RU2681671C1 - Computer system for remote control of navigation complexes for arctic automated environmental monitoring - Google Patents

Abstract

FIELD: monitoring systems.SUBSTANCE: proposed system relates to the field of Arctic automated environmental monitoring, namely, the state of the atmosphere and ice with the simultaneous determination of the coordinates of its own location of the navigation systems and the transmission of the information obtained via radio channels, and can be used as a means of monitoring the environment in the ice movement zone for safely escorting ships along the northern sea route and ensuring the safety of oil and gas facilities and hydrotechnical infrastructure on the shelf and in the coastal zone in the ice-covered seas and in conditions of ice cover, including the drifting ice. Proposed system contains the control room (CR), navigation systems (HKi, i=1,2, … n) and spacecraft (SC) of satellite communication system, transceiver device 1 (1.i), block 21.i coordinates determination by satellite navigation system, block 22.i measuring the thickness of the ice cover, block 23.i measuring the state of the atmosphere, underwater navigation beacon 24.i. Transceiver unit 1 (1.i) contains block 2 (2.i) of control, computer 3 (3.i), master oscillator 4 (4.i), driver 5 (5.i) of the modulating code, phase manipulator 6 (6.i), first local oscillator 7 (7.i), the first mixer 8 (8.i), amplifier 9 (9.i) of the first intermediate frequency, first amplifier 10 (10.i) of power, duplexer 11 (11.i), transceiver antenna 12 (12.i), second power amplifier 13 (13.i), second local oscillator 14 (14.i),second mixer 15 (15.i), amplifier 16 (16.i) of the second intermediate frequency, multiplier 17 (17.i), band-pass filter 18 (18.i) and phase detector 19 (19.i), (i=1,2, …, n).EFFECT: providing opportunities for remote automated monitoring of the environment in large areas in the Arctic and the rapid exchange of information between the dispatch center and navigation systems through full-duplex radio communication using complex signals with phase shift keying, computers and satellite communications systems as repeaters.1 cl, 4 dwg

Description

The proposed system relates to the field of automated environmental monitoring in the Arctic, namely the state of the atmosphere and ice with the simultaneous determination of the coordinates of the navigation system’s own location and the transmission of received information via radio channels, and can be used as a means of environmental monitoring in the ice movement zone for safe pilotage of vessels along the Northern Sea Route and ensuring the safety of oil and gas production and hydrotechnical infrastructure s on the shelf and in the coastal zone in the arctic seas and ice conditions, including drifting.

Known systems for monitoring the state of ice and the environment (ed. Certificate of the USSR No. 1.151.107, 1.341.594, 1.376.769, 1.788.487, 1.840.717; RF patents No. 2080620, 2137153, 2196347, 2251128, 2486471, 2487365, 2500031; US patents Nos. 3449950, 4231039, 4527160, 4608568, 6204813; UK patents Nos. 1494582, 1499388, 2122834; French patents Nos. 2384218, 2592959; German patents Nos. 2800074, 2802918; Vaulin Yu.V. and etc. The navigation complex of an autonomous underwater robot and the features of its application in the Arctic. Navigation, control and communication, 2008, No. 1 (5), pp. 24-31 and others).

Of the known systems, the closest to the proposed one is the “Two-center research and navigation complex with a system for providing accurate navigation reference for underwater moving technical objects” (RF patent No. 2485447, G01C 21/00. 2011), which is chosen as a prototype.

A disadvantage of the known technical solution is the impossibility of remote automated environmental monitoring in large areas in the Arctic.

An object of the invention is to provide remote automated monitoring of the environment in large areas in the Arctic and the rapid exchange of information between the control center and navigation systems through duplex radio communications using complex signals with phase shift keying, computers and spacecraft of the satellite communications system as repeaters.

The problem is solved in that a computer-based remote control system for navigation systems for automated monitoring of the environment in the Arctic, containing, in accordance with the closest analogue, at least three navigation systems, each of which is characterized by the presence of surface and underwater sections connected by cable, while the surface part contains a control unit, a unit for determining coordinates by a satellite navigation system, a unit for determining the state of the atmosphere, connected to transceiver, and the underwater part contains an underwater navigation beacon, the control inputs of the coordinate determination unit for the satellite navigation system, the ice cover thickness determination unit, the atmosphere state determination unit and the underwater navigation beacon are connected to the corresponding outputs of the control unit, differs from the closest analogue in that it equipped with a transceiver installed at the control room, and spacecraft satellite communications system, with each pr and the transmitting device is made in the form of a phase manipulator connected in series to the output of the control unit of the computer, the oscillator, the second input of which is connected to the second output of the computer through the generator of the modulating code, the first mixer, the second input of which is connected to the output of the first local oscillator, the amplifier of the first intermediate frequency, the first a power amplifier, a duplexer, the input-output of which is connected to a transceiver antenna, a second power amplifier, a second mixer, the second input of which is connected ene with output of the second local oscillator, the amplifier of the second intermediate frequency multiplier, a second input coupled to an output of the first local oscillator, a bandpass filter and a phase detector, a second input coupled to an output of the second oscillator, and an output connected to the computer, the frequency ω _d1 and ω _z2 LO spaced by the value of the second intermediate frequency

w _{r1 r2} -ω = ω _WP2,

the control unit transceiver emits complex signals with phase shift keying at a frequency

ω = ω ₁ = ω _{z2 pr1,}

where ω _pr1 - the first intermediate frequency, and takes on the frequency

ω ₂ = ω _pr3 = ω _g1 ,

where ω _CR3 is the third intermediate frequency, and the transceiver devices of the navigation systems, on the contrary, emit complex signals with phase shift keying at the frequency ω ₂ , and receive - at frequency ω ₁ the spacecraft of the satellite communication system relay complex signals with phase shift keying at frequencies ω ₁ and ω ₂ while maintaining phase relationships.

The geometrical layout of the control center (DP), navigation systems (HKi, i = 1, 2, ..., n) and spacecraft (SC) of the satellite communications system is shown in FIG. 1. The structural diagram of the transceiver 1 installed on the control center DP, shown in Fig. 2. The structural diagram of the transceiver device 1.i installed on the i-th navigation complex is shown in FIG. 3. A frequency diagram illustrating frequency conversion of signals is depicted in FIG. four.

Each transceiver device 1 (1.i) is made in the form of series-connected control unit 2 (2 i), computer 3 (3.i), master oscillator 4 (4.i), phase manipulator 6 (6.i), the second input which through the generator 5 (5.i) of the modulating code is connected to the second output of the computer 3 (3.i), the first mixer 8 (8.i), the second input of which is connected to the output of the first local oscillator 7 (7.i), amplifier 9 ( 9.i) the first intermediate frequency, the first power amplifier 10 (10.i), the duplexer 11 (11.i), the input-output of which is connected to the transceiver antenna 12 (12.i), the second antenna power amplifier 13 (13.i), second mixer 15 (15.i), the second input of which is connected to the output of the second local oscillator 14 (14.1), amplifier 16 (16.i) of the second intermediate frequency, multiplier 17 (17 l), the second the input of which is connected to the output of the first local oscillator 7 (7.i), the bandpass filter 18 (18.i) and the phase detector 19 (19.i), the second input of which is connected to the output of the second local oscillator 14 (14.i), and the output is connected to the second input of computer 3 (3.i).

Block 2 (2.i) can be made on the basis of a microprocessor. Block 21.i determine the coordinates of the satellite navigation system can be performed on the basis of satellite navigation systems GPS and GLONASS and is a receiver 21.i GPS signals with a receiving antenna 20.i. The ice cover thickness measuring unit 22.i may be performed on the basis of an ultrasonic thickness gauge. As the unit 23.i measuring the state of the atmosphere can be used in the measuring unit of the weather balloon.

Preferably, the complex uses a power supply unit configured to recharge. In this case, the complex further comprises an electric energy generator connected to the input of the power supply unit. As the specified generator, a wind generator or a generator using a thermocouple can be used.

In some embodiments, a unit 23 l determining the state of the atmosphere is configured to determine wind speed, temperature and humidity.

The boom on which the underwater navigation beacon 24.i is mounted can be used as a means of measuring ice thickness. In addition, one of the thermocouple elements can be fixed on the rod (the second element is located above the ice surface), while the electric charge generated by the thermocouple enters the battery. The mast of the wind generator can be additionally used as an antenna of transceiver devices.

Each used complex has its own individual code (identification number - ID), which is given in all radiograms sent by the complex.

The joint use of at least three navigation systems provides orientation in the space of an underwater vehicle of any type.

Navigation systems provide the following functions:

- giving signals to underwater navigation;

- reception of signals from navigation satellite constellations;

- parallel measurement of ice thickness;

- broadcasting (via satellite channels) of collected data on-line (at a given time):

- about own coordinates at present;

- about the thickness of the ice on which they are currently;

- about wind speed, pressure and humidity and temperature (if necessary).

Installation and use of the complexes at a given distance provide the opportunity to create a network of information systems in the system for monitoring the movement of ice and its condition, for the safe escort of vessels along the Northern Sea Route and for ensuring the safety of oil and gas production and hydraulic infrastructure on the shelf and in the coastal zone in the arctic seas and in conditions ice cover, including drift. In addition, the installation and use of systems at a given distance provide the ability to create a network of underwater navigation.

The main feature of the system created by using ice-mounted systems is the ability to provide precise technical control of the ice state and its thickness, which allows using special software products to accurately predict the time and quality of formation of hummocks, ice displacement and the formation of ice conditions impenetrable for the icebreaker fleet. . In addition, the system of these complexes provides underwater navigation.

The proposed system works as follows.

In order to transmit the necessary control information to the selected navigation system HKi (i = 1, 2, ..., n) at the control center DP 1 using the control unit 2 and computer 3, the master oscillator 4 is turned on, which generates a high-frequency harmonic oscillation

u _c (t) = U _c ⋅ Cos (ω _c t + (ϕ _c ), 0≤t≤T _s ,

where U _c , ω _s , ϕ _s , T _s - amplitude, carrier frequency, initial phase and duration of harmonic oscillation, which is fed to the first input of the phase manipulator 6, the second input of which is supplied with the modulating code M ₁ (t) from the second output of the computer 3. The specified modulating code corresponds to the identification number of the requested navigation system. The output of the phase manipulator 6 produces a complex signal with phase shift keying (PSK)

u ₁ (t) = U ₁ ⋅ Cos [ω _c t + ϕ _kl (t) + ϕ _s ], 0≤t≤T _s ,

where ϕ _k1 (t) = {0, π} is the manipulated phase component that displays the phase manipulation law in accordance with the modulating code M ₁ (t), and ϕ _k1 (t) = const for kτе <t (k + 1) τэ and can change abruptly at t = kτэ, i.e. at the borders between elementary premises (k = 1,2, ..., N -1);

τэ, N - duration and number of elementary premises, of which

compiled signal duration

This signal is fed to the first input of the first mixer 8, the second input of which is supplied with the voltage of the first local oscillator 7

u _g1 (t) = U _g1 ⋅ Cos (ω _g1 t + (ϕ _g1 ).

The output of the mixer 8 is formed voltage Raman frequencies. The amplifier 9 is allocated the voltage of the first intermediate (total) frequency

u _CR1 (t) = U _{CR1 ⋅} Cos [ω _CR1 t + ϕ _K1 (t) + ϕ _CR1 ], 0≤t≤T _s ,

Where

ω _pr1 = ω _c + ω _g1 = _ω1 - the first intermediate (total) frequency

ϕ _{pr1 =} ϕ _c + ϕ ₁ ,

which, after amplification into the power amplifier 10 through the duplexer 11, enters the transceiver antenna 12, it is radiated by it at the frequency ω ₁ into the air (in the direction of the navigation systems), through the KA-transponders, is captured by the transceiver antenna 12.i of the navigation complex and through the duplexer 1 1. i and a power amplifier 13.i is supplied to the first input of the mixer 15.1, the second input of which supplies the local oscillator voltage 14.i

u _r1 (t) = U _g1 ⋅Соs (ω _g1 t + ϕ _g1 ).

At the output of the mixer 15.i, the frequencies of the combination frequencies are generated. Amplifier 16.i isolates the voltage of the second intermediate (differential) frequency

u _pr2 (t) = U _{pr2 ⋅} Cos [ω _p2 t + ϕ _k1 (t) + ϕ _pr2 ), 0≤t≤T _s ,

Where

ω_pr2= ω_pr1-ω_g1 - second intermediate (difference) frequency;

ϕ _ol2 = ϕ _ol1 -ϕ _g1 ,

which goes to the first input of the multiplier 17.i, to the second input of which the local oscillator voltage 8.i

u _z2 (t) = U _r2 ⋅Sos (ω t + φ _{r2 r2).}

A voltage is generated at the output of the multiplier 17.i

u ₂ (t) = U ₂ ⋅ Cos [ω _g1 t-ϕ _k1 (t) + ϕ _g1 ], 0, ≤t≤T _s ,

Where

w _{r1 r2} = ω -ω _WP2,

which is an FMN signal at a frequency ω _{g1 of the} local oscillator 14.i. This voltage is allocated by the bandpass filter 18.i and fed to the first (information) input of the phase detector 19.i, to the second (reference) input of which the voltage U _g1 (t) of the local oscillator 14.i is applied. A low-frequency voltage is generated at the output of the phase detector 19.i

u _Н1 (t) = U _н1 ⋅Соsϕ _к1 (t), 0, ≤t≤T _s ,

Where

proportional to the modulating code M ₁ (t). This voltage goes to computer 3.i

The frequencies ω _g1 and ω _g1 local oscillators are spaced by the value of the second intermediate frequency (Fig. 4)

w _{r1 r2} -ω = ω _WP2.

If the identification number M _and (t) of the requested navigation system corresponds to the modulating code M ₁ (t), then a command is generated in computer 3.i that, through the control unit 2.i, acts on the blocks 21.i, 22.i and 23.i including them. In this case, information from the indicated blocks through the computer. In this case, information from the indicated blocks is transmitted through the computer 3.i to the input of the generator 5.i of the modulating code, where the total modulating code is generated

M _Σ (t) = M _and (t) + M ₂ (t) + M ₃ (t) + M ₄ (t),

Where M _and (t) is the identification number of the navigation complex;

M ₂ (t) is a modulating code that displays the coordinates (longitude and width) of the navigation system;

M ₃ (t) is a modulating code that displays the thickness of the ice;

M ₄ (t) is a modulating code that displays wind speed, temperature and air humidity.

At the same time, the master oscillator 4.i is turned on, which generates a high-frequency harmonic oscillation

u _ci (t) = U _ci ⋅ Cos (ω _c t + ϕ _ci ), 0, ≤t≤T _ci ,

which arrives at the first input of the phase manipulator 6.i, the second input of which from the output of the generator 5.i of the modulating code receives the total modulating code M _Σ (t).

At the output of the phase manipulator 6.i, a complex PSK signal is formed

u _3i (t) = U _3i ⋅ Cos [ω _c t-ϕ _k2 (t) + ϕ _ci ], 0≤t≤T _ci ,

where ϕ _k2 (t) = {0, π} is the manipulated phase component that displays the phase manipulation law in accordance with the total modulating code M _Σ (t),

which goes to the first input of the mixer 8.i, to the second input of which the local oscillator voltage 7.i

u _z2 (t) = U _r2 ⋅Cos (ω t + φ _{r2 r2).}

At the output of the mixer 8.i, voltages of combination frequencies are generated. Amplifier 9.i isolates the voltage of the third intermediate frequency

u _pr3 (t) = U _{pr3 ⋅} Cos [ω _p3 t-ϕ _k2 (t) + ϕ _pr3 ], 0≤t≤T _ci ,

_; Where

_;

_PR3 ω = ω _z2 - ω _s - third intermediate frequency;

ϕ _pr3 = _ϕg2 -ϕ _ci

which, after amplification in the power amplifier 10.1 through the duplexer 11.i, enters the transceiver antenna 12.i, is radiated by it at the frequency ω ₂ into the ether (in the direction of the spacecraft), re-emitted by it in the direction of the control center of the receiver, is captured by the transceiver antenna 12 and through the duplexer 11 and the power amplifier 13 is supplied to the first input of the mixer 15, to the second input of which the voltage of the local oscillator 14

u _z2 (t) = U _r2 ⋅Cos (ω t + φ _{r2 r2).}

At the output of the mixer 15, voltages of combination frequencies are generated. The amplifier 16 is allocated the voltage of the second intermediate (differential) frequency

u _pp4 (t) = U _{pr4 ⋅} Cos [ω _p2 t - ϕ _k2 (t) + ϕ _pr2 ], 0≤t≤T _s ,

Where

_ωpr2 = ω _z2 -ω _PR3 - second intermediate (difference) frequency;

ϕ _pr2 = ϕ _r2 -ϕ _pr3 ,

which is supplied to the first input of the multiplier 17, the second input of which is supplied with the voltage u _r i (t) of the local oscillator 7. A voltage is generated at the output of the multiplier 17

u ₄ (t) = U ₄ ⋅Cos [ω _z2 t - φ _k2 (t) + φ _r2] 0≤t≤T _s,

Where

_ωg2 = ω _pr2 - ω _g1 ;

cp _r2 = φ -φ _{pr1 r1,}

which is allocated by a band-pass filter 18 and fed to the first (information) input of the phase detector 19, to the second (reference) input of which the voltage u _g2 (t) of the local oscillator 14 is supplied. A low-frequency voltage is generated at the output of the phase detector 19

u _n2 (t) = U _{n2 ⋅} Cos ϕ _к2 (t), 0≤t≤T _s ,

_; Where

_;

proportional to the total modulating code M _Σ (t). This voltage goes to computer 3.

Thus, the proposed system in comparison with the prototype and other technical solutions for a similar purpose provides the ability for remote automated environmental monitoring in large areas in the Arctic and the rapid exchange of information between the control center and navigation systems. This is achieved through duplex radio communications using complex phase-shift signals, computers and spacecraft of the satellite communications system as repeaters.

Complex phase-shift signals have high energy and structural secrecy.

The energy secrecy of these signals is due to their high compressibility in time and spectrum with optimal processing, which reduces the instantaneous radiated power. As a result, a complex PSK signal at the receiving point may be masked by noise and interference. Moreover, the energy of a complex PSK signal is by no means small; it is simply distributed over the time-frequency domain so that at each point of this region the signal power is less than the power of noise and interference.

The structural secrecy of complex PSK signals is caused by a wide variety of their shapes and significant ranges of parameter changes, which makes it difficult to optimize or at least quasi-optimal processing of complex PSK signals of an a priori unknown structure in order to increase the sensitivity of the receiver.

Claims (8)

A computer-based remote control system for navigation systems for automated environmental monitoring in the Arctic, containing at least three navigation systems, each of which is characterized by the presence of surface and underwater sections connected by cable, while the surface part contains a control unit, an ice thickness determination unit, a unit determining the state of the atmosphere connected to the transceiver, and the underwater part contains an underwater navigation beacon, the varying inputs of the coordinate determination unit according to the satellite navigation system, the ice cover thickness determination unit, the atmosphere state determination unit, and the underwater navigation beacon are connected to the corresponding outputs of the control unit, characterized in that it is equipped with a transceiver installed at the control center and spacecraft of the satellite system connection, with each transceiver made in the form of series-connected to the output of the computer control unit, for a generator, a phase manipulator, the second input of which is connected to the second output of the computer through the generator of the modulating code, the first mixer, the second input of which is connected to the output of the first local oscillator, the amplifier of the first intermediate frequency, the first power amplifier, duplexer, the input-output of which is connected to the transceiver antenna , a second power amplifier, a second mixer, the second input of which is connected to the output of the second local oscillator, an amplifier of the second intermediate frequency, a multiplier, the second input of which is connected nen yield a first local oscillator, a bandpass filter and a phase detector, a second input coupled to an output of the second oscillator, and an output connected to the computer, the frequency ω _d1 and ω LO spaced _r2 value of the second intermediate frequency w _{r1 r2} -ω = ω _WP2, the control unit transceiver emits complex signals with phase shift keying at a frequency ω = ω ₁ = ω _{z2 pr1,} where ω _CR1 is the first intermediate frequency, but takes on the frequency ω ₂ = ω _pr3 = ω _g1 , where ω _CR3 is the third intermediate frequency, and the transceiver of the navigation systems, on the contrary, emits complex signals with phase shift keying at the frequency ω ₂ , and receives at frequency ω ₁ , the spacecraft of the satellite communications system relay complex signals with phase shift keying at the frequency ω ₁ and ω ₂ while maintaining phase relationships.

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