Patent RU-2006794-C1 (RU)
Inventor: KHUDYAKOV DMITRIJ V
IPC: G01C23/00
Filed: 1991-11-22
Granted: 1994-01-30
Abstract: FIELD: navigation. SUBSTANCE: method of determination of coordinates of vehicle uses pulse optical radar mounted on vehicle with measurement plane of reception-transmission directivity diagram rotating about axis and controlled two-coordinate slides of rotational axis of measurement plane. In scanning plane perpendicular to rotational axis of measurement plane there are measured azimuthal angles between observing lines of not less than three spaced registration reflectors, azimuthal angle between fixed zero position of rotating measurement plane of pulse optical radar and observing line of one of registration reflectors, time intervals between moments of coincidence of rotating measurement plane of pulse optical radar with registration reflectors. Then there is measured time interval between moment of passing of fixed zero position of measurement plane of pulse optical radar and moment of its coincidence with one of registration reflectors. With their measured time interval there are determined azimuthal angles between observing lines of registration reflectors and azimuthal angle between zero position of measurement plane of pulse optical radar and one of registration reflectors. Moment of pulse location of due registration reflector is formed with allowance for time intervals measured at preceding moments, distance to due registration reflector and duration of location pulse. Additional rotating reception-transmission directivity diagram of pulse optical radar which measurement plane deviates by certain angle from measurement plane of principle diagram along axis lying in measurement plane of principle diagram and perpendicular to rotation axis of both diagram is formed. There are measured time intervals between moments coincidence of each registration reflector with measurement planes. Angular position of each of registration reflector with respect to scanning plane is determined by measured time intervals and period of rotation of diagram in system of coordinates of stationary registration reflectors calculated by summing time intervals between moments of location of all registration reflectors with due account of geometry of positioning of both measurement planes. By measured azimuthal angles, by measured angular positions of registration reflectors and by their predetermined three-dimensional coordinates three-dimensional linear coordinates of pulse optical radar and its angular position in space are determined, i. e. angular position of scanning plane and of zero position of rotating measurement plane. Three-dimensional linear and angular coordinates of required element of vehicle are determined by linear and angular coordinates of pulse optical radar and by measured angular position of scanning plane with reference to vehicle with allowance for position of pulse optical radar on vehicle. By angular positions of registration reflectors control over position of scanning plane of pulse optical radar is conducted with keeping of registration reflectors within field of vision of pulse optical radar. EFFECT: increased accuracy of measurement of coordinates and of running of vehicle, provision for three-dimensional measurements. 3 dwg