RU2232376C1 - Information controlled complex of multi-mission flying vehicles - Google Patents

Abstract

FIELD: navigation, control guidance systems for multi-mission flying vehicles.

SUBSTANCE: proposed complex includes systems where inputs and outputs of navigation radio aids are connected by information exchange channels, observation and sighting facilities, identification system, inertial sensors and systems, air sensors and systems, indication control units and computer system which includes state parameter forming unit, information complex processing unit, information input/output and control unit, data base unit, unit for protection against natural and artificial noise, information adaptation unit, surrounding space parameter synthesis unit, state parameter synthesis unit and information logic processing unit. All these units are interconnected by means of information exchange system.

EFFECT: extended functional capabilities; enhanced efficiency.

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Description

The invention relates to the field of aeronautical engineering, and in particular to navigation, control and guidance systems for aircraft. In the closest analogue given in the book [1] (Babich O.A. Information processing in navigation systems. - M .: Mashinostroenie, 1991, pp. 6-16, 391-507), an information-management complex ( IAA) LA, which includes navigation, flight, sighting, survey, measuring sensors and systems operating on various physical principles: inertial navigation systems (ANNs) and sensors; radio navigation aids, including short-range (RSBN) and long-range (RSDN) radio systems, Doppler speed and drift meters (DISS), satellite navigation systems (SNA); recognition systems for images of natural and artificial fields (terrain, Earth’s magnetic field, Earth’s gravitational field, radar contrast field, etc.); air (aerometric) sensors and systems, including a system of air signals (SHS) and sensors of angles of attack and slip (DUAS); survey and sighting means of space location, sighting of landmarks and tracking of moving and motionless objects (astro-sighting means, heat, optical, radio-sighting means), as well as a computer system that provides information exchange between sensors and systems and the calculation of the necessary navigation and flight and special parameters of the state of the aircraft. In this case, the computing system contains the following blocks: an input-output and information exchange control unit, providing information exchange between the components of the complex; a unit for generating aircraft state parameters, providing a calculation of the basic informational parameters of the aircraft’s state and movement (azimuths and distances to landmarks, deviations from a given trajectory, coordinates, speeds, accelerations, aircraft orientation angles - see [1], p. 7); unit for complex processing of information coming from different meters. The complex provides information processing of various sensors and systems, determination of the parameters of the aircraft’s movement as a whole and its individual points, information interaction with the crew, and control of the aircraft’s state. Due to the presence of instrumental and methodological errors of sensors and systems, due to the effects of natural and artificial noise, due to inaccuracy in a priori knowledge about geophysical fields, about the motion and state of the atmosphere, about the geometry of space, about the coordinates and movement of radio beacons, landmarks, stars , satellites, etc., - the parameters of the movement and state of the aircraft are determined with errors. The complex calculator implements (see [1], p. 391; [2], p. 26-28, 80-271) a method of information aggregation, which provides for statistical filtering of the information of two or more systems and obtaining corrective corrections for one of them (adjustable). Based on the corrected information, the main parameters of the aircraft’s state and movement are calculated (azimuths and distances to landmarks, deviations from a given trajectory, coordinates, speeds, accelerations, aircraft orientation angles - see, for example, literature [1], pp. 171-301) .

The main disadvantages of the closest analogue are:

1) in case of failures or short-term shutdowns of individual systems, the complex becomes inoperative (for example, when the aircraft switches to the super-maneuverability mode, the aerometric sensors lose their ability to operate, while maneuvering the aircraft, the quality of work of radio engineering and sighting devices decreases);

2) in case of discrepancies between real errors and error models used in the algorithms, the complex becomes ineffective or even practically inoperative with serviceable sensors and systems (especially when special interference is made).

The objective of the invention is to expand the functionality of the IAA and, as a consequence, increase the efficiency of the information and control complex of multifunctional aircraft (MLA) equipped with IAA.

This result is achieved by the fact that the information-control complex, which contains interconnected inputs and outputs on the highway of information exchange of systems, radio navigation aids, sighting and sighting systems, pattern recognition systems, inertial sensors and systems, air sensors and systems, indicator-control devices, computing a complex system, including a unit for forming state parameters interconnected along a highway of computational information exchange, a complex unit information processing, the input-output and information exchange control unit, the other input-output of which is the input-output of the computer system of the complex, is additionally equipped with the integrated database unit, the protection block against natural and artificial interference, the adaptation block complex, a unit for synthesizing the parameters of the environment, a unit for synthesizing state parameters, a unit for logical integrated processing of information interconnected and with a unit for generating state parameters, with a unit for complex information processing, with an input-output unit and for managing information exchange of the complex’s computer system along the highway of computational information exchange.

The drawing shows a block diagram of an information management system containing:

1 - radio navigation aids RTSN;

2 - sighting and sighting devices;

3 - recognition systems images COO;

4 - inertial sensors and IDS systems;

5 - air sensors and GVA systems;

6 - highway information exchange systems MIOS;

18 - indicator and control devices IUU;

7 - computing system of the complex VSK.

At the same time, the following blocks are included in VSK 7:

8 - block input-output information and information exchange management WSIS;

9 - block forming the state parameters of the FPS;

10 - block integrated information processing KOI;

11 - block integrated database OBD;

12 - block protection against natural and artificial interference ZDP;

13 - block adaptation of the information complex AIC;

14 - block synthesis of the parameters of the surrounding space of the NGN;

15 - block synthesis of the state parameters of the ATP;

16 - block logical integrated information processing LKOI;

17 - highway computing information exchange MVIO.

The information interconnection of the IAA systems is carried out according to MIOS 6 (indicated by a thin solid line in the drawing).

Information exchange between the inputs and outputs of the computing and logical units of VSK 7 is carried out according to MVIO 17 (indicated by a thin solid line in the drawing).

Blocks 1-5, 18 are connected by their inputs / outputs to the backbone of the information exchange of systems, to which the input / output of VSK 7 is also connected, while the input / output of VSK 7 is the input / output of the WSIS 8 unit and the other input / output of the WSIS 8 connected to the internal backbone of computing information exchange MVIO 17, which is also connected to the inputs / outputs of blocks 9-16.

Blocks 1-5 are known sensors and systems of aircraft avionics described in the literature, for example [1], pp. 8-16, 171-243, 316-317, 325-327, 374-385; [2] p. 6-22; [3], pp. 229-242. The structure of the RT SN 1 unit includes: RSBN, measuring the azimuth of the beacon and the distance to it, with which, using the known coordinates of the beacon, the problem of determining the coordinates of the object is solved; RSDN, measuring ranges to several ground-based radio stations, with which, with the known coordinates of the stations, the problem of determining the coordinates of the object is solved; Diss, measuring the Doppler frequency shifts of the emitted radio signals, with which the problem of determining the object velocity vector is solved; SNA, which measures the time delay, phase shift and Doppler frequency shift of radio signals from space satellites, with which the task of determining the time, coordinates and speed of an object is solved with known parameters of satellite motion; other radio navigation aids, such as a radio altimeter, radio compass, etc. The structure of the OPS 2 unit includes various thermal, optical, radar means of sighting landmarks (targets), measuring ranges to landmarks and / or angles of their sighting, with which, using known coordinates of landmarks, the problem of determining the coordinates of an object is solved, and with known coordinates of an object, the task determining the coordinates of targets. The COO 3 block includes measuring instruments for the parameters of various geophysical surface and spatial fields: relief field, magnetic field, gravitational field, radar contrast field, etc., with which, with known patterns of distribution of these fields in near-Earth space, the problem of determining the coordinates of the object is solved, and with known coordinates of the object - the task of mapping these fields. The structure of the IDS 4 block includes: ANNs that solve the problem of autonomously calculating the speed, coordinates and angular orientation of an object based on the accelerations and angular velocities (or orientation angles) of an object measured with the help of accelerometers and gyroscopes included in ANNs; vertical lines that solve the problem of calculating the speed and angular orientation of an object based on the measurement information of gyroscopes and accelerometers; accelerometers and gyroscopes measuring accelerations and angular velocities (orientation angles) at their locations. The VDS 5 unit includes SHS measuring static, dynamic, full air pressures, with the help of which the tasks of determining the height and speed of an object relative to the atmosphere are solved; DUAS, measuring the direction of flowing air currents; air sensors (air pressure receivers, angle of attack and slip sensors).

The IUU 18 unit is a set of on-board display and control devices of an object described in the literature, for example [3], pp. 229-242, which include, for example, a weapon control system (FCS), means of indicating and displaying information, a communication system , automatic control system (ACS), remote control system (CDS), control panel.

MIOS 6 and MVIO 17 blocks are known (described, for example, in the book [4], pp. 21-24, 394-406) communication lines and information exchange, for example, by serial code, by parallel code, multiplex, etc.

The WSIS block 8 is a well-known device (described, for example, in the book [4], pp. 16-24, 386-406, 436-440) for interfacing the calculator with communication lines, which carries out the reception, control and delivery of information.

Blocks FPS 9, KOI 10, ZDP 12, AIK 13, SPP 14, SPS 15, LKOI 16 are made, for example, in the form of uniprocessor computers ([4], p. 31).

The OBD 11 block is made, for example, on a read-only memory ROM ([4], p. 30).

The FPS unit 9 provides the calculation of parameters of the state of the MDA, which includes the coordinates, parameters of the motion and orientation of the MDA as a whole and its individual points relative to the basic reference frame, atmosphere, earth's surface, landmarks, etc., based on the solution of the corresponding equations connecting these parameters with measured values entering the MVOI 17 highway (see, for example, book [1], pp. 7-8, 117-158, 171-283).

Block KOI 10 provides integrated processing of information systems by generating estimates of errors in determining the parameters of the state of the MLA (see, for example, the book [1], pp. 40-81, 391-507).

An additionally introduced OBD 11 block provides for the accumulation, storage, and delivery to the MVIO of information about various natural and artificial fields of the Earth, about objects interacting with MLA (landmarks, targets, their own aircraft, celestial bodies, beacons, etc.), about internal parameters IAA, moreover, this information is received in the HBS block 11 through MVOI 17 from other blocks of VSK 7, in which such information is generated (SPP 14, AIK 13, ZDP 12, LKOI 16).

The additionally introduced LKOI 16 block provides the refinement of the parameters of geophysical fields, the state of the atmosphere, the underlying surface, the movement of landmarks and other objects interacting with the aircraft, etc.

An additionally introduced unit of the ZDP 12 improves the quality of measuring information of sensors and systems by identifying, identifying natural and artificial interference and issuing relevant information in MVOI 17 for accounting and accumulating knowledge in OBD 11.

The additionally introduced AIK 13 unit based on special integrated processing of redundant information coming from measuring sensors and IAA systems and from other VSK 7 blocks along the MVOI highway 17 provides the formation of estimates of the internal IAA parameters (with respect to stable internal errors) and their output to MVOI 17 for accounting and accumulation of knowledge in HBS 11.

Additionally, the introduced SPP block 14 provides a calculation, depending on known values, of parameters unknown and / or inaccessible for measurements at the current time, parameters of a priori information about geophysical fields, state of the atmosphere, underlying surface, movement of landmarks and other objects interacting with the aircraft, etc., used in algorithms.

The additionally introduced ATP unit 15 provides a synthesis of the parameters of the MDA state as functions of the known and accessible measurements under conditions when the direct determination of these parameters is difficult or impossible (for example, synthesis of angles of attack and slip during failures or shutdowns of systems of the GVA 5 unit, synthesis of the target azimuth and range to it with a short-term loss of target by the systems of the OPS 2 unit due to maneuvering of the aircraft, etc.).

IAA works as follows.

Measured information on the motion parameters of the MLA J ⁱ (i = IDS, VDS, RTSN, OPS, SOO) from blocks 1-5 comes through the MIOS 6 highway, the WSIS 8 block to the MVIO highway 17. In the OBD 11 block, a priori information K ⁱ ( i = IDS, GVA, RTSN, OPS, SOO) about the parameters of geophysical fields and about objects (landmarks, celestial bodies, beacons, etc.) interacting with the MDA, as well as about the internal parameters of the IAA - error estimates δJ ⁱ (i = IDS, GVA, RTSN, OPS, SOO). This information from the OBD 11 block enters the MVIO 17 highway. From the MVIO 17 highway this information is fed to the input of the FPS 9 and KOI 10 blocks.

In the FPS unit 9, the information of various sensors and systems is processed in accordance with the general equation (see, for example, [1], pp. 171-178, 189-195, 216-224, 225-229, 236-240, 316-327 , 374-385):

where N ⁱ is the multidimensional vector of the determined parameters, including coordinates, speed, acceleration, aircraft orientation angles;

J ⁱ - measuring information from sensors and systems, adjusted by the amount of corrections received;

K ⁱ - a priori information used in the algorithms and including information on the coordinates and speeds of satellites, radio beacons, celestial bodies, landmarks, geometric characteristics of navigation space, parameters of geophysical fields (atmosphere, gravitational, magnetic, terrain, radio navigation, etc. .);

; ⁱ - algorithm (operator) for processing information of sensors and systems;

i - index taking values: IDS (inertial sensors and systems), GVA (air sensors and systems), RTSN (radio navigation aids), OPS (sighting and sighting devices), COO (image recognition systems).

In block FPS 9, multidimensional vectors N ⁱ (i = IDS, GVA, RTSN, OPS, SOO) and the main parameters of the state and movement of the MDA (azimuths and ranges to landmarks, deviations from the given trajectory, coordinates, speeds, accelerations, orientation angles MLA ) necessary to solve specific particular problems of the complex.

In block KOI 10, by subtracting the vector of correcting information from the vector of corrected information, the residual Z is constructed between them and the residual Z is processed by the algorithm of non-stationary computationally stable filtering (see [1], p. 40-45; [2], p. 96- 108) and for each k-th moment of time, an estimate of the error vector X is formed in the form:

- прогнозируемое значение вектора Х в k-й момент времени;Where

- the predicted value of the vector X at the k-th point in time;

- оценка значения вектора Х в k-й момент времени.

- an estimate of the value of the vector X at the kth moment in time.

In block KOI 10, corrective corrections to multidimensional vectors N ^{i are} determined (i = IDS, GVA, RTSN, OPS, SOO).

The data obtained on the multidimensional vectors N ⁱ (i = IDS, GVA, RTSN, OPS, SOO) are also received through the MVOI highway 17 to the inputs of the units of the ZDP 12, AIK 13, LKOI 16.

The necessary information about the various parameters of the state of the object comes from VSK 7 to the MVOI highway 14, and from there to the IUU 18 block for indication on the display panel and the formation of the corresponding control signals in the ACS, CDS, and the OMS.

In the AIC block 13, the parameters of the internal errors of the IAA blocks are estimated - δJ ⁱ values (i = IDS, GVS, RTSN, OPS, SOO), for example, by solving equations of the form (2), in which multidimensional acts as the estimated state vector X a vector whose elements are elements of the vectors δJ ⁱ (i = IDS, GVA, RTSN, OPS, SOO). The obtained estimates of the internal errors of the IAA blocks go through the MVOI 17 trunk to the OBD 11 block to clarify the data stored there and to the FPS 9 and KOI 10 blocks for use in current calculations.

At the input of the unit ZDP 12 from the highway MVIO 17 receives data on multidimensional vectors N ⁱ (i = IDS, GVA, RTSN, OPS, SOO); measuring information on the motion parameters of the MLA J ⁱ (i = IDS, GVA, RTSN, OPS, SOO); information about the parameters of the navigation space K ⁱ (i = IDS, GVA, RTSN, OPS, SOO). In the block ZDP 12, the parameters of natural and artificial interference are estimated - ΔJ ⁱ values (i = RTSN, OPS, SOO), for example, by solving equations of the form (2), in which a multidimensional vector acts as the estimated state vector X, whose elements are the elements of the vectors ΔJ ⁱ (i = РТСН, ОПС, СОО), and the vector of measurements of residuals Z is constructed as the difference between the actual measurements J ⁱ (i = РТСН, ОПС, СОО) and their calculated values J $\genfrac{}{}{0ex}{}{\text{i}}{\text{p}}$ (i = RTSN, OPS, SOO) obtained from solving equations

where ℵ ⁱ (N, К) (i = РТСН, ОПС, СОО) are the algorithms (operators) of information conversion, which are obtained from equations (1), solved by well-known methods of equation conversion (described, for example, in the book [5], p. 142-162, 45-47: expansion of non-algebraic functions in power series, linearization of nonlinear equations, solution of linear equations systems) with respect to the values of J ⁱ (i = РТСН, ОПС, СОО), respectively;

vector N is selected from the number of available values of N ⁱ (i = IDS, GVA, RTSN, OPS, SOO);

vector K is selected from among the available values of K ⁱ (i = IDS, GVA, RTSN, OPS, SOO).

In this case, the correcting information is the calculated vectors J $\genfrac{}{}{0ex}{}{\text{i}}{\text{p}}$ (i = РТСН, ОПС, СОО), and the corrected information is the measurement vectors J ⁱ (i = РТСН, ОПС, СОО), which include interference ΔJ ⁱ (i = РТСН, ОПС, СОО) and measuring noise δJ ⁱ (i = RTSN, OPS, SOO). The obtained estimates of natural and artificial interference through the MVOI highway 17 are sent to the OBD 11 block to clarify the data stored there and to the FPS 9 and KOI 10 blocks for the corresponding correction of the measurement information J ⁱ (i = RTSN, OPS, SOO).

The LKOI 16 block input from the MVOI 17 highway receives: data on multidimensional vectors N ⁱ (i = IDS, GVA, RTSN, OPS, SOO); measuring information on the motion parameters of the MLA J ⁱ (i = IDS, GVA, RTSN, OPS, SOO); information about the parameters of the navigation space K ⁱ (i = IDS, GVA, RTSN, OPS, SOO) stored in the OBD block 11. In the LKOI block 16, the values of δK ^{i are} evaluated (i = IDS, GVA, RTSN, OPS, SOO), for example, by solving equations of the form (2), in which the estimated state vector X is a multidimensional vector whose elements are elements of the vectors δK ⁱ (i = IDS, GDS, RTSN, OPS, SOO), and the residual measurement vector Z is constructed as the difference between the a priori data on the values of K ⁱ (i = IDS, GVA, RTSN, OPS, SOO) obtained from the HBS unit 11, and their indirect K measurements $\genfrac{}{}{0ex}{}{\text{i}}{\text{p}}$ (i = IDS, GVA, RTSN, OPS, SOO) obtained from solving equations

where ⁱ (N, J) (i = IDS, GVA, PTCH, OPS, COO) - information conversion algorithms (operators) that are obtained from equations (1) resolved by known methods (described, for example, in the book [5], p. . 142-162, 45-47) relative to the values of K ⁱ (i = IDS, GVA, PTCH, OPS, COO), respectively;

vector N is selected from among the available values of N ⁱ (i = IDS, GVA, PTCH, OPS, COO);

vector J is selected from among the available values of J ⁱ (i = IDS, GVA, PTCH, OPS, COO).

The obtained error estimates δK ⁱ (i = IDS, GVA, PTCH, OPS, SOO) through the MVOI highway 17 go to the OBD 11 block to clarify the data stored there and to the FPS 9 and KOI 10 blocks for the corresponding correction of a priori information K ⁱ (i = IDS, GVA, PTCH, OPS, COO).

Thus, the introduction of the described blocks ZDP 12, AIK 13, LKOI 16 into VSK 7 allows during the operation of the IAA to bring the error models used in the algorithms into line with the real errors of the complex in various operating conditions: under the action of natural and artificial interference, the presence of instabilities of internal errors of the complex systems, in the presence of uncertainties in the description of geophysical fields, landmarks, beacons, - as a result of which the significant drawback of the closest analogue and extended ryayutsya functionality IAA. This goal is also facilitated by the introduction of the described OBD 11 block into VSK 7, which allows for the accumulation of information about complex errors, field parameters, landmarks, various interference, storage of this information and its operational use in solving the problem of bringing models used in algorithms into compliance with real errors.

In block SPP 14, synthesis of unknown and / or inaccessible for measurements at the current time environmental parameters parameters included in the vectors K ⁱ (i = IDS, GVA, RTSN, OPS, SOO) and J ⁱ (i = RTSN, OPS, COO), for example: wind speeds - to ensure the safety of piloting in the regime of ultra-maneuverability of MLA; ranges and angles of sight of the target - to ensure aiming, etc., - from the available information. To do this, the corrected data on multidimensional vectors N ⁱ , J ⁱ , K ⁱ (i = IDS, GVS, RTSN, OPS, SOO) formed in blocks 9-11, and by solving suitable equations of the form (3) - (4), unknown parameters are calculated. In this case, the values of the index “i” in the right and left sides of the equations may differ.

In block ATP 15, information is synthesized on the elements of multidimensional vectors of MDA state parameters N ⁱ (i = IDS, GVA, RTSN, OPS, SOO) in cases where a direct determination of these values in blocks 9-10 is impossible, for example, because the failure of the measuring sensor (of any block 1-5) of the IAA, or due to the loss of the sensor signal (for example, the sensor of the RTSN 1 block - during a maneuver, or the sensor of the OPS 2 block - when the contact with the landmark is lost, or the sensor of the GVA block 5 - upon transition of the MDA to the super-maneuverability mode, etc.). To do this, the corrected data on multidimensional vectors N ⁱ , J ⁱ , K ⁱ (i = IDS, GVS, RTSN, OPS, SOO) formed in blocks 9-11 and the solution of equations

similar to equations (1), the unknown parameters of the MLA motion are calculated. Moreover, the vectors J and K in the right-hand sides of expressions (5) are selected from among J ⁱ and K ⁱ (i = IDS, GVA, RTSN, OPS, COO). Synthesized estimates of N $\genfrac{}{}{0ex}{}{\text{i}}{\text{p}}$ (i = IDS, GVA, RTSN, OPS, SOO) come from the output of the SPS 15 block to the MVOI highway 17 and from there to the FPS 9 block.

The introduction of the described blocks SPP 14 and ATP 15 into VSK 7 makes it possible, due to the synthesis of parameters of the state of the MDA and the surrounding space, to ensure the operability of the complex in case of failures or short-term shutdowns of individual systems, as a result of which the disadvantage of the closest analogue is eliminated and the functionality of the IAA is expanded.

Thus, the examples of technical implementation show the achievement of the technical result in terms of expanding the functionality of the IAA and, as a result, increasing the efficiency of the use of multifunctional aircraft equipped with it.

LITERATURE

1. Babich O.A. Information processing in navigation systems. - M.: Engineering, 1991

2. Rivkin S.S., Ivanovsky R.I., Kostrov A.V. Statistical optimization of navigation systems. - L .: Shipbuilding, 1976

3. Fomin A.V. Su-27. The history of the fighter. - M .: RA "Intervestnik", 2000

4. Presnukhin L.N., Nesterov P.V. Digital computers. - M .: Higher school, 1981

5. Korn G., Korn T. Handbook of mathematics for scientists and engineers. - M .: Nauka, 1977.

Claims (1)

An information and control complex of multifunctional aircraft containing radio navigation aids, survey and aiming devices, pattern recognition systems, inertial sensors and systems, air sensors and systems, indicating and controlling devices, and the computing system of the complex, interconnected by inputs and outputs on the information exchange highway of systems including a unit for forming state parameters interconnected along a highway of computational information exchange, a unit of complex information processing, an input-output and information exchange control unit, the other input-output of which is the input-output of the computer system of the complex, characterized in that it is additionally equipped with an integrated database unit, a protection unit against natural and artificial interference, a unit of information adaptation of the complex, a unit for synthesizing the parameters of the environment, a unit for synthesizing state parameters, a unit for logical complex processing, and formation of interconnected and forming parameter block status unit integrated with an information processing unit to input-output control information and exchange of complex computer system via line computing information exchange.