WO2020122852A1 - Procédé de réalisation de mesures de trajectoire (et variantes) et système de mesures de trajectoire en phases à positions multiples pour sa mise en œuvre (et variantes) - Google Patents

Procédé de réalisation de mesures de trajectoire (et variantes) et système de mesures de trajectoire en phases à positions multiples pour sa mise en œuvre (et variantes) Download PDF

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Publication number
WO2020122852A1
WO2020122852A1 PCT/UA2019/000148 UA2019000148W WO2020122852A1 WO 2020122852 A1 WO2020122852 A1 WO 2020122852A1 UA 2019000148 W UA2019000148 W UA 2019000148W WO 2020122852 A1 WO2020122852 A1 WO 2020122852A1
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gnss
signals
measuring points
measuring
trajectory
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Russian (ru)
Inventor
Алексей Александрович ЖАЛИЛО
Елена Михайловна ВАСИЛЬЕВА
Александр Иванович ДОХОВ
Елена Владимировна КАТЮШИНА
Ольга Алексеевна ЛУКЬЯНОВА
Валерий Васильевич СЕМЕНЕЦ
Игорь Борисович ЧЕПКОВ
Александр Иванович ЯКОВЧЕНКО
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Kharkiv National University Of Radio Electronics Nure
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Kharkiv National University Of Radio Electronics Nure
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude
    • G01S19/54—Determining attitude using carrier phase measurements; using long or short baseline interferometry

Definitions

  • the invention relates to methods and means of trajectory measurements of highly dynamic aircraft (VLA) and can be used to carry out trajectory measurements to determine the motion parameters of highly dynamic aircraft during flight tests (testing on-board control systems), testing at prospective and modern training grounds of aircraft and missile systems, as well as for trajectory measurements and navigation of spacecraft at the stages of their launch, coordinate-time tracking and motion control, docking of spacecraft in almost all near-Earth orbits at altitudes of up to 36 thousand km.
  • VLA highly dynamic aircraft
  • GNSS global navigation satellite systems
  • SUBSTITUTE SHEET (RULE 26) joint processing of data recorded at several frequencies, as well as joint processing of information from several GNSS.
  • GNSS Global System for Mobile Communications
  • VLA trajectory measurements Since the main purpose of VLA trajectory measurements is to obtain information about the flight of a controlled object on the ground (for the subsequent detailed analysis), and not on board, in flight the on-board GNSS signal receiver should transmit the results of measurements and navigation determinations to the ground operator via telemetry channels. This makes it necessary to have a telemetry system even in the case when an uncontrolled flight is carried out, which, in turn, leads to a noticeable rise in the cost of the measuring complex.
  • a known method for determining the parameters of the trajectory of a controlled object implemented in the SATRACK system (USA) [8-10].
  • this method single- and dual-frequency measurements of GNSS signals recorded by the airborne receiver of GNSS signals of a controlled object are relayed from the board to a ground or surface (located on the ship) telemetry station and recorded, after which these measurements are processed in the post-session mode.
  • the information of the network of GNSS differential correction stations deployed near the planned flight path is used
  • SUBSTITUTE SHEET (RULE 26) object, as well as telemetric data on the parameters of the object’s movement accumulated during the flight.
  • the specified method has the following disadvantages.
  • a variation of the differential-ranging method for determining the location is known, implemented in the LOCATA system (Australia, USA) [1 1-13], which involves measuring distances from a controlled object equipped with on-board receiving equipment to a network of transmitting stations with known coordinates located near the planned flight path. As a result of processing the measured distances, the coordinates of the controlled object are determined, as well as the discrepancy in the time scales of the controlled object and the system that implements this method.
  • This method of determining the parameters of the trajectory VLA has the following disadvantages.
  • the measuring information on the basis of which the motion parameters (coordinates, components of the velocity vector, etc.) of the controlled object are determined, are obtained on board the object, and not on the ground, therefore this information is transmitted to the operator by telemetry to the ground channels.
  • the telemetry system is necessary even in the case of uncontrolled flight, which increases the complexity of the system that implements this method.
  • SUBSTITUTE SHEET (RULE 26)
  • Known methods for determining the parameters of the trajectory of the controlled object which include the use of a ground-based interferometer consisting of a transmitting station and several spatially separated receiving stations. According to these methods, the trajectory parameters are determined by jointly processing the measured differences of the distances between the controlled object and the receiving stations of the interferometer, as well as two (or more) directing cosines relative to the bases of the interferometer [14-17].
  • the closest in technical essence to the proposed method for performing trajectory measurements can be considered the method of determining the parameters of the trajectory, implemented in the multi-position phase meter system "VEGA" (USSR) [18], which is as follows.
  • the interrogation signal emitted by the transmitting station is received on board the controlled object, converted (taking into account the delay and Doppler shift of the received signal) and transmitted at another predetermined frequency (relative to the interrogation signal frequency) to the ground receiving measuring points (stations) of the interferometer.
  • the phase method by measuring the phase differences between the emitted and received signals, determines the distance to the controlled object.
  • the two guide cosines with respect to the bases of the interferometer are measured by determining the phase differences of the signals, which are received by several pairs of ground receiving points forming the bases of the interferometer. Joint processing of the measured distances and phase differences (or guide cosines) allows you to determine the coordinates of the controlled object. Measurement of Doppler shifts of the carrier frequencies of the signals on the tracks “ground transmitter - airborne transceiver - ground
  • SUBSTITUTE SHEET (RULE 26) receiving points ”and differences of Doppler shifts at spaced points of the interferometer allows determining the radial velocity and the rate of change of the directing cosines of the object’s motion.
  • the current coordinates and components of the velocity vector of the controlled object are calculated in a given coordinate system (for example, in a rectangular topocentric coordinate system).
  • the specified method selected as a prototype, has the following disadvantages.
  • the method uses a complex method of high-precision frequency-time synchronization of the components (spaced points) of a system that implements this method, as well as the time-consuming creation of a signal transmission subsystem between the components of this system.
  • the method requires the mandatory use of a ground-based transmitter and a transceiver of the system signals installed on board the controlled object, which increases the cost of implementing this method.
  • the method can be used exclusively for trajectory definitions and requires the involvement of a large number of highly qualified specialists for its implementation.
  • An object of the invention is to expand the functionality of the method of trajectory measurements, as well as a significant reduction in the complexity of its implementation by sharing the principles of operation of polygon multiposition phase-metric systems (VEGA type) and GNSS signals and technologies.
  • VEGA type polygon multiposition phase-metric systems
  • GNSS GNSS signals and technologies.
  • trajectory measurements which consists in the fact that the on-board equipment of the controlled object transmits coherent GNSS-like signals at three frequencies of the decimeter wavelength range, and the measuring points are receiving interferometer, taking them, measure the distance differences “on-board equipment - measuring points” and the rate of change and transfer this data to the data collection and processing center, where, based on the received measurement information, the trajectory parameters of the controlled object (its coordinates and components of the velocity vector, referred to
  • SUBSTITUTE SHEET (RULE 26) repeated time samples of a given time scale), according to the invention, the determination of the coordinates of the measuring points necessary for measuring the trajectory of the controlled object, and high-precision time-frequency synchronization of the time scales of the measuring points are carried out by phase measurements of GNSS signals recorded by GNSS signal receivers, with which the measuring points are equipped, and the data recorded by the measuring point after the end of the measurement session are transmitted via dedicated radio channels to the data collection and processing center, or transferred to a mobile information carrier.
  • Mistram and AZUSA [15] are known — radio interferometers with rangefinders, consisting of a transmitting station and five receiving stations (Mistram) or five spaced receiving antennas (AZUSA) located on two lines intersecting at right angles scrap.
  • Other systems are also known built on the same principle [16, 17]. All these systems determine the parameters of the trajectory of the controlled object by jointly processing the differences between the controlled object and receiving stations (or receiving antennas) measured by the phase method, as well as two direction cosines relative to the bases of the interferometer.
  • the closest in technical essence to the proposed multi-position phase system of trajectory measurements can be considered the multi-position phase-metric system VEGA [18].
  • the VEGA system includes on-board equipment transmitting the station, 5 observation measuring points (15 receiving antennas correspond to them), forming two mutually perpendicular bases of the interferometer, a single-pulse direction finder, a data collection and processing center, 11 alignment antennas and an information transmission system and synchronized
  • SUBSTITUTE SHEET (RULE 26) nation in the form of a network of cable communication lines connecting the ground elements of the system.
  • the system operates as follows.
  • the signal emitted by the transmitting station is received on board the controlled object, shifted in frequency and transmitted back to earth.
  • the distance to the controlled object is determined by measuring the phase difference between the emitted and received signals.
  • Two cosine guides are measured by determining the phase difference of the signal that arrives at the two pairs of receiving antennas that form the base of the interferometer.
  • the joint processing of the measured distances and the guiding cosines makes it possible to determine the coordinates of the controlled object.
  • the radial velocity of the object being monitored is measured, and the difference of the Doppler shift of the carrier frequency of the signal, which comes to two pairs of receiving antennas, forming the base of the interferometer, allows you to determine the rate of change of the direction cosines. As a result of joint processing of these parameters, the speed of the controlled object is calculated.
  • This system has the following disadvantages.
  • the system is stationary, it is deployed once at a given training ground, the system cannot be relocated.
  • the configuration of the system (the number and location of its components) is rigidly fixed, and therefore it is impossible to optimize the configuration of the system in order to obtain the most accurate result of trajectory measurements for each individual trajectory.
  • Each measuring point of the system is a complex and expensive radio engineering complex, the components of which are located in buildings on an area of several hectares.
  • the system consumes a large amount of electricity: for its operation, tens of kW power sources are needed.
  • SUBSTITUTE SHEET (RULE 26) 6.
  • the system uses directional antennas and a monopulse direction finder, which significantly increases the cost of the system.
  • An expensive and time-consuming system to create a signal transmission between the components of the system is a cable communication line, the total length of which is about several hundred kilometers.
  • the system uses a complex method of high-precision time-frequency synchronization.
  • the system necessarily includes a ground-based transmitter, and an onboard transceiver of the system signals is installed on board the controlled object, which increases the cost of the system.
  • the system can be used exclusively for trajectory definitions and requires the involvement of a large number of highly qualified specialists for its maintenance and operation.
  • An object of the invention is to expand the functionality of a multi-position phase trajectory measurement system, as well as significantly reduce the complexity of creating and maintaining the system by supplementing each measuring point of the system with a GNSS signal receiver of a geodetic accuracy class, an information storage unit and a transmitting unit, using non-directional receiving antennas and sharing the principles of construction and operation of polygon multi-position phase metric systems and GNSS signals and technologies.
  • each measuring station of the system is a portable device, which additionally includes a GNSS signal receiver, an information storage unit and a transmitter unit, and the receiving antennas are omnidirectional,
  • SUBSTITUTE SHEET (RULE 26) than the GNSS-like signal emitted by the transmitter of the request signal received by the onboard equipment is converted, taking into account the delay and Doppler shift of the received signal, into three coherent GNSS-like signals at three frequencies of the decimeter wavelength range, which are transmitted to the ground-based measuring points of the phase interferometer , in each of which these signals from the controlled object simultaneously with the GNSS signals are received by the receiving antenna of the measuring point, the first output of which is connected to the input of the multi-channel receiver of the system signals, and the second output is connected to the input of the receiver of the GNSS signals, and the outputs of the multi-channel the system signal receiver and the GNSS signal receiver are connected to the inputs of the information storage unit, the output of which is connected to the input of the transmitting unit, which during transmission of the accumulated data is connected via dedicated radio channels to the information collection and processing center, or connected to a mobile information carrier.
  • each measuring station of the system is a portable device, which additionally includes a GNSS signal receiver, an information storage unit and a transmitter unit, and the receiving antennas are omnidirectional, and the transmitter of the interrogation signal is combined with one of the measuring points - they are connected to a common reference generator and have a common time scale, and a GNSS-like signal emitted by the on-board equipment is received by the measuring points phase interferometer, in each of which it simultaneously with GNSS signals are received by the receiving antenna, the first output of which is connected to the input of the multichannel signal receiver of the system, and the second output is connected to the input of the GNSS signal receiver, and
  • SUBSTITUTE SHEET (RULE 26) diochannels with a data collection and processing center, or connected to a mobile data carrier.
  • Figure 1 shows a General diagram of the proposed system.
  • FIG. 2 shows the architecture of the proposed system (option 1).
  • FIG. 3 shows the architecture of the proposed system (option 2).
  • FIG. 4 shows a diagram of a measuring station, which is an integral part of the proposed system.
  • SUBSTITUTE SHEET (RULE 26) connected via dedicated radio channels to the center for collecting and processing information 5 or connected to a mobile storage medium.
  • the multi-position phase trajectory measurement system operates as follows, realizing the method of trajectory measurements.
  • the session of trajectory measurements covers the period from the start to the end of the flight of a controlled object equipped with on-board equipment 2.
  • the optimal system configuration for this path is determined - the minimum number of measurement points 4 required to determine the parameters
  • SUBSTITUTE SHEET (RULE 26) trajectories with the required accuracy, and the location of these measuring points 4.
  • Measuring points 4 should form a phase interferometer 3 with approximately perpendicular bases and, if necessary, additional, smaller measuring bases for more reliable disclosure of phase ambiguity.
  • the maximum bases of the phase interferometer 3 between the separated measuring points 4 depend on the shape of the planned flight path of the monitored object and can range from –1–50 km (when determining the parameters of the surface VLA trajectories) to ⁇ 100-1000 km (when determining parameters of the trajectories of spacecraft in the near and far space).
  • the system can be built according to option 2 (without the use of a request signal transmitter 1), if the dimensions of the base lines of the phase interferometer 3 of the system are comparable with the distances to the controlled object.
  • the controlled object for which it is planned to conduct a measurement session, is equipped with on-board equipment 2, which has a different composition depending on the chosen version of the system construction.
  • the on-board equipment 2 includes a receiver, a system request signal processing unit, a modulator and a transmitter of GNSS-like coherent signals at three frequencies (in selected decimeter L-band bands) emitted in the direction of ground receiving points (taking into account the delay and Doppler shift on the “ground-based transmitter-avionics” track).
  • the on-board equipment 2 contains a driver and a transmitter of GNSS-like coherent signals at three frequencies (in selected L-band bands).
  • the cost of on-board equipment in option 2 of building the system is significantly less than the cost of on-board equipment in option 1.
  • measuring points 4 and the interrogation signal transmitter 1 are installed in the planned places on the earth's surface or on the surface of the water on small swimming vehicles (boats) or on buoys. Elements of the system should be located in the planned places on the ground with an accuracy of several tens of meters. In order to accumulate GNSS measurements in an amount sufficient to determine the coordinates of measuring points 4 with the accuracy necessary for the effective operation of the system, as well as to refine the model of tropospheric delays, the elements of the system must be placed on the ground and their functioning started no later than less than 1 hour before the start of the flight of the controlled object, and turn them off and remove them no earlier than 1 hour after its end. Thus, the total interval of GNSS observations should begin at least one hour before the start of the trajectory measurement session and end one hour after its end. This will ensure the achievement of centimeter accuracy in determining the coordinates (current coordinates) of the receiving points of the trajectory measurement system.
  • a session of trajectory measurements is as follows.
  • the signals at three spaced carrier frequencies in the decimeter wavelength range emitted by the interrogation signal transmitter 1 are received by the on-board equipment 2 and relayed to the ground measuring points 4 of the phase interferometer 3, which measure the total distances and Doppler frequency offsets on the tracks “request signal transmitter 1 - on-board equipment 2 - measuring point 4”, as well as the differences of distances and their rate of change.
  • the signals at three spaced carrier frequencies in the decimeter wavelength range emitted by the onboard equipment 2 without request from the ground transmitter are received by measuring points 4 of the phase interferometer 3, which measure the differences distances “on-board equipment 2 - measuring point 4” and the speed of their change.
  • the rate of the measurement cycles and the output of the results of trajectory determinations is determined by the dynamics of the controlled object and is in the range of 1 ⁇ -10 Hz.
  • SUBSTITUTE SHEET (RULE 26) The system hardware setup provides for the possibility of changing the measurement rate.
  • measuring points 4 Simultaneously with the signals emitted by the on-board equipment 2 of the system, measuring points 4 perform and record measurements of GNSS signal parameters (both code and phase observations) at two frequencies. These measurements are used to implement accurate coordinate-time support of the system and refine tropospheric delay models.
  • the data accumulated in the information storage units 9 are transmitted through the transmitting unit 10 of each measuring point 4 to the information collection and processing center 5.
  • Data can be transmitted using dedicated radio channels, or the data can be transferred on a mobile medium information by the personnel servicing the system.
  • the information collection and processing center 5 based on 4 measurements of GNSS signals accumulated by measuring points, with the use of additional information (accurate ephemeris of GNSS satellites, if available, data on the signal propagation medium, measurement information of the nearest permanent GNSS reference stations, etc. ), the high-precision coordinate alignment of the phase centers of the receiving antennas 6 and the precise synchronization of the time scales of the measuring points 4 are performed. In the case when the measuring points 4 are located on the earth's surface, the coordinates of the phase centers of the receiving antennas 6 are determined with geodetic accuracy.
  • the coordinates of the phase centers of the receiving antennas 6 are estimated together with the motion parameters of the controlled object with an accuracy that allows to obtain the GNK positioning mode RTK (Real Time Kinematic).
  • the trajectory parameters of the monitored object are determined.
  • the system is designed to perform trajectory definitions of motion parameters of several objects simultaneously.
  • the system uses code separation of signals received from various monitored objects, which makes it possible to distinguish (identify) and separately evaluate signal parameters and save frequency resources.
  • a posteriori estimation of the accuracy of the system is performed by comparing the current parameters of the trajectory of the controlled object (in this case, an unmanned aerial vehicle, for example, a quadrocopter) obtained by the system and the reference parameters of the trajectory of the controlled object, the accuracy of which is several times higher than the accuracy of the system.
  • the system hardware is calibrated.
  • instrumental delays in the measuring paths of the system equipment are determined or refined, that is, systematic observation errors (interchangeable constants — code and phase delays of GNSS signals and signals of controlled objects, displacement of the antenna phase centers, etc.) used in the parameter definition session
  • measuring points of the system include GNSS signal receivers 8 of geodetic accuracy class, measuring points 4 (if they are located on the earth's surface and their coordinates are determined with geodetic accuracy), they can be used as a network of GNSS base stations and provide a wide range of consumers with differential corrections for measuring GNSS signals.
  • the method of performing trajectory measurements and the multi-position phase system of trajectory measurements are based on a combination of the principles of construction and operation of multi-position phase metric systems and modern GNSS technologies for accurate positioning, due to which, as studies have shown, they can achieve higher compared to analog logs of accuracy in determining the parameters of the trajectories of aircraft and spacecraft at any altitude in the range of up to 36 thousand km with a minimum of the complexity of developing the system, its implementation and operation.
  • AOT a priori accuracy assessment
  • the model of observation errors took into account the contributions of the following sources of measurement errors (loop ranges, code and phase differences of ranges, as well as their rate of change):
  • SUBSTITUTE SHEET (RULE 26) - residual errors in estimating discrepancies of time scales distributed in the space of the receiving points of the system;
  • Estimated values of the SQP for determining the motion parameters of surface (up to altitudes -150,200 km) highly dynamic aircraft are within -0.05 + 0.40 m in coordinates and ⁇ 0.5-I, 6 cm / s in terms of the velocity vector components.
  • the MFSTI was also simulated using real daily observations for January 10, 2013 of the measuring points of the system, combined with permanent GPS stations in Ukraine (GPS - Global Position System). GPS stations were selected as measuring points
  • SUBSTITUTE SHEET (RULE 26) GLSV, KHAR, KTVL, DNRS, IZUM, MEKL, NIZH, POLV, SHAB, UMAN and ZPRS.
  • the maximum baseline in this case was — 800 km.
  • One of the satellites of the working constellation GPS was chosen as a controlled object (KO) with unknown parameters of motion, its coordinates and components of the velocity vector were estimated from the MFSTI observations.
  • a posteriori accuracy assessment showed the possibility of achieving the following accuracy of trajectory definitions of spacecraft (GPS satellites as controlled objects):
  • the values of the SQP for determining the coordinates of the CO were in the range from ⁇ 0.16 m (planned coordinates) to -0.45 m (height); the values of the SEC of the components of the velocity vector of the KO (the accuracy of these parameters was evaluated only for the first version of MFSTI) were in the range of ⁇ 0.7—1.0 cm / s;
  • the values of the SQP for determining the coordinates of the QoS were in the range from ⁇ 21 m (planned coordinates) to ⁇ 25-50 m (height).
  • SUBSTITUTE SHEET (RULE 26) 7. A comprehensive way to navigate aircraft. - Patent of the Russian Federation for the invention N »RU 2 558 699 C1, published on 08/10/2015, bull. t 22.
  • SUBSTITUTE SHEET (RULE 26) 17. A method for simultaneously determining six motion parameters during trajectory measurements by one tracking station and a system for its implementation. - Patent of the Russian Federation for the invention Ns RU 2 555 247 Cl, published on July 10, 2015, bull. JV ° 19.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

Un procédé de réalisation de mesures de trajectoire et un système de mesures de trajectoire en phases à positions multiples pour sa mise en œuvre sont basés sur l'utilisation conjointe de principes de fonctionnement de systèmes à mesures de phases à positions multiples polygonaux et de technologies de positionnement précis sur la base de signaux des systèmes mondiaux de navigation par satellite (SMNS). Le procédé permet de mettre en œuvre des procédés par interférométrie télémétrique ou procédés interférométriques pour déterminer les coordonnées au moyen d'un équipement embarqué (2) qui retransmet des signaux de type SMNS reçus d'un émetteur au sol (1) ou émet ces signaux de manière autonome en direction de points de mesure (4) dont les coordonnées et les différences d'échelle de temps sont déterminées à l'aide de signaux SMNS.
PCT/UA2019/000148 2018-12-12 2019-11-28 Procédé de réalisation de mesures de trajectoire (et variantes) et système de mesures de trajectoire en phases à positions multiples pour sa mise en œuvre (et variantes) Ceased WO2020122852A1 (fr)

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CN114545465A (zh) * 2022-02-14 2022-05-27 中国科学院国家授时中心 一种甚低频脉冲源的天基无源定位方法及系统
RU2796411C1 (ru) * 2022-06-24 2023-05-23 Федеральное государственное казенное военное образовательное учреждение высшего образования "Военный учебно-научный центр Военно-воздушных сил "Военно-воздушная академия имени профессора Н.Е. Жуковского и Ю.А. Гагарина" (г. Воронеж) Министерства обороны Российской Федерации Устройство летного контроля наземных средств радиотехнического обеспечения полетов

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