METHOD FOR NAVIGATION OF MOVING OBJECTS Russian patent published in 2015 - IPC G01S5/02 G01C21/20 

FIELD: radio engineering, communication.

SUBSTANCE: method includes using a reference map of an area as a priori information about a navigation field; selecting a portion of the area (measurement portion) located within the reference map; forming a current map by calculating plane coordinates of the measurement portion based on range measurements using a multibeam measurement mode using radio waves, located in two orthogonal planes and emitted in the form of beams, from which the centre beam is emitted first, followed by the left- and right-side beams, wherein the centre beam is perpendicular to the direction of movement of the moving objects, the beam planes are turned about the centre beam by an angle of 45 degrees relative to the direction of movement of the moving objects. Further, the method includes determining the difference of the results of multibeam measurement of inclined ranges; determining the angles of evolution of moving objects on the azimuth, roll and pitch over time based on analysis of Doppler frequency values arising from measurement of ranges on each beam. The value and sign of the azimuth, roll and pitch angles during each range measurement cycle are determined by changing the position of the measured array of Doppler frequencies relative to the array of Doppler frequencies corresponding to zero values of the azimuth, roll and pitch angles. Further, the method includes calculating the altitude of the moving objects in coordinates of the measurement portion at the point of determining the location of the moving objects in plane coordinates of the measurement portion; comparing values of plane coordinates of the current and reference maps; calculating terms of the proximity characteristic for all possible positions of the moving object; searching for the extremum of the proximity characteristic; calculating a motion trajectory correction signal; controlling movement of the moving objects by correcting their location based on three coordinates of the reference map (plane coordinates and altitude) in coordinates of the measurement portion during movement of the moving objects over the measurement portion.

EFFECT: high accuracy of navigation.

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