FIELD: radio engineering, communication.
SUBSTANCE: initially formed standard information array of signals of initial alignment of inertial direction finding of a given viewing object and measured signals that are proportional current values of projections of the vector of apparent linear acceleration and projections of the vector of the absolute angular velocity of the viewing vector of the viewing object on corresponding axes of the base antenna coordinate system are used to generate signals that are proportional to current values of parameters of inertial direction finding of the given viewing object, that are characterised by the current value of mismatch between the initial value of inclined range to the given viewing object and the current value of inclined range of approaching the given viewing object of the base of an integrated antenna device together with a mobile carrier, i.e. components of the error between the direction of the viewing vector from the given viewing object in two mutually perpendicular planes of its direction finding in the base antenna coordinate system. During radar automatic tracking of the viewing object based on the received signals reflected from the viewing object irradiated with probing microwave signals, signals for radar direction finding of the viewing object in two mutually perpendicular planes of its direction finding in the base antenna coordinate system are simultaneously generated. Signals for radar direction finding of the viewing object respectively characterise current values of mismatch, i.e. components of the error between the direction of the optical axis of the mirror of the integrated antenna device and the current value of the direction of the maximum of the beam pattern of the integrated antenna device when emitting probing microwave signals towards the viewing object. The generated signals for radar and inertial direction finding are respectively corrected and compared, and a difference signal, which is subjected to low-pass filtering, is generated and subjected to adaptive noise-immune statistical estimation. Broadband noise of radar direction finding of the viewing object is suppressed; difference signal estimation narrowband noise is selected; a signal which is proportional to the accurate estimation of the difference signal is then generated to compensate for the narrowband noise caused by an error in inertial direction finding of the viewing object. To this end, the signal which is proportional to the accurate estimate is summed with the signal of inertial direction finding of the viewing object, resulting in compensation for narrowband noise, i.e. the error, resulting in generation of a filtered signal for controlling the direction to the viewing object of the viewing line, which is generated with minimal error. The signal which is proportional to the minimal error is defined as the difference between a signal which is proportional to the equivalent measurement error of the angular coordinate of the viewing object and a signal which is proportional to compensation of the accurate estimate of the difference signal. The signal which is proportional to the equivalent measurement error of the angular coordinate of the viewing object is proportional to the difference of angular displacement caused by free movement and narrowband noise, i.e. the error in direction finding of the viewing object. The method is realised by the disclosed integrated complex system, which consists an inertial automatic tracking loop which includes an inertial angular discriminator of signals of direction finding of the viewing object in two mutually perpendicular planes of its direction finding in a base antenna coordinate system and a fourth adder, a radar automatic tracking loop which includes a radar angular discriminator for direction finding of the viewing object in two mutually perpendicular planes of its direction finding in a base antenna coordinate system, a first adder, a second adder, a first correcting circuit, a filtering and compensation loop which contains a second correcting circuit, a second comparing element, a low-pass filter, a third adder, a filtering and compensation loop which contains a second correcting circuit, a second comparing element, a low-pass filter, a third adder, a gyrostabilisation and control loop which contains a dynamic unit encircled by a direct negative feedback. The system also contains a first comparing element, a switch for switching operating modes of the system, an information line for linking the inertial angular discriminator with external equipment for preparing and controlling launch of the mobile carrier, an information line for linking the inertial angular discriminator with the integrated antenna device. The system also includes integrated antenna devices, an antenna-waveguide and receive-transmit unit and a digital computer. The integrated antenna device contains a mirror with a radiator, capable of turning in two mutually perpendicular planes relative to the radiator, having a double-axis gimbal suspension rigidly mounted on the base of the integrated device and pivotally connected to the mirror, carrying in an internal frame, appropriately mounted gyroinertial sensors of signals of spatial movement of the mirror, sensors of signals of the rotation of the outer and inner frames of the double-axis gimbal suspension, electronic units for gyrostabilisation and controlling the direction of the mirror towards the viewing object, an amplifier for feedback signals in corresponding channels of a two-channel gyroscopic sensor of angular velocity signals, electronic units for generating control signals proportional to the given angular velocity of the rotation of the mirror in the horizontal plane and the vertical plane, respectively, an electronic unit for scaling the signal obtained at the output of the electronic unit for generating a control signal of the given angular velocity of the rotation of the mirror in the vertical plane, proportional to the projection of the vector of absolute angular velocity of rotation of the mirror on the transverse axis of the axis of the coordinate system associated with the mirror. The antenna-waveguide and receive-transmit unit, which is connected to a radiator, contains appropriately connected sum-difference converter of microwave signals, waveguide-switching device, transceiver, connected by an information line to the corresponding output digital computer, through which the unit interacts with the digital computer. The digital computer contains analogue-to-digital converters of input signals, a processor for processing microwave signals and signals of gyroinertial sensors (accelerometers and gyroscopic devices), random access memory and non-volatile memory, digital-to-analogue converters of output signals, inputs/outputs interconnected by data communication channels, with an external information source, the integrated device and the antenna-waveguide and receive-transmit unit. The digital computer runs software of the disclosed method of integrating signals for direction finding of the viewing object of inertial and radar discriminators and the integrated system for automatic tracking of the viewing object as a whole, which realises the method.
EFFECT: high accuracy and noise immunity of automatic tracking a viewing object and tactical-technical characteristics of integrated on-board homing systems in mobile carrier control systems.
2 cl, 8 dwg
