METHOD OF NAVIGATION OF MOVING OBJECTS Russian patent published in 2017 - IPC G01S5/02 G01C21/20 

FIELD: physics.

SUBSTANCE: using the reference map of the terrain as a priori information about the navigation field, select the terrain section (the measuring section) within the reference map, make up the current map by calculating the planned coordinates of the measuring section based on the range measurements using the multi-beam measurement mode using radio waves in one plane, and emitted in the form of rays, of which the first radiate the central, and then - the left and right lateral relative to the central, while the central ray is perpendicular to the motion of moving objects, the plane of the rays is rotated around the central ray by an angle equal to 45 degrees relative to the direction of motion of the moving objects, determining difference results multipath measurements slant range determined angles evolution of moving objects in azimuth, roll and pitch dynamics based on the analysis of the Doppler frequency spectrum values arising during measurements of distances for each beam, and for analyzing the Doppler frequency values using an array average Doppler frequency values for each range gate of each beam, resulting from the measurements of the Doppler frequency spectra for each ray, the value and sign azimuth angles, roll and tanga and at each cycle of measurement of distances determined by changing the position of the measured secondary array of Doppler frequencies with respect to the array of average Doppler frequencies corresponding to the zero values of the azimuth angles, roll and pitch, comparing values plane coordinates of the current and the reference maps calculated summands index affinity for all possible positions of the moving object is carried out search for an extremum proximity index calculated height of moving objects in the coordinates dimensional portion at the positioning moving objects in the planned coordinates dimensional plot calculated signal path compensation movement, control the movement of a moving subject by adjusting their position in three dimensions of the reference card (scheduled to ordinate and height) in the coordinates dimensional portion during the motion of moving objects over a measured portion.

EFFECT: improving the accuracy.

10 dwg