB patents No. 1494582, No. 1499371, No. 1499388, 2122834 [2-6]; US patents No. 4231039, No. 4608568, No. 4527160, No. 4414348 [7-10]; DE patents No. OS 3322304, No. 2800074 No. 2802968 [11-13]; EP patents No. 0124173, No. 0123870 [14, 15]; JP patents No. 5842434, No. 5736552, No. 6027385 [16-18]; FR patents No. 2384268, No. 2592959 [19, 20] ; copyright certificates SU No. 1617393, No. 1517393, No. 271612 [21-23]), which contain one or more antennas, a microwave oscillator, a directional coupler, a circulator, a modulator, a phase meter or sign detection unit, a Doppler frequency calculator or meter, indicators.

The main disadvantages of the known devices is the presence of vibrational noise due to the influence of the antenna-feeder path, which increases the error in measuring the speed of vehicles.

A device is also known (GB patent No. 148701, 05.10.77 [24]), which consists of n antennas (horns), a microwave generator, mixers, a detector, a Doppler frequency meter, which provides a partial reduction in interference caused by the influence of the antenna-feeder path , by using a Gunn diode as a generator of microwave oscillations, which is also a local oscillator for mixers.

Reducing the influence of these interference is also provided in the well-known technical solutions (patents RU No. 2038614, 05.27.1995, No. 2080620 05/27/1997 [25, 26]).

Thus, a speed meter [25] consists of a microwave oscillator, a circulator, a transceiver antenna, a mixer, an amplifier, a phase shifter and a Doppler frequency meter, a microwave filter, an automatic adjustment unit for the generation zone, and a tracking frequency-digital converter, the two inputs of which are connected to two outputs of the Doppler frequency meter, the first input of the phase shifter is connected to the output of the mixer, the second input is connected to the output of the unit for automatically adjusting the generation zone, and the output is connected to the second input For Doppler frequency, the second input of the automatic adjustment block of the regeneration zone is connected to the output of the amplifier, and the second output is connected to the first input of the microwave generator, the output of which is connected to the input of the microwave filter, and the second input is connected to the output of the modulator, the output of the microwave filter is connected to the other arm circulator, and the microwave filter is made in the form of a waveguide with a cross section of 13 × 6.5 mm and is equipped with two inductive pin grids and a trimming screw in the middle, which is unstable A strong microwave generator can reduce the temperature error of the Doppler frequency while changing the carrier frequency of the generator.

The speed meter [26] contains an antenna, a mixer, a microwave oscillator, a detector, a Doppler frequency meter and a phase meter, an output of a microwave oscillator is connected to a mixer input connected to an input-output with an antenna, the detector output is connected to one input of a Doppler frequency meter, another input which is connected to the output of the phase meter, a modulator, a demodulator, a broadband amplifier, an intermediate frequency amplifier and a generator, the first output of which is connected to the input of the modulator, W The second output is connected to the third input of the Doppler frequency meter, the modulator outputs are connected respectively to the input of the microwave generator, the detector input and the demodulator input, two outputs of which are connected to the inputs of the phase meter, and the other input is connected to the output of the broadband amplifier, the input of which is connected to the output of the mixer, the other output of the broadband amplifier is connected to the input of the intermediate frequency amplifier, the output of which is connected to the other input of the detector, which reduces vibration Antenna path interference.

A common drawback of known speed meters is that when measuring the Doppler frequency, and accordingly, determining the speed by changing the Doppler frequency, the vertical velocity component is excluded from the processing algorithms, assuming that the vertical velocity component V _z = 0.

In addition, in the known speed meters based on the Doppler effect, the determination of the speed V ₀ and its components V _x , V _{y is} performed by calculating the dependencies that do not take into account the current angles and trim, assuming that there is no heel and trim of the vessel, as well as that the movement of the vessel occurs strictly in the horizontal plane (Ship speed meters / Khrebtov A.A., Koshkarev V.N., Osyukhin B.A., Vinogradov K.A., Chernyavets V.V., - L .: Shipbuilding, 1978, p. 76).

However, as experience in the operation of hydrofoil and air-cushioned vessels (Baskov A.S., Samonenko S.S. et al. Promising types of ships. Proceedings of the Central Scientific Research Institute of Marine Physics. Vol. 265. L .: Transport, 1981), the vertical component of speed can reach 2.94 m / s, which is for the adopted measurement scale, based on the fact that 16.6 Hz = 1 knots, for example, for a speed meter of the type RDL-1 (Radio Doppler log RDL-1 / Kharitonov Yu.P., Perepelitsyn O .V., Chernyavets V.V. et al. // Shipbuilding, No. 11, 1982, p.31-33) the measurement error may be 2.3 Hz / knots.

In addition, when measuring speed relative to the water surface, the readings of these speed meters are influenced by the movement of the surface layer of water (surface film) due to wind and waves, which causes an additional error in determining the speed (Ship speed meters / Khrebtov A.A., Koshkarev V .N., Osyukhin B.A., Vinogradov K.A., Chernyavets V.V. - L .: Shipbuilding, 1978, p. 98-99.).

The objective of the proposed technical solution is to increase the accuracy of determining the speed by means of speed meters based on the irradiation of the underlying surface with electromagnetic energy.

The problem is solved due to the fact that in the speed meter containing an antenna, mixer, microwave generator, detector, Doppler frequency meter and phase meter, the output of the microwave oscillator is connected to the input of the mixer, connected to the input-output with the antenna, the output of the detector is connected to one the input of the Doppler frequency meter, the other input of which is connected to the output of the phase meter, a modulator, a demodulator, a broadband amplifier, an intermediate frequency amplifier and a generator, are the first the output of which is connected to the input of the modulator, the second output is connected to the third input of the Doppler frequency meter, the outputs of the modulator are connected respectively to the input of the microwave generator, the input of the detector and the input of the demodulator, two outputs of which are connected to the inputs of the phase meter, and the other input is connected to the output of the broadband amplifier, the input of which is connected to the output of the mixer, the other output of the broadband amplifier is connected to the input of the intermediate frequency amplifier, the output of which is connected to another input the detector, the Doppler frequency meter with its outputs is connected to the computer, which is connected to the indicator, an additional block for determining the frequency signal of the correction due to the error from the speed and direction of the wind, and the current, connected by two inputs to the output of the ship’s hydrometeorological complex and two more outputs is additionally introduced - with two inputs of the Doppler frequency meter, and its input-output with a computer, the transceiver antenna is equipped with sensors of angular acceleration and linear velocity, cat rye their outputs connected to the input of the calculator.

New distinctive features, namely, that the unit for determining the correction signal in the frequency form of the signal, due to the error from the speed and direction of the wind, and the current, connected by its inputs to the outputs of the ship's hydrometeorological complex, and its outputs connected to the Doppler frequency meter, is introduced into the speed meter, and its input-output - with a computer, each transceiver antenna is equipped with sensors of angular acceleration and linear velocity, which are connected with their outputs to the input of the computer Allow to eliminate error in measuring the velocity by taking into account the influence of the underlying surface and the vertical component of the Doppler frequency in determining the speed of movement of mobile offshore facilities.

The invention is illustrated by drawings (figure 1).

Figure 1. Block diagram of a speed meter. The speed meter contains an antenna 1, a mixer 2, a microwave generator 3, a modulator 4, a broadband amplifier 5, a demodulator 6, an intermediate frequency amplifier 7, a detector 8, a phase meter 9, a Doppler frequency meter 10, a generator 11, a calculator 12, an indicator 13, a block 14 determination of the correction signal in the frequency form due to an error from the speed and direction of the wind, and the current, sensors 15 of angular accelerations and linear velocity, ship hydrometeorological complex 16.

Figure 2. The block diagrams of the determination block in the frequency form of the correction signal due to the error from the speed and direction of the wind. Block 14 determining the frequency signal of the correction due to the error from the speed and direction of the wind, and the current, contains blocks for inputting the speed and direction of the current 17, speed and direction of the wind 18, two converters 19 and 20 of the rotation speed to the pulse frequency, two shapers 21 and 22 rectangular pulses, a pulse shaper 23 of the reference frequency of 100 Hz from a sinusoidal voltage of 400 Hz, two frequency subtraction circuits 24 and 25 with output stages 26, 27, 28 and 29, a divider 30, a ship hydrometeorological complex 16.

Devices 1-10 are similar to devices and the principle of operation of devices 1-10 of the prototype. Antenna 1 is a single-beam array that forms a beam perpendicular to the opening and has a beam width of 4.5-5.0 (Kolchinsky V.E. Konstantinovsky MI, Mandurovsky IA Doppler devices and navigation systems. M .: Sov Radio, 1975, p. 157-164).

The mixer 2 is a diode mixer with a preselector at the input and is designed to mix the signal received by the antenna 1 with a part of the emitted signal and to suppress interference caused by other radio-emitting devices. Microwave generator 3 is an autodyne, the analogue of which is a device (Khatuntsev Yu.L., Tamarchak D.Ya. Synchronous generators and autodyne on semiconductors M .: Radio and communication, 1982, p.160-179).

Modulator 4 consists of a master quartz generator of rectangular pulses with a repetition rate of 100 or 74 kHz and a modulator directly, which gives the sum of rectangular and constant voltages to the modulation input of the microwave generator 3.

Broadband amplifier 5 (figure 2) (Marche J. Operational amplifiers and their use. L .: Energy, 1974, p. 58).

Demodulator 6 is made on a chip type 564 KP2.

The intermediate frequency amplifier 7 is a strip amplifier, on which the first harmonic of the signal is allocated, which, after amplification, goes to block 8.

The detector 8 is made on a chip type 564 CTZ, the first input of which receives a signal from the output of the intermediate frequency amplifier 7, and the second input (control input) controls the rectangular voltage.

The phasometer 9 consists of a pre-amplifier, a demodulator, two low-pass filters, two limiting amplifiers, a delay element, an And circuit, and a trigger. In the demodulator 6, using the support (rectangular voltage), the received signal is divided into two narrow-band low-frequency, each of which corresponds to its emitted frequency. After filtering and amplification in limiting amplifiers, these signals (one of which is supplied through the delay element and the I circuit) to the trigger, and if one signal is ahead of the second (reference) by a phase value in the range from 0 to 180 °, then the output is generated log "1", and if it lags in phase from the reference signal in the range from 0 to 180 °, then the log "0" is generated at the output.

The Doppler frequency meter 10 consists of two low-pass filters, two limiter amplifiers, a low-frequency amplifier, an integrator and a clock generator.

Antenna 1 is designed to transmit and receive microwave radio waves coming from modulator 4 through microwave oscillator 3 and mixer 2. The emitted antenna signal is reflected from the underlying surface and after reception by the same antenna through mixer 2 is sent to broadband amplifier 5. The received signal is filtered and amplified intermediate frequency amplifier 7. Its tuning frequency is equal to the modulation frequency, the strip is the doubled band of the Doppler spectrum at maximum speed.

The signal at the output of the intermediate frequency amplifier 7 is fed to the detector 8, the design and electrical circuit of which are similar to those described in the analogs and prototype. After synchronous detection with a modulating signal, an alternating voltage is emitted by the Doppler frequency.

The device uses a frequency-shift keying mode, the main advantages of which, with the appropriate construction of the receive path, is a significant toughening of the influence of various interferences (low-frequency noise of the mixer, vibration noises, antenna-waveguide path, ripple of the power supply) and ease of modulation.

To implement frequency manipulation, a modulator 4 is used, consisting of a master quartz oscillator and two rectangular pulse shapers with a repetition rate of 75 and 100 kHz, which outputs to the input of block 6 the sum of the rectangular and constant voltage from the output of the discriminator of block 10.

The introduction of new elements favorably distinguishes the invention from analogues and prototype. As is known, Doppler continuous-wave systems with frequency modulation have, in comparison with conventional continuous-wave systems, a higher degree of separation of the transmitting and receiving paths and the possibility of discrimination of reflected signals from nearby objects. This is because with a relative zero frequency shift of the local oscillator signal and the received signal, the amplitudes of the side bands of the signal at the output of the mixer 2 decrease with a decrease in the path of the received signal, which is explained by the redistribution of power within the frequency band of this signal. For a frequency-manipulated signal, as the frequency case of frequency-modulated, this decrease will be effective only if the powers of the alternately emitted frequencies are equal, because otherwise it becomes amplitude-frequency-manipulated, which corresponds to the addition of pulsed microwave radiation to the frequency-manipulated; in this case, when reflected from nearby objects, the voltage of the Doppler frequency appears at the output of the mixer 2, the value of which, as for the case of ordinary continuous radiation, does not depend on the electric path of the signal.

To equalize the emitted frequencies, and thus suppress spurious signals, an element with a "bell-shaped" amplitude frequency response is included in the microwave circuit, for example, a microwave generator 3, which is a car oscillator, and power equalization is carried out by a tracking system formed by a microwave generator 3, an intermediate amplifier frequency 7 and discriminator of the voltage block 10. The signal is amplified at the manipulation frequency, where the mentioned dependence of the signal magnitude on its path length exists. In contrast to known devices, there are generally two components at the output of detector 8: the Doppler frequency voltage and a constant voltage proportional to the amplitude modulation.

The measurement of the direction of movement is based on the use of frequency modulation of the emitted signal according to the rectangular law of frequency manipulation.

The use of frequency modulation can significantly reduce the effect of vibrational interference on the operation of the motion parameter meter, since for the vibrational interference signals caused by spurious reflectors from the antenna-waveguide path, the distance to the underlying surface is negligible and the vibrational interference signal is substantially suppressed.

When measuring the speed of hovercraft using speed meters based on irradiating the underlying surface with electromagnetic energy, a 4-beam X-shaped horizontal beam orientation scheme was adopted by spacing the antenna on the two sides of the vessel. Moreover, each antenna forms two beams - front and rear. When processing the Doppler frequencies obtained for each of the 4 rays and the subsequent calculation of the horizontal (V _x ) and vertical (V _y ) velocity components, the Doppler frequencies of the cross rays are used: $$V_x=\lambda \left[\left(F_{d\mathrm{one}}+F_{d3}\right)+\left(F_{d2}+F_{d\mathrm{four}}\right)\right]/\mathrm{four}\sin {\gamma }_o\left(\cos {\beta }_{\mathrm{one}}+\cos {\beta }_2\right),\left(\mathrm{one}\right)$$

$$V_y=\lambda \left[\left(F_{d2}+F_{d\mathrm{four}}\right)-\left(F_{d\mathrm{one}}-F_{d3}\right)\right]=\mathrm{four}\sin {\gamma }_o\left(\sin {\beta }_{\mathrm{one}}+\sin {\beta }_2\right),\left(2\right)$$

where γ _o is the angle of deviation of the antenna beam from the vertical, β ₁ , β ₂ is the angle between the X axis (longitudinal direction of the speed of movement in the horizontal plane) and the projection of the direction of the main radiation on the reflecting horizontal plane, respectively, for the front and rear rays, assuming that with such an orientation of the rays, the influence of the pitching angles practically does not affect the speed readings. However, as the operating experience of these speed meters shows, the orientation of the receiving-emitting beams changes in the presence of both side and keel pitching. In this case, the orientation of the rays changes mainly in the vertical plane, i.e. this changes the angle γ of incidence of electromagnetic energy in the direction of maximum radiation. The change in speed caused by a change in the angle γ during rolling, for example, from 5 to 10 degrees, can be 4-18.6% of the measured speed.

To eliminate this drawback in the speed meter, each transceiver antenna is equipped with angular acceleration and linear velocity sensors, which are connected to the input of the calculator by their outputs. Using the measured values, the angular acceleration and linear velocity sensors calculate the trim angles Өк and roll angles ψк in the calculator. Based on the measured Doppler frequencies for each beam (F _d1 -F _d4 ) in the Doppler frequency meter 10, the velocity components in the geographical coordinate system are calculated in the calculator 12:

$$V_{xg}=V_x+V_{zg}\sin {\theta }_{\mathrm{to}}/\cos {\theta }_{\mathrm{to}};\left(3\right)$$

$$V_{yg}=V_y-V_{xg}\sin {\psi }_{\mathrm{to}}/\cos {\psi }_{\mathrm{to}};\left(\mathrm{four}\right)$$

$$V_{zg}=V_z-V_{gz}\sin {\theta }_{\mathrm{to}}\cos {\psi }_{\mathrm{to}}+V_{\mathrm{at}g}\sin {\psi }_{\mathrm{to}}/\cos {\theta }_{\mathrm{to}}\cos {\psi }_{\mathrm{to}};\left(5\right)$$

where V _x , V _y , V _z are the components of the horizontal, transverse and vertical components of speed, respectively, in the antenna coordinate system;

Ө _to - trim angle (deviation of the bow of the vessel up is taken as a positive direction);

ψ _к - roll angle (positive direction - tilt to the right).

A unit for determining the correction signal in the frequency form of the signal due to the error from the speed and direction of the wind and the current, connected by its inputs to the outputs of the ship's hydrometeorological complex, connected by its outputs to the Doppler frequency meter, and to its input / output, to the speed meter, is introduced.

Block 14 determining the frequency signal of the correction due to the error from the speed and direction of the wind and the current (Fig. 2) contains blocks for inputting the speed and direction of the current 17, the speed and direction of the wind 18, two converters 19 and 20 of the rotation speed to the pulse frequency, two rectangular pulse shapers 21 and 22, a pulse shaper 23 of a reference frequency of 100 Hz from a sinusoidal voltage of 400 Hz, a frequency divider 30, two frequency subtraction circuits 24 and 25 with output stages 26, 27, 28 and 29.

The input parameters of block 13 are the speed and direction of the current, the speed and direction of the wind, which can be set manually, using the corresponding toggle switches installed on the panel of the block 13, or come automatically from the ship’s hydrometeorological complex, for example, the “Cosmetose-K” type.

Blocks for inputting speed and direction of flow 17, speed and direction of wind 18 are assembled on LVT2.5 VT, SKVT2.5 VT and large-scale transformers and generate values of transformation coefficients that vary in proportion to the entered values of speed and direction of wind and speed and direction of flow, and which are converted from the system of geographical coordinates, the signals in the coordinate system of the vessel and in the form of input voltage are supplied to the converters 19 and 20.

The converters 19 and 20 of the rotation speed to the pulse frequency consist of an ADT25 V motor generator, an amplifier of two light bulbs and two photodiodes. The voltage from the motor-generator is compared with the input voltage and the differential voltage is applied to the amplifier. The signal from the output of the amplifier goes to the control of the engine-generator and changes the speed of rotation so that the mismatch voltage is zero. Disks with slots are mounted on the shaft of the drive motor of each converter 19 and 20. Thus, the speed of rotation of the disk is proportional to the input values to compensate for errors caused by the influence of wind and current.

Through the slots in the disks, the light from the bulbs enters the LEDs, the outputs of which are pulses whose frequencies are proportional to the speed of rotation of the disks and which are supplied to the formers 21 and 22 of the rectangular pulses, consisting of a transistor, Schmitt trigger and multivibrator.

The pulses from the LEDs are amplified by transistors and trigger Schmitt triggers, which in turn trigger multivibrators, from the output of which rectangular pulses of negative polarity lasting about 2 μs are taken, equal in frequency to the input pulses and proportional to the input values of the signals (corrections ΔV _x and ΔV _y ) о wind speed and direction; and current speed and direction.

To determine the sign of corrections in blocks 17 and 18, scale transformers are connected in series with the output windings of the SCRT so that, at zero values of the input signal values, the values taken from the photodiodes are 100 Hz. With SCRT, a voltage of 5 V at a frequency of 400 Hz is supplied to a pulse shaper 23 of a reference frequency of 100 Hz from a sinusoidal voltage of a frequency of 400 Hz, a frequency divider of 30. A comparison of the input frequencies and a reference frequency of 100 Hz occurs on the frequency subtraction circuits 24 and 25. Moreover, if the value of the input frequency is greater than the value of the reference frequency, then the difference frequency enters the channel "+ ΔV _x "("+ ΔV _y ") and vice versa.

When the frequency of the input signals is greater than the frequency of the reference signals, the difference frequency ΔF _x is allocated at the output of the output stage 26 of the frequency subtraction circuit 24, and there will be no pulses at the output of the output stage 27. When changing the phase correction according to "ΔV _x " to the opposite pulse frequency on the photodiode of the speed converter 17, the pulse frequency will be less than the reference frequency (F _op = 100 Hz), there will be no pulses at the output stage 26, and the frequency at the output stage 27 pulses will be equal to the difference between the reference and input frequency. The circuit of the channel for generating the correction frequencies according to “ΔV _y ”, consisting of the circuit 25 of subtracting the frequencies and output stages 28 and 29, works similarly.

The developed frequency corrections due to the influence of the water underlying surface are sent to calculator 12, where the values of the longitudinal and vertical components of speed, ground speed and drift angle are calculated.

The technical effect is to reduce the error due to the influence of the displacement of the surface film depending on the speed and direction of the wind and current.

The introduction of new elements and the corresponding electrical connections favorably distinguish the proposed device from analogues and prototype, since the proposed device allows not only to suppress vibrational interference, but also to exclude the influence of ship movements and the influence of the surface wind current on the measured parameters.

Information sources.

1. Copyright certificate SU No. 1341594, 1987.

2. US patent No. 4527160, 1985.

3. GB patent No. 1494582.

4. GB patent No. 1499371.

5. GB patent No. 1499388.

6. GB patent No. 2122834.

7. US patent No. 4231039.

8. US patent No. 4608568.

9. US patent No. 4527160.

10. US patent No. 4414348.

11. DE patent No. OS 3322304.

12. DE patent No. 2800074.

13. DE patent No. 2802968.

14. EP patent No. 0124173.

15. EP patent No. 0123870.

16. JP Patent No. 5842434.

17. JP patent No. 5736552.

18. JP patent No. 6027385.

19. Patent FR No. 2384268.

20. Patent FR No. 2592959.

21. Copyright certificate SU No. 1617393.

22. Copyright certificate SU No. 1517393.

23. Copyright certificate SU No. 271612.

24. GB patent No. 148701, 10/05/1977.

25. Patent RU No. 2038614, 05.27.1995.

26. Patent RU No. 2080620, 05.27.1997.

Claims (1)

A speed meter comprising an antenna, a mixer, a microwave oscillator, a detector, a Doppler frequency meter and a phase meter, an output of a microwave oscillator is connected to a mixer input connected to an input-output with an antenna, the detector output is connected to one input of a Doppler frequency meter, the other input of which is connected with the output of the phase meter, modulator, demodulator, broadband amplifier, intermediate frequency amplifier and generator, the first output of which is connected to the input of the modulator, W The second output is connected to the third input of the Doppler frequency meter, the modulator outputs are connected respectively to the input of the microwave generator, the detector input and the demodulator input, two outputs of which are connected to the inputs of the phase meter, and the other input is connected to the output of the broadband amplifier, the input of which is connected to the output of the mixer, the other output of the broadband amplifier is connected to the input of the intermediate frequency amplifier, the output of which is connected to another input of the detector, characterized in that a block for determining the frequency signal of the correction due to the error from the speed and direction of the wind and the current, connected by two inputs with two outputs of the ship's hydrometeorological complex, two more outputs with two inputs of a Doppler frequency meter, and its input-output with a computer, a transceiver antenna, is introduced equipped with sensors of angular accelerations and linear velocity, which are connected to the input of the computer with their outputs.

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