RU2524045C2 - Method for determination of geographic position of observed area of observation equipment being moved relative to spacecraft, system for its implementation and device for arranging emitters on observation equipment - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: invention relates to space engineering. Method for determination of geographic position of observed area of observation equipment being moved relative to SC includes navigational measurements of SC movement, determination of centre of mass position and SC orientation, determination of observation equipment spatial position. Additionally, control commands are generated for emitting pulse ultrasonic signals by at least three emitters located in spaced points on observation equipment freely moved relative to SC, emitted pulse ultrasonic signals are received by at least three ultrasonic receivers located in spaced points on SC. Ultrasonic signal delay time is measured on the basis of emitted and received ultrasonic signals. Synchronisation of pulse ultrasonic signal emission and receive times is performed via radio channel. Temperature measurement is performed at locations of ultrasonic emitters and at locations of ultrasonic receivers. On the basis of ultrasonic signal receive delay times and measured temperatures the distances form ultrasonic emitters to ultrasonic receivers are determined. Geographic position of observation area is determined on the basis of SC centre of mass position relative to planet, SC orientation relative to planet and spatial position of observation equipment relative to SC calculated from distances from ultrasonic emitters to ultrasonic receivers. System for determination of geographic position of observed area of observation equipment being moved relative to SC includes SC centre of mass position determination unit, SC orientation determination unit, observed area geographic position determination unit. Additionally, following devices are introduced: at least three ultrasonic emitters and at least one temperature sensor installed on observation equipment, at least three ultrasonic receivers and at least one temperature sensor installed on SC, emitter control command generation unit, controllers, radio transceivers, signal amplifier, automatic gain control unit, multichannel analogue-to-digital converter, signal delay time measurement unit, synchroniser, unit for determination of observation equipment spatial position relative to SC. Device for emitters arrangement on observation equipment contains detachable connection one of detachable parts of which is rigidly connected with observation equipment. Additionally, at least three pillars are introduced on each one of which ultrasonic emitters are installed. The pillars are rigidly connected with the other detachable part of detachable connection. Emission axes of ultrasonic emitters are parallel to observation equipment sensing axis. Distances from ultrasonic emitters to observation equipment sensing axis are selected by proposed formula depending on dimensions of observation equipment lens and SC window through which observations are performed and on minimum distance from observation equipment to the window.

EFFECT: highly precise determination of geographic position of area being observed through observation equipment freely moved in zero gravity conditions relative to SC and having no mechanical connection with SC, while providing possibility to use various exchangeable observation devices.

3 cl, 3 dwg

Description

The invention relates to space technology and can be used in the observation and surveying of the Earth and other planets by the crews of manned spacecraft (SC) using manually moving observation equipment relative to the SC.

Images of the planet's surface contain useful target information about the observed surface, and the necessary condition for using this information is to determine the geographical coordinates of the obtained images of the observation area.

A known method for determining coordinates (Zlobin V.K., Eremeev V.V. Processing of aerospace images. Publishing house. FIZMAT LIT. 2006), according to which, to determine the coordinates of the images obtained, the shooting time is fixed using the spacecraft motion model, the position of the center of mass and orientation are calculated The spacecraft at the time of shooting in some inertial coordinate system, the known spatial position of the optical axis of the camera lens in the coordinate system of the spacecraft is recalculated into this coordinate system, after which, with a known lens geometry, yayut spatial position of a plurality of rays passing through the selected point and the image point of the lens focus, and the desired coordinates of the image points is calculated as coordinates of the intersection points of these rays with the surface of the planet.

A system that implements this method of determining coordinates (Zlobin V.K., Eremeev V.V. Processing of aerospace images. Publishing house. FIZMAT LIT. 2006) includes a block for recording shooting time, blocks for determining the motion and orientation of the spacecraft, blocks for determining the spatial position of the optical axis camera lens and calculating the coordinates of the image on the surface of the planet. The disadvantages of the data of the method and system include the need for external specification of information about the position of the camera lens in the spacecraft coordinate system at the time of shooting.

A device for locating the emitter on the monitoring equipment, made in the form of a built-in seat and means for hard mounting the flash (light emitter) on the camera (for example, f / a Canon A480). The disadvantage of this device is the lack of the ability to quickly change the emitter (for example, to repair it).

There is a method of determining the geographical coordinates of images of objects on the planet’s surface when shooting from a manned spacecraft (RF patent No. 2353902 dated 05/11/2007, IPC G01C 11/00 - a prototype of the method), based on fixing the moment of shooting and determining the spatial position of the camera taking into account the known position spacecraft mass center, according to which the basic spatial position of a freely moving survey camera is determined from the values of the spacecraft center of mass, the known orientation of the spacecraft at a fixed point in time, and the known the spatial position of the survey camera relative to the design of the spacecraft at this moment, simultaneously during the survey, measurements are taken of the angular velocity of rotation of the survey camera in an inertial coordinate system, which calculate the current spatial position of the survey camera relative to the base position, based on which the geographical coordinates of the object under study on the planet’s surface are calculated .

As a prototype system, a system was implemented that implements the prototype method (RF patent No. 2353902 dated 05/11/2007, IPC G01C 11/00), which includes a photo-video camera on which a block of angular velocity sensors and a device for securing recording moments are fixed, the outputs of which are connected to the inputs of the receiving device, the outputs of which are connected to the processing device, which contains a unit for determining the position of the center of mass of the spacecraft, a unit for determining the orientation of the spacecraft and a unit for determining the geographical coordinates of the observation area connected to them. The processing device solves the problem of determining the geographical coordinates of the observation area based on determining the position of the center of mass and the orientation of the spacecraft. At the same time, all elements of this system — the block of angular velocity sensors, the device for securing recording moments, the reception device and the processing device — are located on the spacecraft and / or have a wired connection with the spacecraft.

The disadvantages of the prototypes of the method and system include:

- the presence of mechanical (wire) communication of the blocks of angular velocity sensors rigidly fixed on the photo-video camera with the spacecraft limits the free movement of the observation equipment relative to the spacecraft in zero gravity conditions, in particular it limits the freedom of movement and actions of the astronaut when aiming and tracking the observation, when choosing an angle and observation and shooting conditions;

- accumulation of the error in determining the coordinates of the image with increasing time from the moment of fixing the basic spatial position of the shooting camera to the moment for which the geographical coordinates of the object to be calculated are calculated; this error is due to both the accumulation of the error of the computational scheme for using measurements of angular velocities, in which at each step of processing the measurements, the result obtained in the previous step is used, and the presence of an error in the direct measurement of angular velocities by angular velocity sensors;

- the need to place on the camera a complex and currently bulky device, which is a block of angular velocity sensors.

As a prototype of the device, the device for placing the emitter on the monitoring equipment, made in the form of a detachable connection for mounting a removable flash (light emitter) on the camera (Canon Flashlite 430EX II for f / a Canon EOS prototype of the device), was selected. The disadvantages of the prototype device include the fact that it does not provide for the installation of several emitters, including it does not provide an account of the requirements and limitations caused by the target, for which radiation of emitters is used.

The problem to which the present invention is directed is the high-precision determination of the geographic coordinates of the region observed through the observation equipment, freely moving in zero gravity relative to the spacecraft and not having a mechanical connection with it.

The technical result achieved by the implementation of the present invention is to ensure the determination with high accuracy of the geographical coordinates of the region observed through the monitoring equipment, freely moving in zero gravity relative to the spacecraft and not having mechanical connection with it, while making it possible to use various interchangeable monitoring equipment.

The technical result is achieved by the fact that in the method for determining the geographical coordinates of the observation area of the observation equipment moved relative to the spacecraft, including determining the position of the center of mass and orientation of the spacecraft and determining the spatial position of the observation equipment, additionally generate control commands for the emission of pulsed ultrasonic signals by at least three ultrasonic emitters placed at spaced points on a free path monitoring equipment installed relative to the spacecraft, receive emitted pulsed ultrasonic signals by at least three ultrasonic receivers located at spaced points on the spacecraft, the delay time of ultrasonic signals is measured from the emitted and received ultrasonic signals, and the synchronization of the moments of radiation and reception of pulsed ultrasonic signals carried out by radio, measure the temperature at the locations of ultrasonic emit spruce and in the locations of ultrasonic receivers, from the received delay times of receiving ultrasonic signals and temperature measurements, determine the distances from the ultrasonic emitters placed on the observation equipment to the ultrasonic receivers placed on the spacecraft, and determine the geographical coordinates of the observation area by the position of the center of mass of the spacecraft relative to the planet, the orientation of the spacecraft relative to the planet and the spatial position of the equipment was observed I'm relatively spacecraft calculated by said distance from the equipment placed on the observation ultrasonic transducers to placed on the spacecraft ultrasonic receivers.

The technical result is also achieved by the fact that the system for determining the geographical coordinates of the observation area of the observation equipment moved relative to the spacecraft includes a unit for determining the position of the center of mass of the spacecraft and a unit for determining the orientation of the spacecraft, the outputs of which are connected to, respectively, the first and second inputs of the unit for determining geographical coordinates field of observation, additionally contains at least three ultrasonic emitters and at least one sensor temperatures installed on the monitoring equipment using a device for emitting radiators on the monitoring equipment, at least three ultrasonic receivers and at least one temperature sensor installed on the spacecraft, emitter control command generation unit, controllers, radio transceivers, signal amplification unit, automatic gain control, multi-channel analog-to-digital converter, block for measuring the delay time of signals, synchronizer, block for determining the spatial position observation equipment relative to the spacecraft, while the inputs of the ultrasonic emitters are connected to the outputs of the emitter control command generation unit, the input of which is connected to the first output of the first controller, the second output and the first and second inputs of which are connected to, respectively, the input and output of the first radio transceiver and output a temperature sensor installed on the monitoring equipment, the outputs of the ultrasonic receivers connected to the inputs of the signal amplification unit, the outputs of which are connected with the inputs of the automatic gain control unit, the outputs of which are connected to the inputs of a multi-channel analog-to-digital converter, the output of which is connected to the first input of the signal delay time measurement unit, the second input of which is connected to the output of the synchronizer, which is also connected to the first input of the second controller, the second input and the first and second outputs of which are connected to, respectively, the output and input of the second radio transceiver and the first input of the unit for determining the spatial position of the equipment relative to the spacecraft, the second and third inputs and the output of which are connected to, respectively, the output of the signal delay time measuring unit, the output of the temperature sensor installed on the spacecraft, and the third input of the unit for determining the geographic coordinates of the observation area.

The technical result is also achieved by the fact that the device for placing emitters on the monitoring equipment containing a detachable connection, one of the detachable parts of which is rigidly connected to the monitoring equipment, additionally contains at least three rods, on each of which ultrasonic emitters are placed, while the rods are rigidly connected on the other of the detachable parts of the detachable connection, the radiation axes of the ultrasonic emitters being parallel to the sensitivity axis of the monitoring equipment, and the distances from each about an ultrasonic emitter up to the sensitivity axis of the monitoring equipment, at least K values determined by the ratio

, $$K=R+\frac{2\cdot P\cdot L^2}{\sqrt{{\left(K-R\right)}^2+L^2}\cdot \left(D-\frac{R\cdot L}{K-R}\right)-2\cdot P\cdot \left(K-R\right)}$$

,

where R is the radius of the lens of the observation equipment;

L is the length of the lens of the monitoring equipment, measured from the projection of the ultrasonic emitter onto the sensitivity axis of the monitoring equipment;

P is the maximum of the distances from the center of the porthole of the spacecraft through which the observation is made to the ultrasonic receivers located on the edge of the porthole;

D is the minimum distance from the lens of the observation equipment to the porthole of the spacecraft through which the observation is carried out, in the direction of the sensitivity axis of the observation equipment.

The invention is illustrated in figure 1 ÷ 3, which presents:

figure 1 is a block diagram of the proposed system that implements the proposed method;

figure 2 - diagram of the proposed device for the placement of emitters on the observation equipment in its working position relative to the ultrasonic receivers located on the window of the spacecraft;

figure 3 is a diagram explaining the calculation of the distance from the ultrasonic emitters to the sensitivity axis of the observation equipment.

Figure 1 introduced the following notation:

1 - spacecraft;

2 - surveillance equipment;

3 - device placement emitters on the monitoring equipment;

4, 5, 6 - ultrasonic emitters;

7 - temperature sensor installed on the monitoring equipment;

8, 9, 10 - ultrasonic receivers;

11 - temperature sensor mounted on the spacecraft;

12 - unit for generating control commands for emitters;

13, 14 - the first and second controllers;

15, 16 - the first and second radio transceivers;

17 - signal amplification unit;

18 - block automatic gain control;

19 - multi-channel analog-to-digital Converter;

20 is a block measuring the delay time of the signals;

21 - synchronizer;

22 is a block for determining the spatial position of the observation equipment relative to the spacecraft;

23 - block determining the geographical coordinates of the observation area;

24 - block determining the position of the center of mass of the spacecraft;

25 - block determining the orientation of the spacecraft.

Figure 2 additionally introduced the notation:

26 - detachable connection;

27, 28, 29 - rods;

30 - a lens of surveillance equipment;

31 - spacecraft window.

In Fig. 3, the notation is additionally introduced:

A is the projection of the ultrasonic emitter on the sensitivity axis of the observation equipment;

AB - axis sensitivity of the monitoring equipment;

C is the center of the porthole;

S is the angle between the axis of sensitivity of the observation equipment and the plane of the porthole;

Q is the angle between the axis of sensitivity of the observation equipment and the direction from the ultrasonic emitter to the ultrasonic receiver.

To measure the six coordinates of the spatial position of the observation equipment — three linear and three angular parameters — it is necessary to use at least three ultrasonic emitters placed on the observation equipment and at least three ultrasonic receivers placed on the spacecraft. Temperature sensors, the measurements of which are used to determine the current propagation velocity of ultrasonic signals between emitters and receivers, can be placed either directly next to each emitter and each receiver, or one at a time in the observation equipment and on the spacecraft.

The description of the method is compatible with the description of the system for its implementation using three ultrasonic emitters and one temperature sensor installed on the monitoring equipment, and three ultrasonic receivers and one temperature sensor installed on the spacecraft.

In this embodiment, the system for determining the geographical coordinates of the observation region of the observation equipment moved relative to the SC contains: SC 1, a monitoring apparatus 2, a device for placing emitters on the monitoring apparatus 3, three ultrasonic emitters 4, 5, 6 and a temperature sensor 7 installed on the monitoring apparatus 2 s using a device for placing emitters on observation equipment 3, three ultrasonic receivers 8, 9, 10 and a temperature sensor 11 installed on KA 1, a unit for generating control commands for emitters 12, two controllers 13, 14, two radio transceivers 15, 16, a signal amplification unit 17, an automatic gain control unit 18, a multi-channel analog-to-digital converter 19, a unit for measuring the delay time of signals 20, a synchronizer 21, a unit for determining the spatial position of the observation equipment relative to the spacecraft 22, a unit for determining the geographical coordinates of the observation area 23, a unit for determining the position of the center of mass of the spacecraft 24, a block for determining the orientation of the spacecraft 25.

The first radio transceiver 15 is installed on surveillance equipment 2.

The second radio transceiver 16 is installed on KA 1.

Ultrasonic emitters 4, 5, 6 are placed on the device for placing emitters on the observation equipment 3, which is mounted on the observation equipment 2. Such an installation of ultrasonic emitters corresponds to the fact that the ultrasonic emitters 4, 5, 6 are located at points with known coordinates in the associated observation equipment 2 coordinate system. The inputs of the ultrasonic emitters 4, 5, 6 are connected to the outputs of the unit for generating control commands for emitters 12, the input of which is connected to the first output of the first controller 13, the second output and the first and second inputs of which are connected to, respectively, the input and output of the first radio transceiver 15 and the sensor output temperature 7 installed on the monitoring equipment 2.

Ultrasonic receivers 8, 9, 10 are placed at spaced points with known coordinates in the coordinate system associated with SC 1. The outputs of the ultrasonic receivers 8, 9, 10 are connected to the inputs of the signal amplification unit 17, the outputs of which are connected to the inputs of the automatic gain control unit 18, the outputs of which are connected to the inputs of the multi-channel analog-to-digital converter 19, the output of which is connected to the first input of the signal delay time measurement unit 20, the second input of which is connected to the output of the synchronizer 21, which is also connected to the first input of the second controller 14, the second input and the first and second outputs of which are connected to, respectively, the output ohm and the input of the second radio transceiver 16 and the first input of the block for determining the spatial position of the observation equipment relative to KA 22, the second and third inputs and output of which are connected to, respectively, the output of the unit for measuring the delay time of signals 20, the output of the temperature sensor 11 installed on KA 1, and the input of the unit for determining the geographical coordinates of the observation area 23, the other inputs of which are connected to the outputs of the unit for determining the position of the center of mass of the spacecraft 24 and the block for determining the orientation of the spacecraft 25.

At the beginning of each measurement frame, the synchronizer 21 generates a trigger trigger pulse, which arrives at the signal delay time measuring unit 20 and simultaneously through the second controller 14, the second and first radio transceivers 16, 15 and the first controller 13 to the emitter control command generation unit 12.

Upon receipt of the aforementioned signal, the unit for generating control commands for emitters 12 sequentially generates pulses with a fixed time delay τ between them at their outputs. These pulses are fed to ultrasonic emitters 4, 5, 6, which alternately generate pulsed ultrasonic signals.

The emitted ultrasonic signals are received using ultrasonic receivers 8, 9, 10 located on the spacecraft. The mentioned time delay between pulsed ultrasonic signals τ is determined by the working area of the observation equipment relative to the spacecraft, which is determined by the maximum possible distance from the observation equipment to each of the ultrasonic receivers placed on the spacecraft . Moreover, the frequency of the synchronizer 21 generating triggering pulses by the synchronizer 21 is determined by the given time delay τ and the total number of ultrasonic emitters.

The received ultrasonic signals through the signal amplification unit 17 and the automatic gain control unit 18 are fed to a multi-channel analog-to-digital converter 19, from the output of which the digitized values are fed to the input of the signal delay time measurement unit 20.

The signal delay time measuring unit 20 analyzes the digitized values of the signals of the receivers 8, 9, 10, separates the working signals received from the emitters 4, 5, 6 from the noise, and calculates the time delays between the start pulse and the received working signals. Moreover, since the emitted pulsed ultrasonic signals are separated in time, then in each of the receivers the received working signals are also separated in time.

From the output of the unit for measuring the delay time of the signals 20, the measured delay times of the signals are sent to the unit for determining the spatial position of the observation equipment relative to the spacecraft 22.

The signal from the temperature sensor 7, installed on the monitoring equipment 2, through the first controller 13, the first and second radio transceivers 15, 16 and the second controller 14 is supplied to the block for determining the spatial position of the monitoring equipment relative to the spacecraft 22.

The signal from the temperature sensor 11 mounted on the spacecraft 1 also arrives at the block for determining the spatial position of the observation equipment relative to the spacecraft 22.

In the block for determining the spatial position of the observation equipment relative to KA 22, the distances between ultrasonic emitters 4, 5, 6 and ultrasonic receivers 8, 9, 10 are calculated from the obtained delay times, and the speed of sound is calculated taking into account the average temperature obtained from temperature sensors 7, 11. Based on the obtained distances, the spatial position of the observation equipment relative to the spacecraft is calculated, namely, the linear and angular coordinates of the observation equipment in the coordinate system associated with the spacecraft, which They are transmitted to the block for determining the geographical coordinates of the observation area 23.

In the block for determining the position of the center of mass of the spacecraft 24 and the block for determining the orientation of the spacecraft 25, which can be performed on the basis of the navigation measurements of the motion of the spacecraft, the position of the center of mass and the orientation of the spacecraft relative to the planet are determined, which are also transmitted to the block for determining the geographical coordinates of the observation area 23.

In the block for determining the geographical coordinates of the observation area 23, the geographical coordinates of the observation area are determined by the position of the center of mass and the orientation of the spacecraft relative to the planet and the spatial position of the observation equipment relative to the spacecraft.

The device for placing emitters on the observation equipment 3, used in the described system for determining the geographical coordinates of the observation region moved relative to the SC of the observation equipment, contains a detachable connection 26, one of the detachable parts of which is rigidly connected to the observation equipment 2, and three rods 27, 28, 29 with the on them by ultrasonic emitters 4, 5, 6. The rods 27, 28, 29 are rigidly connected to the other of the detachable parts of the detachable connection 26. The radiation axes of the ultrasonic emitters 4, 5, 6 are parallel to the axis h sensitivity of surveillance equipment. The distances from each ultrasonic emitter to the sensitivity axis of the monitoring equipment are selected at least K, determined by the ratio

$$K=R+\frac{2\cdot P\cdot L^2}{\sqrt{{\left(K-R\right)}^2+{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="00000014.png,00000015.png"\; state="\{\{state\}\}">L</figure-callout>}}^2}\cdot \left(D-\frac{R\cdot L}{K-R}\right)-2\cdot P\cdot \left(K-R\right)},\left(\mathrm{one}\right)$$

where R is the radius of the lens of the observation equipment;

L is the length of the lens of the monitoring equipment, measured from the projection of the ultrasonic emitter onto the sensitivity axis of the monitoring equipment;

P is the maximum of the distances from the center of the porthole of the spacecraft through which the observation is made to the ultrasonic receivers located on the edge of the porthole;

D is the minimum distance from the lens of the observation equipment to the porthole of the spacecraft through which the observation is carried out, in the direction of the sensitivity axis of the observation equipment.

The fulfillment of relation (1) ensures the presence of direct visibility between the ultrasonic emitters installed on the observation equipment and the radiation receivers installed around the perimeter of the spacecraft porthole used for observation, at any location of the observation equipment relative to the spacecraft window at the time of observation, namely at any possible values angles between the sensitivity axis of the observation equipment and the directions from the ultrasonic emitters to the ultrasonic receivers and between the sensing axis the accuracy of the observation equipment and the plane of the porthole, taken by them at the moments of observation (at these moments, the sensitivity axis of the observation equipment passes through the porthole through which the observation is performed).

Relation (1) can be obtained from the following formulas, graphically illustrated in FIG. From the right triangle AEG we have:

, $$\sin Q=\frac{K-R}{\sqrt{{\left(K-R\right)}^2+L^2}},\left(2\right)$$

$$\cos Q=\frac{L}{\sqrt{{\left(K-R\right)}^2+{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="00000014.png,00000015.png"\; state="\{\{state\}\}">L</figure-callout>}}^2}}$$

, $$\sin Q=\frac{K-R}{\sqrt{{\left(K-R\right)}^2+{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="00000014.png,00000015.png"\; state="\{\{state\}\}">L</figure-callout>}}^2}},\left(2\right)$$

$$tgQ=\frac{K-R}{L}=\frac{R}{ME},\left(3\right)$$

$$ME=\frac{L\cdot R}{K-R}.\left(\mathrm{four}\right)$$

From a right triangle NEB we have:

, $$\sin Q=\cos S=\frac{FB}{2\cdot P},\left(5\right)$$

$$\cos Q=\sin S=\frac{\mathrm{<figure-callout\; id="2"\; label="N\; F"\; filenames="00000014.png,00000015.png"\; state="\{\{state\}\}">N\; </figure-callout>}F}{2\cdot P}$$

, $$\sin Q=\cos S=\frac{\mathrm{<figure-callout\; id="2"\; label="F\; B"\; filenames="00000014.png,00000015.png"\; state="\{\{state\}\}">F\; </figure-callout>}B}{2\cdot P},\left(5\right)$$

$$tgQ=\frac{NF}{D-FB-ME}=\frac{2\cdot P\cdot \cos Q}{D-2\cdot P\cdot \sin Q-\frac{L\cdot P}{K-R}},\left(6\right)$$

Equating the right-hand sides of (3) and (6) we obtain:

$$\frac{K-R}{L}=\frac{2\cdot P\cdot \cos Q}{D-2\cdot P\cdot \sin Q-\frac{L\cdot P}{K-R}},\left(7\right)$$

whence, taking into account (2), follows (1). The calculation of the value of K from relation (1) can be carried out, for example, by the iterative method of successive approximations, according to which the calculations begin with some initial approximation K ₀ and each subsequent approximation K _{i is} calculated by the formula:

$$K_i=Fun\left(K_{i-\mathrm{one}}\right),i=\mathrm{1,2,3}...,\left(8\right)$$

where Fun (K) is the right-hand side of relation (1). The calculations end when the difference between K _i and K _i-1 becomes less than the required accuracy in calculating the value of K.

Ultrasonic emitters can be placed in one plane perpendicular to the sensitivity axis of the observation equipment. Also, each ultrasonic emitter can be placed at equal distances from the two ultrasonic emitters closest to it and at equal distances from the sensitivity axis of the observation equipment. In this case, the ultrasonic receivers can also be placed in one plane, which is parallel to the plane of the spacecraft porthole through which the observation is carried out, at equal distances from the two ultrasonic receivers closest to each receiver and at equal distances from the center of the porthole.

Such an arrangement of emitters, on the one hand, will make it possible to reduce the external dimensions of the device for placing emitters on the observation equipment, and on the other hand, it will maximize the spatial distribution of emitter placement points, thereby maximizing the accuracy of determining the spatial position of the observation equipment relative to the spacecraft.

In the present invention, the frequency range of operation of radio transceivers is selected based on safety requirements, the absence of interference and interference with the operation of other standard radio equipment inside a manned spacecraft. Nominally, these radio transceivers can work, for example, in the Wi-Fi range (2.4 GHz frequency) using the SimpliciTI protocol.

As ultrasonic emitters and receivers, for example, ultrasonic sensors from Murata Manufacturing Co., Ltd. can be used. (www.murata.com): MA40E8-2 - an ultrasonic transceiver, MA40E7R - an ultrasonic receiver, MA40E7S - an ultrasonic emitter, while the weight of the sensor does not exceed 5 grams with dimensions of several millimeters. The frequency range of operation of ultrasonic emitters is also selected based on safety requirements, the absence of interference and interference with the operation of other standard radio equipment inside a manned spacecraft. The nominal operating frequency of ultrasonic emitters may be, for example, 40 kHz.

As temperature sensors can be used, for example, precision temperature sensors TMP35, TMP36, TMP37 from Analog Devices or temperature sensors built into modern microcontrollers.

In the present invention, a limited number of elements are required to be placed on the guidance device, the main of which are ultrasonic emitters, a temperature sensor and a radio transceiver. The low weight and dimensions of modern ultrasonic emitters, a temperature sensor, and a radio transceiver minimize the weight and dimensions of the elements that need to be placed on the guidance device.

We describe the technical effect of the invention.

The proposed method and system for determining the geographical coordinates of the observation region of the observation equipment moved relative to the spacecraft provides high-precision determination of the geographical coordinates of the region observed through the observation equipment, freely moving under zero gravity relative to the spacecraft and not having a mechanical connection with it, while making it possible to use various interchangeable observation equipment, including the possibility of any movement of the spacecraft operator required in the process I observations by manual observation equipment.

The achievement of the technical result in the proposed method and system is provided:

- in terms of ensuring the possibility of free movement of observation equipment in zero gravity relative to the spacecraft and the exclusion of mechanical (including wired) communication of the monitoring equipment with the spacecraft - using pulsed ultrasonic signals emitted by at least three ultrasonic emitters placed on the observation equipment, received at least than three ultrasonic receivers located on the spacecraft, as well as synchronizing the moments of radiation and receiving pulsed ultrasonic signals by rad okanalu between the radio transceiver placed on the spacecraft, and RF Transceiver, placed on the equipment monitoring;

- in terms of eliminating the dependence of the accuracy of determining the geographic coordinates of the observation area on changes in the propagation speed of ultrasonic signals - by measuring the temperature at the locations of ultrasonic emitters and at the locations of ultrasonic receivers and taking into account temperature measurement data when determining the current propagation speed of ultrasonic signals between emitters and receivers;

- in terms of ensuring the identification of signals emitted by different emitters - using a temporary separation method in which ultrasonic emitters send pulsed signals alternately with a time delay;

- in terms of eliminating the accumulation of errors in determining the coordinates of the observation area — by determining the coordinates of the observation area from measurements of the delay time of ultrasonic signals and the spatial position of the spacecraft taken directly at the current time;

- in terms of reducing the dimensions of the elements placed on the observation equipment - using as elements that must be placed on the monitoring equipment, ultrasonic emitters and temperature sensors, which have a negligible mass and dimensions with respect to the observation equipment.

Including the achievement of the technical result in the proposed system is provided by the introduction of the proposed temperature sensors, radio transceivers, a unit for determining the spatial position of the observation equipment relative to the spacecraft and functional blocks that implement radiation, reception and described processing of ultrasonic signals, as well as the introduction of the proposed functional relationships between the blocks and the proposed design already known blocks.

The proposed device for placing emitters on the observation equipment provides synchronization of the movement of the observation equipment and ultrasonic emitters while ensuring the geometrical parameters of the location of the ultrasonic emitters relative to the observation equipment required for high-precision determination of the geographical coordinates of the observation area and providing the possibility of using various interchangeable observation equipment.

The achievement of the technical result in the proposed device for placing emitters on the monitoring equipment is provided by the proposed placement of the emitters on this device through the proposed rods, which are in the proposed manner connected to the monitoring equipment, as well as the proposed placement of the emitters relative to the monitoring equipment, including placing them at the proposed distance to the sensitivity axis surveillance equipment while providing the possibility of using various interchangeable equipment s observations.

The performed evaluation of the effectiveness of the application of the proposed invention on the International Space Station (ISS) showed that its use will qualitatively increase the efficiency of performing cartographic “referencing” of the results of geophysical observations carried out through the ISS portholes, while ensuring the unique speed of performing a targeted interpretation of any number of images obtained using various observation equipment located on the ISS.

Industrial execution of the essential features characterizing the invention is not complicated and can be performed using known technologies.

Claims (3)

1. A method for determining the geographic coordinates of the observation area of the observation equipment moved relative to the spacecraft, including determining the position of the center of mass and orientation of the spacecraft and determining the spatial position of the observation equipment, characterized in that they generate control commands for the emission of pulsed ultrasonic signals by at least three ultrasonic emitters placed at spaced points on freely moving relative to space the apparatus of the monitoring equipment, emitted pulsed ultrasonic signals are received by at least three ultrasonic receivers located at spaced points on the spacecraft, the delayed time of ultrasonic signals is measured from the emitted and received ultrasonic signals, while the moments of radiation and reception of pulsed ultrasonic signals are synchronized via the radio channel carry out temperature measurement at locations of ultrasonic emitters and at locations of ultrasound new receivers, from the obtained delay times of receiving ultrasonic signals and temperature measurements, determine the distances from the ultrasonic emitters placed on the observation equipment to the ultrasonic receivers placed on the spacecraft and determine the geographical coordinates of the observation area by the position of the center of mass of the spacecraft relative to the planet, the orientation of the spacecraft relative to the planet, and spatial position of the observation equipment relative to the spacecraft calculated by the mentioned distances from the ultrasonic emitters placed on the observation equipment to the ultrasonic receivers placed on the spacecraft. 2. A system for determining the geographic coordinates of the observation area of the observation equipment moved relative to the spacecraft, including a unit for determining the position of the center of mass of the spacecraft and a unit for determining the orientation of the spacecraft, the outputs of which are connected to the first and second inputs of the unit for determining the geographic coordinates of the observation area, characterized in that at least three ultrasonic emitters and at least one temperature sensor installed are additionally installed on observation equipment using a device for emitting emitters on observation equipment, at least three ultrasonic receivers and at least one temperature sensor installed on the spacecraft, emitter control command generation unit, controllers, radio transceivers, signal amplification unit, automatic gain control unit, multichannel analog-to-digital converter, block for measuring the delay time of signals, synchronizer, block for determining the spatial position of observation equipment relative to the spacecraft, wherein the inputs of the ultrasonic emitters are connected to the outputs of the emitter control command generation unit, the input of which is connected to the first output of the first controller, the second output and the first and second inputs of which are connected to, respectively, the input and output of the first radio transceiver and the output of the temperature sensor, installed on the monitoring equipment, and the outputs of the ultrasonic receivers are connected to the inputs of the signal amplification unit, the outputs of which are connected to the inputs of the unit automatically gain adjustment, the outputs of which are connected to the inputs of a multi-channel analog-to-digital converter, the output of which is connected to the first input of the signal delay time measurement unit, the second input of which is connected to the output of the synchronizer, which is also connected to the first input of the second controller, the second input and the first and second the outputs of which are connected to, respectively, the output and input of the second radio transceiver and the first input of the unit for determining the spatial position of the observation equipment relative to the space the second apparatus, the second and third inputs and the output of which are connected to, respectively, the output of the signal delay time measuring unit, the output of the temperature sensor installed on the spacecraft, and the third input of the geographic coordinates determining unit of the observation area. 3. A device for placing emitters on the monitoring equipment, comprising a detachable connection, one of the detachable parts of which is rigidly connected to the monitoring equipment, characterized in that at least three rods are additionally inserted, each of which has ultrasonic emitters, and the rods are rigidly connected to the other of the detachable parts of the detachable connection, the radiation axes of the ultrasonic emitters being parallel to the sensitivity axis of the observation equipment, and the distances from each ultrasonic emitter For the sensitivity axis of the observation equipment, no less than the value of K determined by the relation

,
where R is the radius of the lens of the observation equipment;
L is the length of the lens of the monitoring equipment, measured from the projection of the ultrasonic emitter onto the sensitivity axis of the monitoring equipment;
P is the maximum of the distances from the center of the porthole of the spacecraft through which the observation is made to the ultrasonic receivers located on the edge of the porthole;
D is the minimum distance from the lens of the observation equipment to the porthole of the spacecraft through which the observation is carried out, in the direction of the sensitivity axis of the observation equipment.

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