RU2362981C2 - Automatic unmanned diagnostic complex - Google Patents

Abstract

FIELD: electric engineering.

SUBSTANCE: invention relates to diagnostic devices; it can be used for systematic remote status control of gas pipe-lines and gas storage areas. Automatic unmanned diagnostic complex includes automatic control system, GPS satellites, navigation system, inertial navigation system, receiving equipment of navigation satellite system, real coordinates computer of navigation satellite system, radio beacon, system of air velocity signals, low-range radio altimeter, automatic remote control system, electronic guidance system, infological unit, receiving equipment of electronic guidance system, TV surveillance system, radiotelemetry system, system of automation onboard operation control for remotely controlled aircraft (RCA) with computer, engine control system, computer of automatic control system, radio relay, onboard system control unit, onboard information tank, landing and parachute deployment system, control unit for remote status control system of gas pipe-lines, electronic altimeter set, ground command facility, ground command console, launcher, rescue system and rudder. Radiotelemetry system contains two radio stations located at RCA and ground command facility respectively; each radio station includes high-frequency generator, source of discrete messages and commands, the first mixer, the first heterodyne oscillator, amplifier of the first intermediate frequency, the first power amplifier, duplexer, the second power amplifier, the second mixer, the second heterodyne oscillator, amplifier of the second intermediate frequency, multiplier, band-pass filter, phase detector, amplitude modulator, source of analogue messages and commands, amplitude limiter and synchronous demodulator.

EFFECT: invention is oriented to functionality extension of RCA by means of exchange of radiotelemetry and command data between RCA and ground command facility with use of discrete and analogue messages, two frequencies and composite signals with combined phase-shift keying and amplitude modulation at one carrier frequency.

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Description

The proposed complex belongs to the field of diagnostic equipment and can be used for systematic remote monitoring of the state of main gas pipelines and storages, namely for early detection of leakages, damage and leaks in the gas pipeline, by providing better monitoring conditions, increasing the efficiency and reliability of the measured state parameters gas pipelines using diagnostic equipment mounted on a carrier - a remotely piloted aircraft tional apparatus (UAV).

Known systems and devices for remote monitoring of the state of gas pipelines (RF patents Nos. 2017138, 2040783, 2091759, 2158423, 2200900, 2256894; US patents Nos. 3490032, 3808519, 6229313; EP patent No 0.052.053; Wings of Russia magazine, 1998, M. Unmanned aircraft Pchelka-1T, models "Expert" and "Albatros", Design Bureau named after A.S.Yakovlev and others).

Of the known systems and devices closest to the proposed is the "Automatic unmanned diagnostic complex" (RF patent No. 2256894, G01M 3/00, 2003), which is selected as a prototype.

This complex provides a reliable exchange of radio telemetry and command information between a remotely piloted aircraft and a ground control station by using duplex radio communication at two frequencies and complex signals with phase shift keying.

However, the well-known complex for the exchange of radio telemetry and command information between a remotely piloted aircraft and ground control station uses only discrete messages and commands.

An object of the invention is to expand the functionality of the complex by exchanging radio telemetry and command information between a remotely piloted aircraft and a ground control station using discrete and analog messages and commands, two frequencies and complex signals with combined phase shift keying and amplitude modulation on one carrier frequency.

The problem is solved in that an automatic unmanned diagnostic complex containing a remotely piloted aircraft, including a glider, a power plant with a piston engine, an automatic control system with an onboard systems control unit, containing an inertial navigation system, receiving equipment of a satellite navigation system, and an air-speed system signals, a low-altitude radio altimeter and a real coordinate calculator connected to inertial navigation system and receiving equipment of the satellite navigation system, an automatic remote control system for the flight of the aircraft and the operation of its systems, including command receiving radio control equipment and a television viewing system, a radio relay system, an automatic control system for on-board systems, a radio telemetry system, a parachute landing and launch system, a system engine control, computer calculator automatic control system, beacon, diagnostic system master pipelines and a control unit for the diagnostic system located in the fuselage of the aircraft, while the calculator of the actual coordinates and the first input-output of the control unit of the diagnostic system are connected to the control unit on-board systems, the second input-output control of the diagnostic system is connected to the diagnostic system of the gas pipeline, and the third input-output is connected to the command radio control system, as well as a mobile ground control station with communication and control devices, a radio telemetry system The circuit is made in the form of two radio stations located on a remotely piloted aircraft and ground control station, respectively, each of which contains a high-frequency generator and a phase manipulator connected in series, the second input of which is connected to the output of the source of discrete messages and commands, the first local oscillator connected in series, the first mixer, the amplifier of the first intermediate frequency, the first power amplifier, duplexer, the input-output of which is connected to the transceiver antenna, the second a power amplifier, a second mixer, the second input of which is connected to the output of the second local oscillator, and an amplifier of the second intermediate frequency, connected in series to the output of the first local oscillator, a multiplier, a bandpass filter and a phase detector, the second input of which is connected to the output of the second local oscillator, and the output is the first output radio stations, while the frequencies ω _g1 and ω _g2 local oscillators are spaced at a second intermediate frequency

ω _g2 - ω _g1 = ω _pr2 ,

equipped with an amplitude modulator, a source of analog messages and commands, an amplitude limiter and a synchronous detector, and an amplitude modulator is connected to the output of the phase manipulator, the second input of which is connected to the output of the source of analog messages and commands, and the output is connected to the second input of the first mixer, to the output of the amplifier the intermediate frequency is connected in series with an amplitude limiter and a synchronous detector, the second input of which is connected to the output of the amplifier of the second intermediate frequency, and output is the second output of the radio station, the second input of multiplier connected to the output of the amplitude limiter, the radio placed on a remotely piloted aircraft, emits complex signals with the combined phase shift keying and amplitude modulation at the frequency ω ₁ = ω _pr1 = ω _r2, and receives at a frequency ω ₂ = ω _g1 , and a radio station located at a ground control point, on the contrary, emits complex signals with combined phase shift keying and amplitude modulation at a frequency of ω ₂ , and receives at a frequency of ω ₁ .

The structural diagram of an automatic unmanned remote system is presented in figure 1. The structural diagram of a radio station 15.1, placed on board a remotely piloted aircraft, is shown in figure 2. The structural diagram of the radio station 15.2, located at the ground control point 26, is shown in Fig.3. A frequency diagram illustrating a signal conversion process is shown in FIG. 4. Timing diagrams explaining the principle of operation of the radio telemetry system are shown in FIGS. 5 and 6.

The automatic unmanned diagnostic complex contains an automatic control system 1, satellites 2.i (i = 1, 2, ..., 24) of the Navstar or Glonass global navigation system, navigation system 3, inertial navigation system 4, receiving equipment 5 of satellite navigation Navstar or Glonass systems, calculator 6 of the actual coordinates of the satellite navigation system, a beacon 7, a system of 8 air-speed signals, a small-sized radio altimeter of 9 low altitudes, a system of 10 automatic remote control control system 11, radio control commands, information and logic unit 12, receiving equipment 13 of command radio control, surveillance television system 14, system 15 for radio telemetry, system 16 for automatic control of onboard systems of UAVs with a computer, engine management system 17, computer 18 for automatic control, radio relay 19, on-board systems control unit 20, on-board information storage device 21, parachute landing and release system 22, main gas supply system diagnostics system control unit 23 wires, radio altimeter 25, ground control point 26, ground control panel 27, launch catapult and rescue system 28, rudders 29 directions.

The radio telemetry system 15 contains two radio stations 15.1 and 15.2 located on the UAV and ground control station 26, respectively, each of which contains a high-frequency generator 30 (50) sequentially connected, a phase manipulator 31 (51), the second input of which is connected to the output of the source 32 ( 52) discrete messages and commands, an amplitude modulator 46 (54), the second input of which is connected to the output of the source 47 (53) of analog messages and commands, the first mixer 33 (56), the second input of which is connected to the output of the first local oscillator 34 (55), amplifier 3 5 (57) of a first intermediate frequency, a first power amplifier 36 (58), a duplexer 37 (59), the input-output of which is connected to a transceiver antenna 38 (60), a second power amplifier 39 (61), a second mixer 40 (63), the second input of which is connected to the output of the second local oscillator 41 (62), the second intermediate frequency amplifier 42 (64), the amplitude limiter 48 (65) and the synchronous detector 49 (66), the second input of which is connected to the output of the second intermediate frequency amplifier 42 (64) , and the output is the second output of the II radio station, connected in series to the output of the first the local oscillator 34 (55) multiplier 43 (67), the second input of which is connected to the output of the amplitude limiter 48 (65), the bandpass filter 44 (68) and the phase detector 45 (69), the second input of which is connected to the output of the second local oscillator 41 (62) , and the output is the first output of the first radio station.

Automatic unmanned diagnostic complex (ABDK) contains a UAV, the glider of which is made of cheap composite materials.

The UAV aerodynamic system contains a monoplane with a high sweep wing, a two-roll tail unit and a two-cylinder two-stroke piston engine with a fixed-pitch three-blade pushing propeller located at the rear of the fuselage. The wing center section houses soft fuel tanks. In the central part of the center section is a landing parachute. The tail is made two-keel. There is a stabilizer between the keels.

In front of the fuselage is a payload compartment. The engine is a reciprocating piston with a three-blade fixed-pitch propeller connected to the engine control system 17.

The UAV has a three-wheeled chassis. The main wheels have braking devices that simultaneously provide differential braking associated with the parachute landing and releasing system 22 connected to the onboard systems control unit 20.

Airborne UAV systems contain an automatic control system 1 consisting of two systems.

The first system is navigation 3, which includes: inertial navigation system (ANS) 4, receiving equipment 5 of the satellite navigation system (SNA) associated with satellites 2.i (i = 1, 2, ..., 24), system 8 is airborne -speed signals connected to the computer 18 of the automatic control system (ACS), a small-sized radio altimeter 9 low heights, connected to the unit 20 control on-board systems.

The second system is an automatic remote control system 10, which includes: a command radio control system 13, an overview television system 14.

The engine control system 17 is connected to the radio command system 11 and the onboard systems control unit 20. The radio telemetry system 15 is connected to the autocontrol system 16 connected to the input of the onboard systems control unit 20, the inputs of the ACS calculator 18 are connected to the air-speed signal system 8, the information and logic unit 12 is connected to the radio control command system 11, and the output of the calculator 18 is connected to the steering wheels directions 29. The on-board systems control unit 20 is connected to the outputs of the radio altimeter 25, the on-board data storage 21, the beacon 7, and the outputs of the parachute landing and release system 22 connected to the radio command system 11 a unit, control unit 23 of the diagnostic system, a computer 6 of the actual coordinates, the inputs of which are connected to the ANN 4 and receiving equipment 5 of the SNA. System 24 diagnostics of the state of the main gas pipelines are connected by their inputs and outputs to the control unit 23 of the diagnostic system.

The ground part contains a radio telemetry system 15, a television system 14, a launch catapult 28, connected to the ground control panel 27 of the ground control point 26.

In the control unit 23 of the diagnostic system control, a control unit for the functional state of the diagnostic system, a unit for accumulating diagnostic information, an on / off unit, a heating enable unit for the diagnostic equipment, and a calculation unit are built-in.

System 24 diagnostics of the state of the main gas pipelines contains a magnetometer connected to passive magnetometric sensors, a thermal imager, a laser gas analyzer, a television system and connected to the control unit 23 of the diagnostic system.

The flight and diagnostics of the state of gas pipelines using ABDK is as follows.

An automatic unmanned diagnostic complex provides the best conditions for monitoring and measuring the state of gas pipelines using on-board equipment. Navigation system 3 comprising ANN, receiving equipment 5 SNA, system 8 air-speed signals, radio altimeter 9 low altitude provides stabilization of the angular position of UAVs in all flight modes, flight control of UAVs along the programmed route, delivery of current coordinates of UAVs and other navigation information to consumers .

The system 10 of automatic remote control as part of a block 11 of the command logic unit 12, receiving equipment 13 command radio control, an overview of the television system 14 provides:

- correction or change of the UAV flight route;

- control of UAV systems when performing automatic take-off in an airplane;

- control of UAV systems when performing a full-time, emergency or emergency landing on an airplane;

- automatic piloting of the UAV, termination of the mission and return to the landing site, if necessary;

- flight safety of the UAV and gas pipelines in case of engine shutdown, failure of the command radio control line.

In extreme circumstances, the system switches the UAV flight control to itself and operates autonomously according to the logic recorded in the digital computer 21 in accordance with specific failures.

The UAV landing support system includes a parachute system and a three-wheeled chassis. The system ensures that the UAV landing in an aircraft on a prepared site.

Diagnosis is performed using a gas analyzer, a thermal imager, a magnetometric system for monitoring the cathodic protection of a pipeline installed on a UAV, using a television system. The thermal imager allows you to obtain a visible image of the studied pipeline by its own thermal (IR) radiation, determining the shape and position of the slightly heated and masked pipelines, in day and night conditions. Thermal anomalies created by main pipelines are associated with transport of heated gas and leaks from the pipeline.

For the operation of the diagnostic system, data are entered about the exact flight height above the pipe using a radio altimeter, about the angular coordinates of the glider, about the current coordinates of the terrain, coming from the NO to the computer of the control unit for the diagnostic system of the state of the main gas pipelines and then to the calculation and accumulation units.

During the flight, the surveillance television system transmits to the ground control point an overview of the terrain, the image, the current coordinates of the flight, information about the operation and failures of the on-board systems. The operator observes on the video camera the image of the pipe relative to the UAV along the visual grid. The image of the desired flight path is the reticle, a crosshair aimed at the target that must be maintained. The lenses of the thermal imager and the television system are automatically closed by means of shutters during take-off and landing. Through the command radio link from the ground, the operator adjusts the UAV flight, monitors the functional state of the diagnostic system, if necessary, heats it and controls the diagnostic system. As a result, the temperature contrast fields are measured with a thermal imaging system, then the concentration of the transported gas is measured by the gas analyzer. The determination of the magnetic field is recorded in accordance with the linear position of the magnetometer with respect to the pipeline. In this case, the scanning speed of the thermal imaging and television systems is established by the signal coming from the control unit 23, determined by the ratio of flight speed to altitude. The obtained measurements of the diagnostic system and the flight path parameters are sent to the calculator unit and then to the diagnostic information storage unit, which are built into the control unit 23 of the diagnostic system.

The calculator 6 uses integrated information processing (CFI), the result of which is the actual values of the parameters of the movement of the aircraft.

Improving the accuracy of the formation of the actual values of the flight and navigation parameters is achieved by using the optimal CFI with the implementation of the Kalman filter.

In the receiving equipment 5 of the SNA, the pseudorange is estimated by estimating the envelope delay of the pseudo-random sequences and the radial pseudo-rate by estimating the Doppler shift of the carrier frequency. A corresponding array of overhead information containing ephemeris, almanacs, time-frequency corrections, time stamps, information on the health of on-board equipment based on the measurement results is laid in the code signals. In the receiving equipment 5 of the SNA, the navigation-time problem is solved.

Radio stations 15.1 and 15.2 of the radio telemetry system 15 operate as follows.

The generator 30 high frequency generates a harmonic oscillation (Fig.5, a)

u _c1 (t) = U _c1 · cos (ω _c t + φ _c1 ), 0≤t≤T _c1 ,

where U _c1 , ω _c , ω _c1 , T _c1 is the amplitude, carrier frequency, initial phase and duration of the oscillation, which is supplied to the first input of the phase manipulator 31, the second input of which is supplied with the modulating code M ₁ (t) (Fig. 5, b) from the output of the source 32 discrete messages and commands. At the output of the phase manipulator 31, a complex signal with phase shift keying (PSK) is generated (Fig. 5, c)

u ₁ (t) = U _c1 · cos [ω _c t + φ _к1 (t) + φ _c1 ], 0≤t≤T _c1 ,

where φ _k1 (t) = {0, π} is the manipulated component of the phase that displays the law by phase manipulation in accordance with the modulating code M ₁ (t) (Fig. 5, b), and φ _k1 (t) = const at kτ _e <t <(k + 1) τ _e and can change stepwise at t = kτ _e , i.e. at the borders between elementary premises (k = 1, 2, ..., N ₁ -1);

τ _e , N ₁ - the duration and number of chips that make up the signal of duration T _c1 (T _c1 = τ _э · N ₁ ), which is fed to the first input of the amplitude modulator 46. The modulating function m ₁ (t ) (Fig. 5, d) from the output of the source 47 of analog messages and commands. The sources of discrete 32 and analog 47 messages and commands can be the current coordinates of the UAV, information about the operation and failures of on-board systems, etc. At the output of the amplitude modulator 46, a complex signal is generated with combined phase shift keying and amplitude modulation (QPSK-AM) (Fig. 5, e)

u ₂ (t) = U _c1 [1 + m ₁ (t)] · cos [ω _c t + φ _k1 (t) + φ _c1 ], 0≤t≤T _c1 ,

where m ₁ (t) is the modulating function that reflects the law of amplitude modulation, which is fed to the first input of the mixer 33, the second input of which is the voltage of the local oscillator 34

u _g1 = U _g1 · cos (ω _g1 + φ _g1 ).

At the output of the mixer 33, voltages of combination frequencies are generated. The amplifier 35 is allocated the voltage of the first intermediate (total) frequency (figure 5, e)

u _CR1 (t) = U _CR1 [1 + m ₁ (t)] · cos [ω _CR1 t + φ _k1 (t) + φ _CR1 ], 0≤t≤T _c1 ,

where U _pr1 = _^1/2 k ₁ · U · U _{r1 c1;}

k ₁ - gear ratio of the mixer;

ω _pr1 = ω _s + ω _g1 - the first intermediate frequency;

φ _pr1 = φ _c1 + φ _g1 .

This voltage after amplification in the power amplifier 36 through the duplexer 37 is radiated by the transceiver antenna 38 at a frequency ω ₁ = ω _CR1 , captured by the transceiver antenna 60 and fed through the amplifier 61 to the input of the mixer 63. The voltage u _g1 is applied to the second input of the mixer 63 ( t) a local oscillator 41. At the output of the mixer 63, the voltage of the Raman frequencies. The amplifier 64 is allocated the voltage of the second intermediate (differential) frequency

u _CR2 (t) = U _CR2 [1 + m ₁ (t)] · cos [ω _CR2 t + φ _k1 (t) + φ _CR2 ], 0≤t≤T _c1 ,

_np2 where U = _^1/2 k ₁ · U · U _{r1 pr1;}

ω _CR2 = ω _CR1 - ω _g1 - the second intermediate frequency;

φ _CR2 = φ _CR1 - φ _g1 ,

which is fed to the input of the amplitude limiter 65 and to the information input of the synchronous detector 66. An FMN signal is generated at the output of the amplitude limiter 65 (Fig. 5, g)

u ₃ (t) = U _o · cos [ω _CR2 t + φ _k1 (t) + φ _CR2 ], 0≤t≤T _c1 ,

where U _o is the limit threshold,

which is used as the reference voltage and is supplied to the reference input of the synchronous detector 66. At the output of the latter, a low-frequency voltage is generated (Fig. 5, h)

u _н1 (t) = U _н1 · [1 + m ₁ (t)],

where U _H1 = _^1/2 k _{np2 2} · U · U _o;

k ₂ is the transfer coefficient of the synchronous detector, proportional to the modulating function m ₁ (t) (Fig. 5, d), which is fed to the second input of II radio station 15.2.

The voltage u ₃ (t) from the output of the amplitude limiter 65 is simultaneously supplied to the first input of the multiplier 67, the second input of which is the voltage of the local oscillator 55

u _g2 (t) = U _g2 cos (ω _g2 + φ _g2 ).

The output of the multiplier 67 is formed voltage

u ₄ (t) = U ₄ · cos [ω _g1 t-φ _k1 (t) + φ _g1 ], 0≤t≤T _c1 ,

wherein U ₄ = _^1/2 k ₃ · U U _o · _r2;

k ₃ - transfer coefficient of the multiplier,

which is allocated by a band-pass filter 68 and fed to the first input of the phase detector 69, the second input of which is supplied with the voltage u _g1 (t) of the local oscillator 62. A low-frequency voltage is generated at the output of the phase detector 69 (Fig. 5, and)

u _n2 (t) = U _n2 cosφ _k1 (t), 0≤t≤T _c1 ,

where U _H2 = _^1/2 k _{4 4} · U · U _d1;

k ₄ is the transfer coefficient of the phase detector;

which is an analogue of the modulating code M ₁ (t) (Fig. 5, b) and arrives at the first output I of the radio station 15.2.

A harmonic oscillation is generated at the ground control station 26 of the generator 50 (Fig. 6, a)

u _c2 (t) = U _c2 · cos (ω _c t + φ _c2 ), 0≤t≤T _c2 ,

which is fed to the first input of the phase manipulator 51, to the second input of which a modulating code M ₂ (t) is supplied (Fig.6, b) from the output of the source 52 of discrete messages and commands. At the output of the phase manipulator 51, the PSK signal is generated (Fig.6, c)

u ₅ (t) = U ₅ · cos [ω _c t + φ _k2 (t) + φ _c 2], 0≤t≤T _c2 ,

which is fed to the first input of the amplitude modulator 54. The modulating function m ₂ (t) (FIG. 6, d) is supplied to the second input of the last from the output of the source 53 of analog messages and commands. At the output of the amplitude modulator 54, a complex FMN-AM signal is generated (Fig.6, d)

u ₆ (t) = U ₆ [1 + m ₂ (t)] · cos [ω _c t + φ _k2 (t) + φ _c2 ], 0≤t≤T _c2 ,

where m ₂ (t) is the modulating function of the amplitude modulation, which is fed to the first input of the mixer 56, the second input of which is supplied with the voltage u _g2 (t) of the local oscillator 55. At the output of the mixer 56, the frequencies of the combination frequencies are generated. The amplifier 57 is allocated the voltage of the intermediate frequency (Fig.6, e)

u _pr3 (t) = U _pr3 [1 + m ₂ (t)] · cos [ω _pr t-φ _k2 (t) + φ _pr3 ], 0≤t≤T _c2 ,

_PR3 where U = _^1/2 k ₁ · U · U _{c2, r2;}

ω _CR = ω _g2 - ω _c is the intermediate frequency;

_PR3 cp = φ _r2 -φ _c2.

This voltage after amplification in the power amplifier 58 through the duplexer 59 enters the transceiver antenna 60 and is radiated by it at a frequency ω ₂ = ω _pr , and then it is captured by the transceiver antenna 38 and through the duplexer 37 and the power amplifier 39 is fed to the first input of the mixer 40, the second input of which is supplied with voltage u _g2 (t) from the output of the local oscillator 41. At the output of the mixer 40, voltage of combination frequencies is generated. The amplifier 42 is allocated the voltage of the second intermediate frequency

u _CR4 (t) = U _CR4 [1 + m ₂ (t)] · cos [ω _CR2 t-φ _k2 (t) + φ _CR4 ], 0≤t≤T _c2 ,

wherein _WP4 U = _^1/2 k ₁ · U · U _{r2 PR3;}

_np2 ω = ω _z2 - ω _ave - a second intermediate frequency;

_WP4 cp = φ _r2 - φ _PR3,

which is fed to the input of the amplitude limiter 48 and to the information input of the synchronous detector 49. An FMN signal is generated at the output of the amplitude limiter 48 (Fig.6, g)

u ₇ (t) = U ₆ · cos [ω _CR2 t-φ _k2 (t) + φ _CR4 ],

which is used as the reference voltage and is supplied to the reference input of the synchronous detector 49. At the output of the latter, a low-frequency voltage is generated (Fig.6, h)

u _n3 (t) = U _n3 [1 + m ₂ (t)],

where U _H3 = _^1/2 k ₂ · U _WP4 · U _o,

proportional to the modulating function m ₂ (t) (Fig.6, g), which is fed to the second input of the II radio station 15.1.

The voltage u ₇ (t) from the output of the amplitude limiter 48 is simultaneously supplied to the first input of the multiplier 43, the second input of which is supplied with the voltage u _g1 (t) of the local oscillator 34. A voltage is generated at the output of the multiplier 43

₈ u (t) = U ₈ · cos [ω _{z2 t-φ k2 (t) +} φ _r2], 0≤t≤T _c2,

where U = _{8 ^1/2} · k ₃ · U _o U _r1,

which is allocated by a band-pass filter 44 and fed to the first (information) input of the phase detector 45, the second (reference) input of which is supplied with voltage u _g2 (t) from the output of the local oscillator 41. A low-frequency voltage is generated at the output of the phase detector 45 (Fig. 6, and )

u _n4 (t) = U _n4 · cosφ _k2 (t), 0≤t≤T _c2 ,

_H4 where U = _^1/2 k ₄ · U · U _{r2 8,}

which is an analog of the modulating code M ₂ (t) (Fig.6, b) and is fed to the first output of the I radio station 15.1.

In this case, the frequencies ω _g1 and ω _{g2 of the} local oscillators 34 (62) and 41 (55) are spaced apart by a second intermediate frequency

ω _g2 - ω _g1 = ω _pr2 .

The radio 15.1, placed on RPV emits complex signals with a combined amplitude and phase shift keying modulation at the frequency ω = ω ₁ = ω _{z2 pr1,} and receives at frequency ω = ω ₂ = ω _{pr r1.} The radio station 15.2, located at the ground control point 26, on the contrary, emits complex signals with combined phase shift keying and amplitude modulation at a frequency of ω ₂ , and receives at a frequency of ω ₁ .

An automatic unmanned diagnostic system allows you to obtain visual information about the state of main gas pipelines in adverse weather conditions, at any time of the day when a UAV is flying at an altitude of 50 m at a speed of 120-140 km / h over the gas pipeline in a flat area in coordinates using the SNA, which reduces errors, not exceeding ± 10 m in lateral deviation and ± 20 m in height.

In each flight, the UAV is able to diagnose up to 450 km of the gas pipeline. The detection of gas leaks is provided by the diagnostic system at a gas flow rate of 20-50 m ³ / day, damage to coatings in a pipe with an area of 1 m or more is detected. Flights are made in both directions of the highway at a distance of up to 225 km (to the next via one gas pumping station) with a return to the launch site.

Thus, the proposed complex in comparison with the prototype provides duplex radio communication between a remotely piloted aircraft and a ground control station for the mutual exchange of not only discrete messages and commands, but also analog messages and commands using two frequencies ω ₁ and ω ₂ and complex signals with combined phase shift keying and amplitude modulation at one carrier frequency.

Complex signals with combined phase shift keying and amplitude modulation at one carrier frequency have high noise immunity, structural and energy stealth.

Thus, the functionality of the complex is expanded.

Claims (1)

An automatic unmanned diagnostic complex containing a remotely piloted aircraft, including a glider, a power plant with a piston engine, an automatic control system with an onboard systems control unit, containing an inertial navigation system, satellite navigation system receiving equipment, an air-speed signal system, a low-altitude radio altimeter and calculator of actual coordinates, automatic remote control flight system and the operation of its systems, including command radio control receiving equipment and a television viewing system, a radio broadcasting system, an on-board system for monitoring the operation of on-board systems, a radio telemetry system, a parachute landing and release system, an engine control system, an automatic control computer calculator, a beacon, and a pipeline diagnostics system and a control unit for the diagnostic system located in the fuselage of the aircraft, while the computer is valid to the ordinate and the first input-output of the control unit of the diagnostic system are connected to the control unit of the on-board systems, the second input-output of the control unit of the diagnostic system is connected to the gas pipeline diagnostics system, and the third input-output is connected to the command radio control system, as well as a mobile ground control station with communication and control devices, the radio telemetry system is made in the form of two radio stations located on a remotely piloted aircraft and ground control station, respectively Of course, each of which contains a high-frequency generator and a phase manipulator connected in series, the second input of which is connected to the output of the source of discrete messages and commands, the first local oscillator, the first mixer, the first intermediate frequency amplifier, the first power amplifier, duplexer, whose input-output connected to a transceiver antenna, a second power amplifier, a second mixer, the second input of which is connected to the output of the second local oscillator, and an amplifier of a second intermediate frequency, p therefore connected to the output of the first local oscillator multiplier, a bandpass filter and a phase detector, a second input coupled to an output of the second oscillator, and the output is first input station, the frequency ω _d1 and ω _z2 oscillators spaced apart by a second intermediate frequency ω _z2 = ω _z1 = ω _np2, characterized in that it is provided with an amplitude modulator, a source of analog messages and commands, an amplitude limiter and a synchronous detector, and to the output of the phase manipulator is connected an amplitude modulator, the second the course of which is connected to the output of the source of analog messages and commands, and the output is connected to the second input of the first mixer, an amplitude limiter and a synchronous detector are connected in series to the output of the amplifier of the second intermediate frequency, the second input of which is connected to the output of the amplifier of the second intermediate frequency, and the output is the second output radio stations, the second input of the multiplier is connected to the output of the amplitude limiter, a radio station located on a remotely piloted aircraft emits ozhnye signals from the combined phase-shift keying and amplitude modulation at the frequency ω ₁ = ω _pr1 = ω _r2, and receives at frequency ω ₂ = ω _r1, and a radio station placed at the ground control station, conversely, emits complex signals with the combined phase shift keying and amplitude modulation at a frequency of ω ₂ , and takes on a frequency of ω ₁ .

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