RU2439608C1 - Monopulse detection and homing radar system - Google Patents

Abstract

FIELD: physics. ^ SUBSTANCE: disclosed system has a unit for detecting and selecting a tracking object, a frequency locking and tracking system, an interface main line for data exchange with a pre-launch system, an unmanned aircraft control system, a transceiving device, a register for coordinates of a compact group of objects, a register for the index number of the target in the group, a register for values of the test angle of manoeuvre of the unmanned aircraft, a trajectory parameter adjustment computer, a generator of coordinates, axial angles and velocity of the unmanned aircraft, an inertial unit, an angular velocity sensor unit, two multiplexers, an information transducer, a steering assembly unit, a one-time command decoder, a synchroniser, a code generator, a Doppler switch unit, a digital matched filter unit, a drive control signal switch, an angle register, a range register, six adders, two integrators, a range discriminator, a code-to-time interval converter, an angle discriminator, a rectifier unit, a threshold value decoder, a flip flop, two registers, two inverter units, a switch, a route parameter memory unit, made and connected to each other in a defined way. ^ EFFECT: high resolution of the system when unmanned aircraft are moving towards a compact group of objects with the target among them. ^ 3 dwg

Description

The invention relates to radar systems (radar) with complex, in particular phase-shift, probing signals, which are used on unmanned aerial vehicles (UAVs) and are intended for detecting, tracking in a single-pulse way signals from target objects (targets) and bringing UAVs to them.

Known detection system and homing (SOS) according to US Pat. RF №2290681 for invention, IPC G01S 13/44, G01D 1/12, publication 06/27/2003, which is part of the on-board equipment of UAV control systems. AOSN contains an antenna device with an antenna drive and a sensor of its angular position, a circulator, a transmitting device including a code generator, a phase manipulator and a power amplifier, a receiving device, a digital matched filter, a signal detector, a range and angle meter of an object. The on-board equipment complex also includes an inertial unit, UAV angular velocity sensors, an electronic computer (computer) of the motion control system, an information converter, and steering units.

The computer controls the movement of the UAV, receives information from the inertial unit and the angular velocity sensors, calculates the necessary changes in the direction of movement of the UAV and transmits commands to the steering units through the information converter providing the required position of the UAV when driving along a given route.

AOSN emits phase-manipulated pulses using transmitting and antenna devices, receives a signal reflected from the object using a receiving device, compresses the phase-manipulated signal in a digital matched filter, measures the polar coordinates of the object (range and angle in the azimuthal plane) and transmits them to a computer that generates signals steering steering units to bring the UAV to the destination.

A disadvantage of the known AOS is the low resolution with respect to powerful reflections from local objects surrounding the target, which narrows the class of reachable targets.

Known single-pulse radar according to the patent of the Russian Federation No. 2188896, IPC G01S 13/44, publication January 27, 2002, in which to increase the resolution an additional narrow-band Doppler filtering is used. The radar contains a transceiver device, the outputs of which are formed by the sine and cosine quadrature components of the total and difference signals, a phase-shift key code signal, a signal of the current range code, an angular position signal of the antenna, a trigger signal and a synchronization signal, as well as digital matched filters of the sum and difference signals, the information and control inputs of which are connected to the corresponding outputs of the transceiver device, and the outputs to the corresponding information inputs of the unit and tracking the target in range, Doppler frequency and angle, and a target detection and selection unit comprising a viewing angle code counter connected to a final code decoder and a first input of the viewing angle code signal switch, the output of which is connected to the input of the control signal of the antenna drive of the transceiver device. In addition, the radar contains an incoherent drive of reflected signals on a moving interval as part of a quadrature combining unit, a threshold block, a shift register, random access memory (RAM) and a unit discharge output adder, as well as target intensity RAM, target angle RAM and target range RAM, the outputs of which are connected to the inputs of the angle and range signals of the target tracking unit, the output of which is connected to the second input of the switch of the signal code of the viewing angle code.

Due to the use of complex phase-shifted signals, digital matched filters, elements for evaluating the spectral parameters of the signal and tracking contours in range, Doppler frequency and angle, the system has an increased resolution with respect to active and passive interference.

The disadvantage of this system is the limited range of analyzed Doppler frequencies, determined by the allowable time of observation of the signal and the period of its coherence. When the system is installed on an UAV, the Doppler shift of the signal due to the intrinsic speed of the UAV can exceed the range of analyzed frequencies, which leads to an ambiguity in the spectral analysis. In addition, there are significant phase distortions of the reflected signals, which with a long duration of the probing signal cause compression difficulties in digital matched filters.

These shortcomings lead to a decrease in the resolution of the system and to the difficulty in choosing an object for tracking.

Known monopulse radar according to the patent of the Russian Federation No. 2309430, IPC G01S 13/44, publication October 27, 2007, which is closest in technical essence and adopted as a prototype of the proposed monopulse radar detection and homing system.

The prototype radar contains a transceiver, the outputs of the binary-quantized quadrature components of the total and differential signals of which are connected through the block of Doppler switches of signals of the total and difference channels to the corresponding inputs of the block of digital matched filters, the output of the complex signal of the total channel of which is connected to the information inputs of the range discriminator, block capture object for tracking and block detection and selection of tracking object, input signals its angular position of the antenna which is connected to the corresponding output of the transceiver device, the first and second information outputs are connected to the entries of the angle register and the range register, the third information output through the switch of the drive control signals is connected to the corresponding input of the transceiver device, and the output is connected to the control inputs of the switch of the drive control signals, angle and range registers and the object capture unit for tracking. In addition, the radar contains a frequency discriminator, an angular discriminator, the input of which is connected to the output of the Doppler frequency filter connected to the output of the complex signal of the difference channel of the digital matched filter block, three Doppler frequency generators, through which the central tracking gate along the angle, as well as the central and side tracking gates in frequency, and a code converter in a time interval, to the output of which synchronization inputs of the angular discriminator are connected, a disk a distance ruminator and an object capture unit for tracking. The input of the code converter in the time interval is connected to the output of the adder, the first input of which is connected to the output of the range register, and the second to the output of the range discriminator. In addition, the radar contains a code generator, the output of which is connected to the code inputs of a digital matched filter block and a phase manipulator as part of a transceiver device, and also contains a synchronizer, and the inputs of a code generator and a pulse transceiver modulator are connected to the first output (triggering pulses with a sounding frequency) device, unit for detecting and selecting the tracking object and code converter in the time interval, and to the second output () the synchronization inputs of the digital block are connected matched filters, a unit for detecting and selecting a tracking object and a block for capturing an object for tracking.

Thanks to the use of phase-shifted signals, the use of Doppler shift compensators and the simultaneous operation of three object tracking circuits (in range, in Doppler frequency and in angle), the radar resolution is significantly increased.

The disadvantage of the prototype is the uneven angular resolution when changing the angle of sight of objects relative to the speed vector of the UAV. In particular, when the viewing angles are close to zero, the angular resolution of the system is small, because it is due to the difference in Doppler frequency shifts for signals reflected by nearby objects, and these differences in displacements proportional to the cosine of the viewing angle are small at small angles.

The technical result of the invention is to increase the resolution of the system when the UAV moves towards a compact group of objects, among which is the target.

To achieve the claimed technical result, the proposed monopulse radar POS generates control signals for UAV steering units in such a way that the UAV deviates from the forward direction of travel to a compact group of objects and performs the so-called testing maneuver, during which an increase in the viewing angle of the group of objects creates the possibility of their permission and selection from the group of the destination.

After selecting the destination, the AOSS provides tracking of the object and bringing the UAV to it, compensating for small random deviations of the UAV from the direction to the object and compensating for systematic disturbances, in particular the test viewing angle, by the lead method.

The essence of the invention lies in the fact that in a monopulse radar detection and homing system (SOSN), containing a transceiver, at the respective outputs of which, connected through a block of Doppler switches with inputs of a block of digital matched filters, binary-quantized quadrature components of the signals of the phase detectors of the total and differential channels, to the output signals of the total channel block digital matched filters connected information inputs range natora, frequency capture and tracking unit, and a tracking object detection and selection unit, the input signal of the current angular position of the antenna of which is connected to the corresponding output of the transceiver device, the corresponding information outputs of the tracking and detection unit of the tracking object are connected to the recording inputs of the angle register and range register and the first input of the drive control signal switch, and the output of the end of the scan signal is connected to the control inputs of the control signal switch the drive, an angle register, a range register, and a frequency capture and tracking unit, in addition, containing a code generator whose output is connected to the code inputs of a transceiver device and a digital matched filter block, an angular discriminator, a code converter into a time interval, the output of which is connected to the inputs synchronization of an angular discriminator, a range discriminator and a frequency capture and tracking unit, and the input is connected to the output of the first adder, the first input of which is connected to the reg range, in addition, containing a second adder, the first input of which is connected to the output of the angle register, and the output is connected to the second input of the switch of the drive control signals, the output of which is connected to the corresponding input of the transceiver device, and the synchronizer, to the first output - trigger pulses with a frequency sensing - which is connected to the inputs of the start of the code generator, transceiver, detection unit and selection of the tracking object and the code converter in the time interval, and to the second the output of synchronizing pulses with a quantization frequency of the received signals — the synchronization inputs of the transceiver device and the unit for detecting and selecting the tracking object are connected, the coordinate register of the compact group of objects, the register of the serial number of the target object in the group, and the register of the test maneuver angle connected to the interface of the information exchange are added with a prelaunch complex, as well as a switch, trigger, threshold decoder, third, four the fifth and fifth and sixth adders, the first and second multiplexers, the first and second registers, the first and second blocks of inverters, the valve block, the first integrator, the input of which is connected to the output of the range discriminator, and the output to the second input of the first adder, and the second integrator, the input of which is connected to the output of the angular discriminator, while the output of the second integrator is directly connected to the second inputs of the second and fourth adders, and through the second block of inverters it is connected to the recording input of the second register, the output of which it is connected to the first input of the fourth adder, the first and second inputs of the switch are connected respectively to the output of the signals of the total channel of the digital matched filter block and the output of the capture and frequency tracking unit, the output of the switch is connected to the second input of the angular discriminator, the first input of which is connected to the output of the signals of the difference channel block digital matched filters, and the control input of the switch connected to the control inputs of the angular discriminator and the second multiplexer, connect is connected to the output of the trigger, the input of which, as well as the installation sync inputs of the first register, the second register and the installation input of the capture and frequency tracking unit are connected to the output of the threshold decoder, the first input of the third adder is connected to the signal output of the current angular position of the antenna of the transceiver device, its second input through the valve block is connected to the output of the register of values of the test angle of maneuvering, and the output of the third adder is connected to the input of the threshold decoder and to the first input m of the second multiplexer, while the output of the register of the serial number of the target in the group is connected to the corresponding input of the frequency capture and tracking unit, and the output of the coordinate register of the compact group of objects is connected to the corresponding input of the detection and selection unit of the tracking, to the output of which are connected the control inputs of the valve block and the first multiplexer, the output of the first multiplexer forms the output of the SOSN by the control signal of the steering units of the unmanned flying of the first apparatus (UAV), its first input forms the input of the AOSN for receiving steering control signals generated by the UAV motion control system (UAV), and the second input is connected to the output of the second multiplexer, the first input of which is connected to the output of the sixth adder, the inputs of the sixth adder are connected with the outputs of the fourth and fifth adders, the second input of the fifth adder is connected to the output of the first register, and its first input, connected through the first block of inverters to the recording input of the first register, forms the input of the SOSN for the signals of the UAV current angle of movement generated by the UAV UAB, in addition, the control input of the Doppler switch unit forms an SOSN input for receiving UAV current speed signals generated by the UAV of the UAV, and the inputs of the trigger setup unit and the tracking unit for detecting and selecting the tracking object connected to the enable input transceiver device, form the input of one-time SOSN commands, to which the SOSN power-on command is generated, formed by the UAV COURT.

The invention is illustrated by a further description and drawings, which show:

figure 1 is a structural diagram of a monopulse radar detection and homing system;

figure 2 is a structural diagram of a unit for detecting and selecting an object of tracking;

figure 3 is a structural diagram of a block capture and tracking frequency.

In figure 1 of the structural diagram of a monopulse radar POS adopted the following notation:

1 - interface highway information exchange with a complex prelaunch,

2 - UAV motion control system, the implementation scheme of which is known, for example, from the description of the invention to the patent of the Russian Federation No. 2290681 (figure 1);

3 - a transceiver device containing an antenna with a controlled drive and a sensor of the current angular position of the antenna, a transmitter that generates a pulsed phase-shift keyed probing signal, and a receiver with an output block of quadrature phase detectors and amplitude-time quantizers of the signals of the total and difference channel, at the output of which binary quantized quadrature components of the signals of the total and difference channels. The implementation scheme of the transceiver device is known and shown, for example, in figure 1 of the description of the invention to the patent of the Russian Federation No. 2309430;

4 - register of coordinates of a compact group of objects,

5 - register of the serial number of the destination in the group,

6 - register of values of the test angle of maneuvering the UAV,

7 - calculator parameters for adjusting the path,

8 - shaper coordinates, axial angles and speed of the UAV,

9 - inertial block,

10 is a block of angular velocity sensors,

11 - the first multiplexer,

12 - information converter,

13 - block steering units

14 - decoder one-time commands

15 - synchronizer,

16 - code generator,

17 is a block of Doppler switches, the structural diagram of which is known, for example, from the description of the invention to the patent of the Russian Federation No. 2309430 (figure 2);

18 is a block of digital matched filters (CSF) signals of the total and difference channels (hereinafter referred to as a block of digital matched filters);

19 is a unit for detecting and selecting an object of tracking (BOVO), the structural diagram of which is shown in figure 2,

20 - switch signal management drive

21 - register angle

22 - range register,

23 - the first adder

24 - second adder,

25 is the first integrator

26 - range discriminator,

27 - code converter in the time interval,

28 - angle discriminator,

29 - second integrator,

30 - valve block

31 - the third adder

32 - the second multiplexer,

33 is a threshold decoder,

34 - trigger

35 is the first register

36 is the second register,

37 - the first block of inverters,

38 - the second block of inverters,

39 - block capture and tracking of the frequency, the structural diagram of which is shown in figure 3,

40 - switch

41 - fourth adder,

42 - fifth adder,

43 - the sixth adder,

44 - memory block route parameters.

According to the structural diagram of FIG. 1, a register of 4 coordinates of a compact group of objects (including a target), a register of 5 ordinal numbers of the target in the group, a register of the test angle ψ _{T of} maneuvering, which are part of the SOS of the UAV, are connected to the interface line 1 of information exchange with the prelaunch complex , as well as block 44 of the memory of the route parameters, which is part of the UAV motion control system 2.

In addition to the route parameter memory unit 44, the motion control system 2 includes a steering unit 13, the control inputs of which are connected to the outputs of the information converter 12, an inertial unit 9, and an angular velocity sensor unit 10, the outputs of which are connected to the information inputs of the driver 8 of the current coordinates, angles, and UAV speed, a descrambler of 14 one-time commands, the inputs of which are connected to the output of the route parameter memory unit 44 and to the output of the shaper 8 coordinates, axial angles and UAV speed, as well as a calculator 7 param trov correction of the trajectory, the inputs of which are connected to the outputs of the shaper 8 and block 44 of the memory of the route parameters. The output of the calculator 7 is connected to the first input of the multiplexer 11, the output of which, forming the output of the COSN by the steering control signal, is connected to the first input of the information converter 12, the second input of which is connected to the outputs of the block 10 of the angular velocity sensors (indicated by a single communication line for simplicity).

The output of the decoder 14 one-time commands, which generates the command to turn on the POS, is connected to the input of the one-time POS commands, to which the inputs of the initial installation of the trigger 34 and the block 19 for detecting and selecting the tracking object and the input of the transceiver 3, which is the control input of the high-voltage power supply, are connected the transmitter. (The power distribution scheme of the AHCH is not directly related to the invention under consideration and is not given for simplicity.)

To the information outputs of the transceiver device 3, on which the binary-quantized quadrature components of the signals of the phase detectors of the total and difference channels (PDΣ, PDA) are formed, the inputs of the block 17 of the Doppler switches are connected, the control input of which is based on the current UAV speed signal (in the form of a code of the Doppler frequency f _VBPLA) forming titled COCH input, coupled to a corresponding output of the current position 8, and axial angles of UAV speed, the output signal of the current angle ψ motion _UAV UAV Ia is connected to the first input of the fifth adder 42 and via a first inverter unit 37 - first register-writing input 35, the output of which is connected to the second input of the adder 42.

The outputs of the block 17 of the Doppler switches are connected to the information inputs of the block 18 digital matched filters, the code input of which and the code input of the transceiver 3 are connected to the output of the generator 16 codes.

The information inputs of the range discriminator 26 and the frequency capturing and tracking unit 39, as well as the first information input of the tracking object detection and selection unit 19, the second information input of which is connected to the output of the transceiver 3, are connected to the signal output of the total channel (Σ) of the block 18 of digitally matched filters by the signal of the current angular position of the antenna (ψ _A ), and the third (coordinate) signal to the output of the register of 4 coordinates of a compact group of objects.

The output of the signals of the difference channel (Δ) of the digital matched filter block is connected to the first input of the angular discriminator 28, the second input of which through one input of the switch 40 is connected to the output of the signals of the total channel of the block 18 of digital matched filters, and through the other input of the switch 40 to the output of block 39 capture and tracking frequencies.

The first information output of the BOVO 19 is connected to the recording input of the range register 22, the output of which is connected to the first input of the first adder 23, the second input of which is connected to the output of the deviation integrator 25 (first integrator) connected to the output of the range discriminator 26.

The second information output of the BOVO 19 is connected to the recording input of the angle register 21, the output of which is connected to the first input of the second adder 24, and the third information output of the BOVO 19 is connected to the first input of the switch 20 of the drive control signals, the second input of which is connected to the output of the second adder 24, and the output is connected to the control input of the antenna drive of the transceiver 3.

The output signal of the end of the BOVO review 19 is connected to the control inputs of the angle and distance registers 21, 22, the switch 20 of the drive control signals, the frequency capture and tracking unit 39, the valve block 30 and the first multiplexer 11, the second input of which is connected to the output of the second multiplexer 32. The first the input of the multiplexer 32 and the input of the threshold decoder 33 are connected to the output of the third adder 31, the first input of which is connected to the output of the signals of the current angular position of the antenna of the transceiver 3, and the second input Erez valve unit 30 connected to the output register 6 test values UAV to maneuver angle.

To the first and second outputs of the synchronizer 15, on which trigger pulses with a sounding frequency and synchronizing pulses with a quantization frequency are respectively formed, the trigger and synchronization inputs of the transceiver 3, BOVO 19 and code generator 16 are connected.

The trigger input of the synchronizer 15 is also connected to the trigger input of the code converter 27 in a time interval, the input of which is connected to the output of the first adder 23, and the output is connected to the synchronization inputs of the range discriminator 26, the frequency capture and tracking unit 39, and the angular discriminator 28.

The output of the angular discriminator 28 is connected to the input of the second integrator 29, the output of which is directly connected to the second input of the second adder 24 and the second input of the fourth adder 41, the first input of which is connected to the output of the second register 36, and the recording input of the second register 36 is connected through the second block 38 of inverters with the output of the integrator 29.

The output of the fourth adder 41 is connected to the first input of the sixth adder 43, the second input of which is connected to the output of the fifth adder 42, and the output is connected to the second input of the second multiplexer 32. The control input of the multiplexer 32, as well as the control inputs of the switch 40 and the angular discriminator 28 are connected to the output trigger 34, the input of which is connected to the output of the threshold decoder 33, to which are also connected the installation sync inputs of the first and second registers 35, 36 and the installation (pulse) input of the capture and tracking unit 39 waiting for a frequency, the corresponding control input of which is connected to the output of register 5 of the serial number of the destination in the group.

In Fig.2 a structural diagram of a block 19 for detecting and selecting an object of tracking the following notation:

45 - block combining quadratures,

46 - threshold block

47 - shift register

48 is a delay element,

49 - random access memory (RAM),

50 - range counter

51 - RAM availability of the object (target),

52 - RAM intensity of the object,

53 - RAM initial angle of the object,

54 - block memory range

55 - element delay

56 - adder single bits,

57 - threshold block

58 - element And,

59 - inverter

60 is a block comparison

61, 62 - And elements,

63 - inverter

64 - block memory intensity

65 is a comparison unit,

66 - half-adder,

67 - block memory angle

68, 69 - elements of And,

70 - adder

71 - block inverters,

72 - distance calculator,

73 - adder

74 - block inverters,

75 - memory unit ΔR,

76 - block inverters,

77 - adder,

78 - threshold block with a high threshold,

79 - threshold block with a low threshold,

80 is an OR element,

81 - inverter,

82 is a counter

83 - final code decoder.

According to figure 2, the first information input BOVO 19 is the input of the block quadrature combining, to the output of which the input of the threshold block 46 is connected. The output of the threshold block is connected to the input of the first bit of the shift register 47, the inputs of the remaining bits of which are connected to the outputs of the RAM 49.

The input of the delay element 48 is connected to the synchronization input of the BOW, as well as the synchronization inputs of the shift register 47 and the range counter 50, the zeroing input of which and the counting input of the counter 82 are connected to the start input of the BOVO 19.

The output of the counter 82 is connected to the final code decoder 83, the output of which forms the output of the end signal of the BOW 19 survey, and the output of the counter 82 also forms the third information output of the BOW 19 according to the antenna drive control signal.

The address inputs of RAM 49, RAM 51 of object availability, RAM 52 of object intensity, RAM 53 of the initial angle of the object, range memory unit 54, and also the first input of adder 73 and the second input of distance calculator 72, the first input of which is connected to the output of the adder 70, and the third with the output of the adder 73. The second input of the adder 73 through the block 74 of inverters is connected to the third information (coordinate) input of the BOW 19, to which through the block 71 of the inverters is connected the second input of the adder 70, the first input of which is connected half-adder 66 output.

The input of the half-adder 66 is also connected to the input of the angle memory block 67, the output of which forms the second information output of the BOVO 19. The second input of the half-adder 66 is connected to the RAM output 53 of the initial angle of the object, and its first input and the RAM input 53 are connected to the second information input of the BOVO 19 ( signal ψ _{A of the} current angular position of the antenna).

The output of the shift register 47 is connected to the input of the RAM 49 and the input of the adder 56 of the single bits, the output of which is connected to a threshold unit 57, the input of the RAM 52 of the object intensity and the first input of the comparison unit 60, the second input of which is connected to the output of the RAM 52 of the object intensity to which are connected also the first input of the comparison unit 65 and the input of the intensity memory unit 64, the output of which is connected to the second input of the comparison unit 65.

The input RAM 51 of the presence of the object is connected to the output of the threshold unit 57, and its output is connected to the first input of the element And 62 and through the inverter 59 to the first input of the element And 58, the second input of which is connected to the output of the threshold block 57, which is also directly connected to the second the input of the And 61 element and, through the inverter 63, the second input of the And 62 element is connected. The first input of the And 61 element is connected to the output of the comparison unit 60, and its output is connected to the synchronization input of the RAM 52 of the initial angle of the object.

The output of the element And 58 is connected to the synchronization input of RAM 53 of the initial angle of the object, and its synchronization input, as well as the synchronization input of the element and 62 and the input of the delay element 55 are connected to the output of the delay element 48. The output of the delay element 55 is connected to the synchronization inputs of RAM 49, RAM 51 of the presence of the object and element I61.

The output of the distance calculator 72 is connected to the input of the memory unit 75 and, through the inverter block 76, to the first input of the adder 77, the second input of which is connected to the output of the memory unit 75, the initial installation input of which forms the initial installation input of the BOVO 19. The threshold inputs are connected to the output of the adder 77 block 78 with a high threshold and threshold block 79 with a low threshold. The output of the threshold block 79 is connected to the third input of the AND element 68, the fourth input of which through the inverter 81 is connected to the output of the threshold block 78, and the second input is connected to the output of the comparison block 65. The first inputs of the elements And 68 and 69 are connected to the output of the element And 62. The second input of the element And 69 is connected to the output of the threshold block 78, and the outputs of the elements And 68, 69 are connected to the inputs of the element OR 80.

The output of the OR element 80 is connected to the synchronization inputs of the memory unit 75, the angle memory unit 67, the intensity memory unit 64 and the range memory unit 54, the output of which forms the first information output of the BOWO 19.

In Fig.3 block 39 capture and tracking of the frequency adopted the following notation:

84 - trigger

85 - valve

86 ₁ , ..., 86 _N - filters of Doppler frequency from the 1st to the Nth,

87 ₁ , ..., 87 _N - Doppler frequency generators from 1st to Nth,

88 ₁ , ..., 88 _N - code buses of the frequency from the 1st to the Nth,

89 - switch

90, 91 counters,

92 - trigger

93 - valve

94 - master oscillator,

95 - threshold block

96 is a block comparison

97 - frequency detector.

According to Fig. 3, to the information input of the frequency capture and tracking unit 39, to which the sine and cosine components (for simplicity, as shown in Fig. 1, are indicated by a single communication line) of the signal of the total channel of the block 18 digital matched filters are received, the information inputs of the filter comb are connected 86 _1, ..., 86 _N of Doppler frequencies and a frequency discriminator 97. The frequency inputs of corresponding filters 86 _1, ..., _N combs 86 are connected to outputs sine and cosine components of the signals generated by the respective generator E 87 _1, ..., 87 _N Doppler frequency, code inputs of which are connected to respective buses 88 codewords _1, ..., 88 _N.

The synchronization inputs of the filters 86 ₁ , ..., 86 _{N of the} Doppler frequency and the frequency discriminator 97 are connected to the output of the valve 85, the input of which is connected to the synchronization input of the block 39 connected to the output of the code converter 27 in a time interval. The control input of the valve 85 is connected to the output of the trigger 84, the input of which is connected to the input of the block 39 by the signal of the end of the review coming from the BOVO 19.

To the installation (pulse) input of block 39 connected to the output of threshold decoder 33, trigger input 92 and zeroing inputs of counters 90, 91 are connected.

The output of the trigger 92 is connected to the control input of the valve 93, the input of which is connected to the output of the master oscillator 94, and the output is connected to the counting input of the counter 90, the output of which is connected to the control inputs of the frequency discriminator 97 and switch 89. The corresponding inputs of the switch 89 are connected to the outputs of the filters 86 _1, ..., 86 _N of the Doppler frequency, and the switch output 89 is connected to the input of the threshold unit 95. to the output of the threshold unit 95 connected to the count input of counter 91 whose output is connected to a first input of the comparator 96, the second stroke through which a second control input of unit 39 is fed destination code number of the object supplied from the register 5, the serial number in the target object group.

The zeroing input of the trigger 92 and the pulse input of the frequency discriminator 97, the output of which forms the output of the frequency capturing and tracking unit 30, are connected to the output of the comparison unit 96.

Monopulse radar detection and homing system operates as follows.

During the prelaunch preparation of the UAV, the flight mission is introduced from the prelaunch complex along the interface line 1 of information exchange into the AOSS, in particular:

- in block 44 of the memory of the route parameters of the motion control system 2, the coordinates of the launch site and the axial directions of the UAV launch, the main parameters of the route (speed, altitude, heading angle, pitch and roll angles at different sections of the UAV route, as well as the range at which the transceiver is turned on, are entered POSCH device 3);

- the polar coordinates (angle ψ and range D) of the compact group of objects containing the target at the moment of switching on the transceiver 3 are entered into the register of coordinates 4;

- in the register 5 is entered the serial number of the destination in the group;

- in register 6 the value of the test angle of maneuvering the UAV is entered.

After the start of the UAV in the initial sections of the route, its movement is controlled by the motion control system 2, constructed according to the well-known scheme and working as follows.

The main data of the flight mission (route parameters): speed, altitude, heading, roll and pitch angles at various sections of the route from the block 44 of the route parameter memory are transferred to the computer 7 of the current parameters of the path correction, the second input of which receives the current values of the coordinates of the UAV and its axial angles generated by the shaper 8 of the current coordinates, axial angles and UAV speed according to the signals received from the inertial unit 9 and the block 10 of the angular velocity sensors.

The calculator 7 of the current parameters of the correction of the trajectory by solving the known equations of motion control according to the heading, roll, pitch and altitude, based on a comparison of the flight task data and the current motion parameters, generates the necessary rudder control code signals received through the first input of the multiplexer 11 to the information converter 12, which, summing them with the signals of the projections of the angular velocity of the turn, coming from the block of sensors 10 angular speeds, generates analog signals of the corners of the bookmark Hive output from the converter 12 to the input of block 13 of steering assemblies.

The signal from the output of the shaper 8 of the current coordinates, axial angles and speed of the UAV also arrives at the input of the decoder 14 one-time commands, the second input of which from the block 44 of the route parameter memory receives a signal on the range of the detection and homing system. The decoder 14, upon reaching the range specified in the flight task, is triggered, performs the initial installation of the unit 19 for detecting and selecting the target, sets the trigger 34 to the initial state, and turns on the transceiver 3, which starts functioning in accordance with its well-known logic of operation.

The transmitter exciter of the device 3 generates a carrier frequency signal supplied to the phase manipulator, a heterodyne frequency signal supplied to the receiver mixer unit, and an intermediate frequency reference signal fed to the reference inputs of the phase detector units and amplitude quantizers of the signals of the total and difference channels of the receiver.

The synchronizer 15 generates triggering pulses with a sounding frequency and synchronizing pulses with a quantization frequency of the received signal. Trigger pulses are fed to the input of the pulse modulator of the transmitter of device 3 and the code generator 16, which generates a pseudo-random binary code input to the modulation input of the phase manipulator of the transmitter of device 3. From the output of the phase manipulator, the phase-manipulated signal obtained in this case is fed to the first input of the power amplifier, to the second input which receives the unlocking pulse from the pulse modulator. The output phase-manipulated pulse from the power amplifier through the antenna switch and the total channel of the sum-difference converter enters the antenna and is radiated into space.

The signal reflected from the objects is received by the antenna and fed through the sum-difference converter to the amplifier of the receiver of device 3, at the output of which binary-quantized quadrature signals of the sum and difference channels are generated, which arrive at the information inputs of the block 17 of Doppler switches. The control input of the block 17 of the Doppler switches receives a signal from the output of the speed sensor in the shaper 8, which integrates the acceleration along the longitudinal axis and generates the code f _{V UAV of the} Doppler frequency proportional to the speed of the UAV.

In block 17 of the Doppler switches with the help of the Doppler frequency code converter, a code-time interval converter, a zero code decoder and a counter, control signals for multiplexers are generated to which input information signals are fed directly and through inverters. At the same time, at the outputs of the multiplexers of each of the two switches (total and difference channels) of block 17, two signals shifted in phase by 90 ° are formed, in which the phase incursion due to the UAV's own speed is compensated.

These signals from the outputs of block 17 of the Doppler switches are fed to the information inputs of block 18 of digital matched filters, which contains two parallel-working digital matched filters (total and difference channels), the code inputs of which in each sounding interval receive and store the phase-shift code from the output of the generator 16 codes.

In digitally matched filters of block 18, the received signal is compressed by calculating the correlation function between the received signal and the phase-shift keying code of the probe signal. At the same time, at the outputs of each of the CSF block 18, at each current moment of time, a complex signal is generated corresponding to the current range quantum and containing two compressed quadrature signals (sine and cosine), respectively, of the total and difference channels of the SOSN.

The complex output signal of the digital matched filter of the total channel of block 18 is supplied to the first information input of the block 19 for detecting and selecting the tracking object, which is the input of block 45 combining quadratures (see Fig. 2). In block 45, the quadrature is combined according to the “root of the sum of squares” rule, as a result of which the output signal of the block does not depend on the initial phase of the received echo signal. The output signal of block 45 enters the threshold block 46, in which it is compared with the set threshold signal, and then the binary signal generated at the output of block 46 is fed to the input of the shift register 47.

The synchronization input BOVO 19 receives the clock signal from the synchronizer 15, which in block 19 is supplied to the clock input of the shift register 47 and to the delay element 48. In this case, the signal from the output of the threshold block 46 is recorded in the first bit of the shift register 47, and the signal from the output of the RAM 49 from the cell whose address is determined by the signal of the current range coming from the range counter 50 is written with a shift in the remaining bits, starting from the second .

At the beginning of each sensing interval, a triggering pulse from the synchronizer 15 arrives at and at zero at the beginning of each sounding interval, and a synchronizing pulse arrives at the counting input of the counter 50 from the output of the synchronizer 15, ensuring the formation of the current range element code in the counter 50.

The specified code of the current range element also arrives at the address inputs of the object availability RAM 51, the object intensity RAM 52, the RAM 53 of the initial angle of the object, and the recording input of the range block 54 of the selected object. The signal from the output of the shift register 47 is fed to the input of the RAM 49 and is written into it by the synchronizer clock 15, which passed the delay elements 48, 55.

Thus, after a certain number of sounding intervals, a packet of single signals corresponding to a packet of reflected pulses from the object or a noise collection of random single signals against a large number of zero bits is formed in the cells of RAM 49.

The signal from the output of the shift register 47 is also fed to the input of the adder 56 single bits, the output of which at the same time generates a code equal to the number of single bits in the output signal of the register 47 of the shift. The output signal of the adder 56 is supplied to the threshold block 57, where it is compared with a predetermined threshold for detecting an object according to the logic K from N, where K is the number of unit bits in register 47, and N is the total number of bits in it.

In case of exceeding the specified threshold, which corresponds to the detection of an object in the current range element, the single output signal of the threshold block 57 is recorded in the RAM 51 of the presence of object detection and is fed to one of the inputs of the element And 58, to the other input of which through the inverter 59 a signal from the RAM 51 . If in the previous sensing interval a zero signal was recorded in the RAM cell 51, indicating the absence of detection, then the single output signal of the inverter 59 coincides with the single output signal of the threshold block 57, which indicates the beginning of a packet of pulses reflected from the object. In this case, the clock pulse passes through the And 58 element from the output of the delay element 48, which is fed to the synchronization input of the RAM 53 of the initial angle of the object and writes into its cell corresponding to the current range element, the code ψ _{A of the} angle of the beginning of the pulse train from the object, arriving at the second information input BOVO 10 from the sensor of the angular position of the antenna of the transceiver 3.

The output signal of the adder 56 single bits, characterizing the intensity of the object in the current range element, also goes to the input of the RAM 52 of the object intensity and to the first input of the comparison unit 60, the second input of which comes from the RAM 52 object intensity signal for the current range element recorded in it in the previous sensing interval. If the signal of the adder 56 exceeds the signal of the RAM 52, then a single signal is generated at the output of the comparison block 60, which is fed to the And 61 element, the other input of which receives the output signal of the threshold block 57. If this signal is single, which indicates the detection of an object , then through the And 61 element passes a clock pulse from the output of the Delay element 55 and records the intensity of the object in the RAM 52 of the intensity of the object.

As a result of repeated repetition of the above operations in RAM 52, the maximum intensity of the objects for each element of the range is entered. In the case when in the current sounding from the threshold block 57 a zero signal is received, indicating the absence of detection, and from the RAM 51, the presence of the target is a single signal indicating the presence of detection in the previous sounding interval, this combination of signals indicates the end of the packet in the current element range. At the same time, two single signals from the RAM 51 and from block 57 (through the inverter 63) are received at the inputs of the And 62 element, as a result of which the clock signal from the output of the 48 element passes through the And 62 element and goes to the inputs of the And 68, 69 elements at the end of the packet pulses in the current range element.

At the same time, the signal of the maximum intensity of the object for the current range element from the RAM 52 is fed to the input of the intensity memory unit 64 of the selected object and to the first input of the comparison unit 65. The second input of the comparison block 65 receives a signal from the intensity memory block 64, zeroed when the transceiver device 3 is turned on. In the case when the current intensity signal from the RAM 52 exceeds the intensity signal recorded in the memory block 64 earlier, a single unit is generated at the output of the comparison block 65 the signal that arrives at the second input of the And 68 element, preparing it to perform its logical functions at the choice of the destination object, because at the indicated moment of detecting a packet of reflected pulses, the detected object (or group of objects) is a candidate for selecting the target.

The current value of the angle ψ _{A of the} rotation of the antenna from the transceiver 3 comes through the second information input of the BOW 19 also to the half-adder 66, the second input of which receives the angle code of the beginning of the pulse train from the object for the current range element from the RAM 53. The output of the half-admitter 66 is formed a signal of a half-sum of the angular positions of the antenna corresponding to the beginning of a packet of reflected pulses and the current time. At the time of formation of the pulse at the output of the And 62 element (the end of the pulse train from the object), the signal at the output of the half adder 66 is equal to the half sum of the coordinates of the beginning and end of the pulse train reflected from the object, which corresponds to the angular coordinates of the object. This signal is fed to the input of the angle memory block 67 of the selected destination and to the input of the adder 70, the second input of which through the inverter block 71 from the third (coordinate) input of the BOVO receives the signal of the setpoint from the register 4 of the coordinates of the compact group of objects.

At the same time, at the output of the adder, a signal of the difference Δ _{ψ is formed} between the angle of the set point of the flight task and the angle of the detected object, which enters the calculator 72 of the distance ΔR of the detected object from the set point. The second input of the calculator 72 receives a signal of the current range D of the detected object from the counter 50. The specified signal is also fed to the input of the adder 73, the second input of which through the inverter unit 74 from the coordinate input of the BOVO 19 receives the set range signal, which is recorded in the compact coordinate register 4 groups of objects. At the same time, at the output of the adder 73, a signal is generated of the difference Δ _D between the range of the flight task setting and the range of the detected object, which is fed to the third input of the distance calculator. The calculator 72, made in the form of read-only memory, generates at its output a signal code that satisfies the ratio:

The specified signal from the output of the calculator 72 is fed to the input of the memory unit 75, into which the initial setting signal from the decoder 14 one-time commands, the maximum possible code is written, and also fed to the first input of the adder 77 through the block 76 of inverters. At the second input of the adder 77, a distance signal ΔR from the memory unit 75, recorded in it, is supplied. At the same time, at the output of adder 77, a signal is generated of the difference of the distance to the set point recorded in block 75 earlier and the distance of the detected object.

If the detected object is closer to the set point than the distance recorded in block 75 earlier, then at the output of the adder 77, a positive signal is generated that arrives at the threshold block 78 with a high threshold and the threshold block 79 with a low threshold. If a high threshold is exceeded, which means that the newly detected object is closer to the set point, then a single signal is generated at the output of block 78, which is fed to the second input of the And 69 element, from the output of which a single pulse passes through the OR 80 element to the synchronization inputs of the blocks 54, 64, 67 and 75 memory, recording in them the parameters of the selected object, respectively, range, intensity, angle and distance to the set point.

If the signal of the adder 77 is less than the high threshold of the pore block 78, but greater than the low threshold of the block 79, which means the approximate equality of the distances to the set point of the newly detected object and previously recorded in block 75 within the measurement accuracy, then a single signal from the output of the threshold block 79 the third input of the element And 68, and the zero signal from the output of the threshold block 78 is fed to the fourth input of the element And 68 through the inverter 81. The output signal of the element And 68 is determined by the value of the output signal of the block 65 comparison intens willow. If the intensity of the newly detected object is higher than the intensity previously recorded in the intensity memory block 64, then a single signal is generated at the output of the And 68 element, which, through the OR element 80, records the parameters of the newly discovered object in the same blocks 54, 64, 67 and 75 memory.

Thus, after repeating the above operations repeatedly in the range memory unit 54 and the angle memory unit 67, the outputs of which form the first and second information outputs of the BOVO 19, the range and angle signals of the object closest to the pointing point recorded in the flight mission are generated, or, in the presence of several equally close objects, the most intense of them.

The start pulses from the synchronizer 15 also arrive at the counter 82, which generates the antenna control signal, which from the third output of the BOWO 19 enters the first input of the switch 20 of the drive control signals, passes to its output and goes to the antenna drive of the transceiver 3, which rotates through the kinematic connection antenna at an angle proportional to the incoming code. The drive is connected by a second kinematic connection with the sensor of the angular position of the antenna, the output of which, when the antenna is rotated, generates a code for the current angular position of the antenna (signal ψ _A ), which, as was discussed above, arrives at the second information input of the BOVO 19.

At the same time, the signal from the output of the counter 82 is supplied to the final code decoder 83. When the corresponding code 82 is reached on the counter 82, the decoder 83 is activated and generates a control signal for the end of the review, which is transmitted to the control inputs of the angle and distance registers 21, 22 and records the data generated in the angle memory unit 67 and the range memory unit 54 of the BOVO 19.

The pulse of the end of the review is also supplied to the control input of the switch 20 of the drive control signals, switching it to the transmission position to the signal output from its second input connected to the output of the second adder 24.

The signal from the output of the range register 22 is fed to the first input of the first adder 23, the second input of which receives the signal of the deviation integrator 25, which integrates the deviations (mismatches) of the range discriminator 26, which has a zero output signal before starting work. At the same time, at the output of the adder 23, a signal is generated that is equal to the range code of the detected object or group of objects, which is input to the code converter 27 in a time interval (PCB), the start input of which from the synchronizer 15 receives a trigger pulse in each sounding. PKV 27 generates at its output pulses delayed relative to the probing pulse of the SOSN for a time interval that corresponds to the distance to the detected object or group of objects.

The pulse of the end of the review from the output of the BOVO 19 also arrives at the control input of the first multiplexer 11, switching it to the transmission position for the output of signals from its second input connected to the output of the second multiplexer 32, which means that the steering unit unit 13 switches to control signals generated by the tracking circuits detected BOVO 19 of the object, which is as follows.

The output pulse of the PCV 27 is fed to the synchronization input of the angular discriminator 28, the second information input of which through the switch 40 receives the output signal of the digital matched signal filter of the signals of the total channel of the CSF block 18, and the output signal of the difference channel of the CSF block 18 is directly fed to the first information input. At the same time, at the output of the angular discriminator 28 in a known (incoherent) way, a signal of instantaneous (monopulse) angular mismatch is generated between the pulses of the total and difference channels of the transceiver device compressed in the CSF of block 18.

The signal from the output of the angular discriminator 28 enters the integrator 29, from the output of which the integrated signal is fed to the second input of the adder 24, which is added to the angle of the detected object recorded in the register 21. The output signal of the adder 24 through the switch 20 is fed to the control input of the antenna drive of the transceiver 3, providing support for the selected object. The adjusted value of the angle of sight of the tracked object (or a compact group of tracked objects) from the output of the angular sensor of the antenna drive of the device 3 goes to BOVO 19.

The end-of-sight pulse generated by the BOWO 19 also opens the valve block 30, through which then the first input of the third adder 31 receives the value of the test UAV maneuvering angle ψ _T from register 6. The signal ψ _{A of the} current value of the angular position of the antenna is received at the second input of adder 31 from the transceiver 3. The output value of the algebraic sum of these signals from the output of the adder 31 in the form of a signal for adjusting the position of the rudders passes through the first input to the output of the second multiplexer 32, from it to the second the first input of the first multiplexer 11, from the output of which goes to the information converter, which generates analog signals of the rudder bookmark angles, thus ensuring a gradual drift of the UAV in the direction determined by the sign of the test maneuver angle stored in register 6.

Moreover, due to the fact that the angular tracking loop is closed in the system through the angular discriminator 28, the output signal of the latter changes the deflection angle of the antenna of the transceiver 3 in the direction opposite to the direction of rotation of the UAV. Further, the output signal of the adder 31, wherein the test values are summed maneuvering of the angle and the angle ψ _A sight antenna object is gradually reduced, providing a corresponding block 13 of the reaction of steering assemblies and reducing the angular rotation velocity of the UAV.

The signal from the output of the adder 31 is also fed to the input of the threshold decoder 33. When the angle ψ _{A of the} antenna (relative to the UAV case) becomes close in magnitude and opposite in sign to the test angle ψ _T , which means the UAV is rotated by an angle that provides approximate equality of the object’s viewing angle to the value of the test maneuvering angle, the signal at the output of adder 31 decreases and reaches the threshold the value set in the decoder 33. The threshold decoder 33 is triggered, and its output pulse is supplied to the installation sync inputs of the trigger 34 and registers 35 and 36. In this case, the trigger 34 goes into a single state yanie switching COCH to compensate small deviations treatment proactively in the register 35 is written the current angle ψ _UAV motion UAV arriving with angular output generator 8 via block 37 inverters, changing the sign of the UAV movement angle opposite and in register 36 through the block 38 Inverters , changing the sign of the angle to the opposite, the current value of the angle of mismatch from the output of the integrator 29 is recorded.

The output signal of the trigger 34 is supplied to the control inputs of the switch 40 and multiplexer 32, setting them in the transmission position to the output of the signal from its second input, as well as to the control input of the angular discriminator 28, changing its mode of operation from incoherent to coherent.

The pulse of the end of the review, generated in the unit 19 for detecting and selecting the tracking object, as described above, is supplied to the frequency capturing and tracking block 39, to the sync input of which there is a pulse generated by the code converter 27 in the time interval, and to the information input of the block 39 the output signal of the total channel block 18 CSF.

In block 39 capture and tracking the frequency of the analysis of the spectrum of the signal coming from block 18 CSF at a time corresponding to the pulse from the PCB 27 and, accordingly, accompanied by a group of objects.

Block 39 capture and tracking frequency works as follows (see figure 3).

The pulse of the end of the review, coming from BOVO 19, is stored in the trigger 84, which opens the valve 85. In this case, the pulses from the code converter 27 pass through the valve 85 to the sync inputs of the filter banks 86 ₁ , ..., 86 _{N of the} Doppler frequency in a time interval, the number of which corresponds to their numbers from 1 to N and covers the range of Doppler frequencies corresponding to the width of the radiation pattern of the antenna of device 3, within which a compact group of unresolved objects is placed.

The information inputs of the filters 86 ₁ , ..., 86 _{N of the} Doppler frequency receive a complex signal of the total channel of the block 18 CSF, including two quadrature components. The reference (frequency) filter inputs receive signals from generators 87 ₁ , ..., 87 _{N of} Doppler frequency, which in a known manner generate sine and cosine signals of the frequency corresponding to the code installed on the buses 88 ₁ , ..., 88 _N.

At the same time, at the outputs of combining the quadrature filters 86 ₁ , ..., 86 _{N of the} Doppler frequency in a known manner of integration on a moving interval, signals of the module of the spectral component of the input signal corresponding to the frequency code specified by the bus 88 ₁ , ..., 88 _{N are formed} . These output signals of the filters 86 ₁ , ..., 86 _N are supplied to the N inputs of the switch 89 in increasing order of frequencies installed on the filter buses 88 ₁ , ..., 88 _N.

Among the output signals of the filters 86 ₁ , ..., 86 _N, along with the noise components of the spectrum of the received signal, there are components with higher energy corresponding to radio-contrast objects in the antenna radiation pattern. The indicated components of the spectrum are arranged in decreasing order of their viewing angles: the closer the viewing angle is to zero (to the direction of movement of the UAV), the higher the corresponding Doppler frequency.

By the time when the threshold decoder 33 was triggered, the angle of sight of the group of objects, as described above, is approximately equal to the angle of the UAV testing maneuver, which provides the necessary resolution of objects in the compact group by Doppler frequency, as a result of which the capture signal in the spectral signal 39 frequency tracking presents the spectral components of all objects from the compact group, which is accompanied.

The pulse of the decoder 33 through the installation (pulse) input of the block 39 is supplied to the zeroing inputs of the counters 90, 91, setting them to zero, and to the input of the trigger 92, setting it to a single state. The output signal of the trigger 92 opens the valve 93, through which the counting input of the counter 90 begins to receive pulses from the master oscillator 94, changing the state of the counter from zero to the maximum. The output signal of the counter 90 is supplied to the control input of the switch 89, the output of which in turn passes the signals of the filters 86 ₁ , ..., 86 _N , the numbers of which correspond to the current state of the counter 90. Thus, the signals of the spectral components of the received signal are alternately generated at the output of the switch 89 .

The signal from the output of the switch 89 enters the threshold block 95, which compares with a detection threshold that exceeds the level of background noise in the spectral components. If the signal of the module of the current spectral component of the received signal exceeds the noise threshold, an output is generated at the output of the threshold block 95, which enters the counting input of the counter 91, which counts the number of spectral components with high energy corresponding to the number of objects in the compact group from its edge that passed through the switch 89 to the current point in time.

The output signal of the counter 91 is sent to the comparison unit 96, the second input of which receives the signal of the destination object number in the compact group, recorded in register 5. At the time when the number of objects of the compact group, the signals from which have passed threshold processing, is equal to the serial number of the destination , at the output of the comparison unit 96, a pulse signal is generated that sets the trigger 92 to zero and closes the valve 93 through it, and also enters the pulse input of the frequency discriminator 97 and records Vaeth therein the frequency component of the code spectrum signal arriving at the input of the frequency discriminator 97 to the counter 90 output.

The information inputs of the discriminator 97 receive the quadrature components of the signal of the total channel of the block 18 digital matched filters, and the clock input - the signal from the converter 27 of the code in the time interval passed through the valve 85.

Moreover, in the frequency discriminator 97 in a known manner by the number of the target in the group, the Doppler frequency code of this object is stored and the indicated frequency is followed in the signal of the total channel of the CSF block 18.

The output signal of the followed frequency in the form of a complex signal (sine and cosine) of the spectral component from the total signal of the total channel of the CSF 18 and the value of the followed frequency in the form of quadrature components (sine and cosine) of the corresponding Doppler frequency generator are sent to the output of block 39 and fed through the switch 40 to angular discriminator 28, switched to the mode of coherent signal tracking.

The angular discriminator 28 in a known manner extracts a signal of a given frequency from the difference channel signal of the CSF block 18, compares it with the signal of the total channel coming from the switch 40, and generates an estimate of the angular mismatch of these two signals, which is integrated in the integrator 29 and arrives, except for the adder 24 ( to correct the antenna turn), also to the second input of the adder 41, the first input of which from the register 36 is fed the value of the signal of the integrator 29, recorded with the opposite sign at the time of srab of the decoder 33. In this case, at the initial moment, after the decoder 33 is activated and the COSN is switched to the mode of compensation of small deviations with lead, a zero signal is generated at the output of the adder 41, and then a difference signal between the current and initial values of the integrator 29.

Similarly, the signal of the current angle of movement (speed vector) of the UAV from the angular output of the driver 8 is fed to the input of the adder 42, the second input of which is supplied with the initial value of the same angle with a negative sign from register 35 at the time of the operation of the decoder 33. At the same time, the output of the adder 42 a difference signal is formed between the current and initial values of the angle of movement of the UAV.

The signals from the outputs of the adders 41 and 42 are fed to the input of the adder 43, the output of which at the same time generates a signal equal to the difference between the change in the signal of the integrator 29 and the change in the angle of movement of the UAV. The specified signal from the output of the adder 43 through the second input of the multiplexer 32 is fed to the output of the latter, from it through the second input of the multiplexer 11 is transmitted to the input of the information converter 12, and then to the block 13 steering units.

As a result of the above operations, a mode of compensation of small deviations is anticipated, providing compensation for systematic disturbing influences, in particular, the test angle of the UAV maneuver.

Thus, in the proposed monopulse radar SOS due to the implementation of the testing maneuver, it is possible to more accurately select the target and provide more accurate tracking of the object by compensating for small random deviations, UAVs from the direction to the object and compensating for systematic disturbances by the lead method.

Based on the above description and drawings, the proposed system can be manufactured using well-known components and technological equipment known in the electronics industry and used on mobile carriers as a radar for detecting and tracking objects.

Claims (1)

Monopulse radar detection and homing system (SOSN), containing a transceiver, at the corresponding outputs of which are connected through a block of Doppler switches with inputs of a block of digital matched filters, binary quantized quadrature components of the signals of the phase detectors of the sum and difference channels are formed, to the output of the signals of the total channel of the block digital matched filters connected to the information inputs of the range discriminator, capture unit and accompanied the frequency and the unit for detecting and selecting the target object, the input of the signals of the current angular position of the antenna of which is connected to the corresponding output of the transceiver device, the corresponding information outputs of the block for detecting and choosing the target object are connected to the inputs of the angle register and range register and the first input of the drive control signal switch and the output of the end of the survey signal is connected to the control inputs of the switch of the drive control signals, angle register, range register and the frequency capture and tracking unit, in addition, containing a code generator, the output of which is connected to the code inputs of the transceiver device and the digital matched filter block, an angular discriminator, a code converter into a time interval, the output of which is connected to the synchronization inputs of an angular discriminator, range discriminator, and frequency capture and tracking unit, and the input is connected to the output of the first adder, the first input of which is connected to the output of the range register, in addition, containing the second an adder, the first input of which is connected to the output of the angle register, and the output is connected to the second input of the drive control signal switch, the output of which is connected to the corresponding input of the transceiver device, and a synchronizer, to the first output of triggering pulses with a sounding frequency - of which the code generator start inputs are connected , a transceiver device, a unit for detecting and selecting an object of tracking and a code converter in a time interval, and to the second output of synchronizing pulses from frequencies nth quantization of the received signals - the synchronization inputs of the transceiver device and the unit for detecting and selecting the tracking object are connected, characterized in that it additionally includes a coordinate register of the compact group of objects, a register of the serial number of the target object in the group, and a register of the test maneuver angle connected to the interface highway of the information exchange with a complex of prelaunch preparations, as well as a switch, a threshold decoder, the third, fourth, and fifth, and the sixth sum orors, the first and second multiplexers, the first and second registers, the first and second blocks of inverters, the valve block, the first integrator, whose input is connected to the output of the range discriminator, and the output - to the second input of the first adder, and the second integrator, whose input is connected to the output angular discriminator, while the output of the second integrator is directly connected to the second inputs of the second and fourth adders, and also through the second block of inverters connected to the recording input of the second register, the output of which is connected to the first input ohm of the fourth adder, the first and second inputs of the switch are connected respectively to the output of the signals of the total channel of the digital matched filter block and the output of the capture and frequency tracking unit, the output of the switch is connected to the second input of the angular discriminator, the first input of which is connected to the output of the difference channel of the digital matched filter block and the control input of the switch connected to the control inputs of the angular discriminator and the second multiplexer is connected to the trigger output, the input apart, as well as the installation clock inputs of the first register, the second register and the installation input of the frequency capture and tracking unit are connected to the output of the threshold decoder, the first input of the third adder is connected to the signal output of the current angular position of the antenna of the transceiver device, its second input is connected to the output through the valve block register values of the test angle of maneuvering, and the output of the third adder is connected to the input of the threshold decoder and to the first input of the second multiplexer, while the output of the register of the ordinal number of the destination object in the group is connected to the corresponding input of the capture and tracking unit of frequency, and the output of the coordinate register of the compact group of objects is connected to the corresponding input of the detection and selection of the tracking object, to the output of which the control inputs of the valve block are connected and the first multiplexer, the output of the first multiplexer forms the output of the SOSN by the control signal of the steering units of an unmanned aerial vehicle (UAV), the first its first input forms an input of the AOSN for receiving steering control signals generated by the UAV motion control system (CMS), and the second input is connected to the output of the second multiplexer, the first input of which is connected to the output of the sixth adder, the inputs of the sixth adder are connected to the outputs of the fourth and fifth adders , the second input of the fifth adder is connected to the output of the first register, and its first input, connected through the first block of inverters to the recording input of the first register, forms an input COSN for receiving signals of the current angle UAV motion generated by the UAV UAB, in addition, the control input of the Doppler switch unit forms an SSN input for receiving current UAV speed signals generated by the UAV UAV, and the inputs of the trigger setup and the unit for detecting and selecting the tracking object, connected to the input of the transceiver device, form the input of one-time SOSN commands, to which the SOSN power-on command is generated, generated by the UAV COURT

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