Method and system of radio communication with mobile objects

Abstract

FIELD: radio.SUBSTANCE: invention relates to automatic radio communication simultaneously in the meter wave range, satellite communication channels and in the high frequency range. The technical result of the invention consists in increasing noise immunity by introducing digital signal processing procedures, namely pseudo-random frequency tuning, frequency diversity of transmission and reception of radio signals, spatial diversity and weighted majority summation of received signals. For this purpose, a digital signal processing unit has been introduced into the on-board and ground equipment of all subscribers of the radio communication system.EFFECT: increased noise immunity.4 cl, 5 dwg

Description

[0001] The invention relates to automatic radio communication, simultaneously in the meter wave (MV) range, in the high frequency (HF) range and satellite communication channels.

[0002] A known method of high-frequency radio communication using HFDL (High Frequency Data Link) technology, built on the basis of the ARINC 635 specification [1], ARINC 753 characteristics [2], ARINC 634 guide [3], RTCA DO-265, DO-277 standards [4,5], optimizes the Air-Ground packet communication system in terms of communication reliability, spectral and cost efficiency, in which a large number of aircraft (up to 2500) are served by a small number of frequency channels (up to 48-60) and ground stations (up to 16) in the multiple access mode with time and frequency division. The data exchange method in the HFDL system is described in detail in [1, 6, 7, 8].HFDL defines both the procedures for creating a channel with automatic selection of the operating frequency, and all other procedures for automatic communication at all levels (physical, channel and subnetwork) with multi-parameter adaptation of the radio link by frequency, transmission speed, types of modulation and coding, as well as by the spatial diversity of ground stations, guaranteeing the reliability of communication (residual error probability) of no worse than 10. -6The HFDL system uses the same set of frequencies for channel formation and communication. High spectral efficiency of the system is achieved through the use of a combined protocol of frequency division multiple access (FDMA) and time division multiple access (TDMA). The frequency division protocol is ensured by assigning different frequency channels (from two to six) to different HF ground stations (HF GS). The TDMA protocol is ensured by dividing the use of each frequency channel into 32-second frames, and each frame is divided into 13 access time slots with a duration of 2.461538 s, equal to the transmission time of one data packet of 2.343888 s plus 117.65 ms for the uncertainty of the propagation delay time and desynchronization in the radio link. On all HF frequencies, ground stations periodically (in the first slot of each frame) emit marker signals, the quality of which is assessed by aircraft when selecting a communication frequency.An aircraft selects any channel for communication whose marker signal quality is acceptable or best, registers on this channel at the ground station, and maintains communication on it until the channel quality meets the required level. Multiple aircraft can select and register on a single communication channel. Each HFDL system HF channel is used by all registered aircraft in time-division multiple access mode. The HF ground station controls the TDMA protocol by transmitting, in marker signals, slots reserved for aircraft requests, random access slots, and slots for ground transmissions.The HF ground station predicts system characteristics (packet transmission delay) on each of its frequency channels and sets a channel busy flag in the marker when a critical number of aircraft have registered on the channel, preventing new correspondents from accessing it and guaranteeing the specified system characteristics (packet transmission delay no greater than the permissible limit). The simplicity of predicting system characteristics in the HFDL system is largely determined by the fact that all messages in the system (calls and communications) have the same standard duration equal to a slot and are transmitted using a single TDMA protocol on a common set of frequencies. Depending on the channel quality and the volume of data transmitted in the message, the optimal type of multi-position phase-shift keying and coding is selected. This changes only the user data rate, but the message duration and the 1800 baud symbol rate provided by the single-tone modem remain unchanged.

[0003] In order to ensure the specified level of communication reliability in the area of ​​responsibility of each HF ground station from the general list of HF frequencies (48-60 SBP channels) allocated for the HFDL system, at the control center of the HF data exchange system, a set of 2-6 active frequencies is assigned for each HF ground station for each time interval of the day lasting 1-2 hours, which is optimal in terms of radio wave propagation conditions and electromagnetic compatibility, the assigned set of frequencies together with the time interval of its activation is communicated to each HF ground station through the terrestrial communication subsystem, thus implementing the frequency division multiple access protocol, the use time of each frequency channel is divided into time frames with a duration of 32 s, and each frame is divided into 13 time slots with a duration of 2.461538 s to implement the time division multiple access (TDMA) protocol.

[0004] At the end of each frame, at each HF ground station, for each slot of the next frame, an assignment is made to use this slot for transmission from the ground or for transmission from a specific aircraft upon its preliminary request for an access slot, or for transmissions from any aircraft in random access mode.

[0005] Each HF ground station on all active frequencies in the first slot of each frame emits marker signals that contain the assignment of each slot of the current frame, as well as acknowledgements of messages received from the HF airborne station (AS) in the previous two frames.

[0006] At each HF onboard station, based on the results of assessing the quality of reception of marker signals, the best communication frequency (HF radio channel "Air-Ground") is selected.

[0007] Each HF airborne station is registered on the HF channel selected by it at the HF ground station corresponding to this channel, and packet data is exchanged in TDMA mode via the air-to-ground HF radio channel between the HF ground station and the HF airborne station registered with it, until the quality of the air-to-ground HF radio channel exceeds the permissible level. If the quality of the HF radio channel deteriorates below the permissible level, a new HF radio channel is selected for the airborne station and it is registered on the newly selected HF radio channel. Packet data is exchanged via the ground communication network between the HF ground stations and the HF communication system control center, as well as between the users of the communication system - air traffic control (ATC) towers.

[0008] During the process of exchanging packet data, a packet message for the air traffic controller, containing the recipient's address - the air traffic control tower, as well as the sender's address (ICAO aircraft address), is formed in the airborne communication control unit (airborne router), transmitted to the HF airborne station, where it is packed into a packet intended for transmission over the HF radio channel, then transmitted over the HF radio channel to the HF ground station, where the HF airborne station is registered, where it is packed into a packet intended for transmission over the ground communication subsystem, and transmitted through the interface to the ground communication subsystem, from where it is transmitted through the interface to the air traffic control tower.

[0009] A packet message for the control center (CC), containing the recipient's address - CC, as well as the sender's address (ICAO address of the aircraft), is formed in the HF on-board station, where it is packed into a packet intended for transmission over the HF radio channel, transmitted over the HF radio channel to the HF ground station at which the HF on-board station is registered, where it is packed into a packet intended for transmission over the ground communication subsystem, transmitted through the interface to the ground communication subsystem, from where it is transmitted through the interface to the CC.

[0010] In the opposite direction, a packet message from the ATC control tower, containing the recipient's address - (ICAO address of the aircraft), as well as the sender's address - the ATC control tower, is formed at the ATC control tower, transmitted through an interface to the ground communication subsystem, from where the packet message is transmitted through an interface to the HF ground station on which the HF airborne station - the addressee is registered, where it is packed into a packet intended for transmission over a HF radio channel, and then transmitted over a HF radio channel to the HF airborne station - the addressee.

[0011] A packet message from the control center to the aircraft, containing the recipient's address (the ICAO address of the aircraft) and the sender's address (the control center), is generated at the control center and transmitted via an interface to the ground communications subsystem. From there, it is relayed via an interface to the HF ground station with which the destination aircraft is registered, where it is packaged into a packet intended for transmission via the HF radio channel to the destination aircraft. A disadvantage of this analog is that it is difficult to operate in interference-ridden environments.

[0012] A known radio communication method [9] consists of each HF ground station emitting marker signals in the first slot of each TDMA channel access protocol frame on all frequencies that are periodically assigned and activated in the HF data exchange system control center. To implement the FDMA channel access protocol, according to which different HF ground stations have different sets of active operating frequencies, each HF airborne station is registered with the corresponding HF ground station on the best HF communication frequency, selected by the HF airborne station based on the results of assessing the quality of marker signal reception. Then, packet data is exchanged between the HF ground station and the HF airborne station registered with it for as long as the quality of the air-to-ground HF channel allows.If the air-to-ground HF channel quality deteriorates below an acceptable level at the onboard HF station, a new channel is selected and registered on this channel at either the new or old HF ground station. The ground communications subsystem is used to exchange packet data between each HF ground station and the air traffic control and airline control towers, as well as the HF communications system control center. At each HF ground station, the best frequency for receiving messages from each other HF ground station is selected based on the results of assessing the quality of marker signal reception using additional HF ground-to-ground receivers and ground-to-ground demodulators of the single-tone multi-position phase-shift keyed signal.An audibility table is generated based on the selection of the best receiving frequencies. It indicates the availability (or unavailability) of the station for the ground communications subsystem, the identifiers of the ground stations, and the corresponding numbers of the best receiving frequencies with codes for the recommended maximum permissible data transfer rates. Each frequency channel is allocated one channel access frame slot for transmitting messages in the ground-to-ground direction. The audibility table is transmitted simultaneously by N HF transmitters in the slots allocated for transmitting messages in the ground-to-ground direction. The audibility tables are then received from other HF ground stations on the preselected best receiving frequencies using additional HF receivers and ground-to-ground demodulators of the single-tone multi-position phase-shift keyed signal.The ground-to-ground network connectivity table is generated based on the received audibility tables, which indicate the ground station identifiers with their availability (or unavailability) indicators for the ground communications subsystem and the corresponding numbers of the best receive and transmit frequencies with codes for the recommended maximum permissible data transfer rates. The ground-to-ground network connectivity table is used to select communication frequencies (reception and transmission) with other high-frequency ground stations. A data packet received at an unavailable high-frequency ground station from an airborne high-frequency station registered to it is transmitted simultaneously, along with the audibility table, via the high-frequency radio channel in the ground-to-ground slot to another available high-frequency ground station, from which it is relayed to the air traffic control tower or control center via the ground communications subsystem.A data packet from an ATC or UAL control center or from a system control center, intended for an HF airborne station registered with an unavailable HF ground station, is transmitted via the ground communications subsystem to an accessible HF ground station, from which it is then relayed via the ground-to-ground HF radio channel to the unavailable HF ground station, and from which it is further transmitted via the air-to-ground HF radio channel to the HF airborne station. A data packet from a HF data exchange system control center, addressed to an unavailable HF ground station, is transmitted via the ground communications subsystem to an accessible HF ground station, from where it is relayed via the ground-to-ground HF radio channel to the unavailable HF ground station.

[0013] The disadvantages of the analogue are as follows: there is no provision for frequency tuning mode and other procedures for increasing the noise immunity of data transmission during aircraft flight.

[0014] A known radio communication method

[10] consists in dividing the airspace into service zones, in each zone a master HF ground station is assigned, through the ground communication subsystem it receives from the control center of the HF packet data exchange system and stores information on the communication planning processes and dynamic management of communication resources of HF ground stations located in the corresponding zone, and in the event of a failure of the control center of the HF data exchange system, their operating modes are controlled. From each HF ground station, marker signals are emitted in the first slot of each frame of the TDMA channel access protocol on all frequencies that are periodically assigned and activated in the control center of the HF data exchange system for the implementation of the FDMA channel access protocol, according to which different HF ground stations have different sets of active operating frequencies.At the appropriate HF ground station, each HF airborne station is registered on the best HF communications frequency, selected by the HF airborne station based on an assessment of the marker signal reception quality. Packet data is exchanged between the HF ground station and the HF airborne station registered with it as long as the air-to-ground HF channel quality allows. If the air-to-ground HF channel quality deteriorates below the acceptable level at the HF airborne station, a new channel is selected and registered on this channel at either the new or the old HF ground station. Packet data is exchanged between each HF ground station and the air traffic control and airline dispatch centers, as well as the HF packet data exchange system control center, via the ground communications subsystem.At each HF ground station, the best frequency for receiving messages from each other HF ground station is selected based on the assessment of the marker signal reception quality using HF ground-to-ground receivers and ground-to-ground radio signal demodulators. An audibility table is generated based on the results of selecting the best reception frequencies, indicating their availability (or unavailability) for the ground communications subsystem, the ground station identifiers, and the corresponding numbers of the best reception frequencies with codes for the recommended maximum permissible data transmission rates. One channel access frame slot is allocated for data transmission in the ground-to-ground direction on each frequency channel. The audibility table is transmitted simultaneously by N HF transmitters in the slots allocated for data transmission in the ground-to-ground direction.Receive audibility tables from other HF ground stations at pre-selected best receiving frequencies using HF receivers and ground-to-ground radio signal demodulators. A ground-to-ground network connectivity table is generated based on the received audibility tables. This table specifies the ground station identifiers with their availability (or unavailability) indicators for the ground communications subsystem and the corresponding numbers of the best receive and transmit frequencies with codes for the recommended maximum permissible data transfer rates. The ground-to-ground network connectivity table is used to select communication frequencies (reception and transmission) with other HF ground stations.A data packet received at an unavailable HF ground station from an HF airborne station registered with it is transmitted simultaneously with the audibility table via an HF radio channel in the ground-to-ground slot to another available HF ground station, from which it is relayed to the ATC or UAL control center or to the HF packet data exchange system control center via the ground communications subsystem. A data packet from an ATC or UAL control center or from a HF packet data exchange system control center, intended for an HF airborne station registered with an unavailable HF ground station, is transmitted via the ground communications subsystem to an available HF ground station, from which it is then relayed via an HF ground-to-ground radio channel to the unavailable HF ground station, and from which it is further transmitted via an HF airborne station radio channel.A data packet from the HF data exchange control center, addressed to an unreachable HF ground station, is transmitted via the ground communications subsystem to an accessible HF ground station, from where it is relayed via a ground-to-ground HF radio channel to the unreachable HF ground station. Urgent information is transmitted via ground-to-air HF radio channels from all HF ground stations accessible to the selected HF airborne station. The corresponding HF ground stations and ground-to-ground radio channels, as well as accessible HF airborne stations, are used to relay urgent information. In the event of a failure of a segment of the ground communication subsystem, it is bypassed by transmitting the relevant information via the Earth-to-Earth HF radio channel from the closest accessible HF ground station to the break in the ground communication subsystem via the Earth-to-Earth HF radio channels to another (or other) accessible HF ground station located (or located) on the other side of the break.Based on the analysis of the state and parameters of the HF radio channel, information on new recommended types is transmitted to the opposite side: modulation, codes, interleaving, scrambling, transmission speed, and then, using the time stamps of global navigation satellite systems, new recommended types are simultaneously generated programmatically on the transmitting and receiving sides: modulation, codes, interleaving, scrambling, and the data exchange process is organized.

[0015] A known radio communication method

[11] , which, based on most of its essential features, is accepted as a prototype. This radio communication method consists of dividing the airspace into service zones, in each zone a master HF ground station is assigned, through the ground communication subsystem it receives from the control center of the HF packet data exchange system and stores information on the communication planning processes and dynamic management of communication resources of HF ground stations located in the corresponding zone and, in the event of a failure of the control center of the HF data exchange system, their operating modes are controlled. From each HF ground station, marker signals are emitted in the first slot of each frame of the TDMA channel access protocol on all frequencies, which are periodically assigned and activated in the control center of the HF data exchange system for the implementation of the FDMA channel access protocol, according to which different HF ground stations have different sets of active operating frequencies.At the appropriate HF ground station, each HF airborne station is registered on the best HF communications frequency, selected by the HF airborne station based on its assessment of the marker signal reception quality. Packet data is exchanged between the HF ground station and the HF airborne station registered with it as long as the air-to-ground HF channel quality allows. If the air-to-ground HF channel quality deteriorates below the acceptable level at the HF airborne station, a new channel is selected and registered on this channel at either the new or the old HF ground station. Packet data is exchanged between each HF ground station and the air traffic control and airline dispatch centers, as well as the HF packet data exchange system control center, via the ground communications subsystem.At each HF ground station, the best frequency for receiving messages from each other HF ground station is selected based on the assessment of the quality of marker signal reception using HF ground-to-ground receivers and ground-to-ground radio signal demodulators. An audibility table is generated based on the results of selecting the best reception frequencies, indicating their availability (or unavailability) for the ground communications subsystem, the identifiers of the ground stations, and the corresponding numbers of the best reception frequencies with codes for the recommended maximum permissible data transmission rates. One channel access frame slot is allocated on each frequency channel for data transmission in the ground-to-ground direction. The audibility table is transmitted simultaneously by N HF transmitters in the slots allocated for data transmission in the ground-to-ground direction.Receive audibility tables from other HF ground stations at pre-selected best receiving frequencies using HF receivers and ground-to-ground radio signal demodulators. A ground-to-ground network connectivity table is generated based on the received audibility tables. This table specifies the ground station identifiers with their availability (or unavailability) indicators for the ground communications subsystem and the corresponding numbers of the best receive and transmit frequencies with codes for the recommended maximum permissible data transfer rates. The ground-to-ground network connectivity table is used to select communication frequencies (reception and transmission) with other HF ground stations.A data packet received at an unavailable HF ground station from an HF airborne station registered with it is transmitted simultaneously with the audibility table via an HF radio channel in the ground-to-ground slot to another available HF ground station, from which it is relayed to the ATC or UAL control center, or to the HF packet data exchange system control center via the ground communications subsystem. A data packet from an ATC or UAL control center, or from a HF packet data exchange system control center, intended for an HF airborne station registered with an unavailable HF ground station, is transmitted via the ground communications subsystem to an available HF ground station, from which it is then relayed via an HF ground-to-ground radio channel to the unavailable HF ground station, and from which it is further transmitted via an HF airborne station radio channel.A data packet from the HF data exchange control center, addressed to an unreachable HF ground station, is transmitted via the ground communications subsystem to an accessible HF ground station, from where it is relayed via a ground-to-ground HF radio channel to the unreachable HF ground station. Urgent information is transmitted via ground-to-air HF radio channels from all HF ground stations accessible to the selected HF airborne station. The corresponding HF ground stations and ground-to-ground radio channels, as well as accessible HF airborne stations, are used to relay urgent information. In the event of a failure of a segment of the ground communication subsystem, it is bypassed by transmitting the relevant information via the Earth-to-Earth HF radio channel from the closest accessible HF ground station to the break in the ground communication subsystem via the Earth-to-Earth HF radio channels to another (or other) accessible HF ground station located (or located) on the other side of the break.Based on the analysis of the state and parameters of the HF radio channel, information is transmitted to the opposite side: about new recommended types of modulation, codes, interleaving, scrambling, transmission speed, and then, using time stamps from global navigation satellite systems, new recommended types of modulation, codes, interleaving, scrambling are simultaneously generated programmatically on the transmitting and receiving sides and the data exchange process is organized.

[0016] The disadvantages of the prototype include:

[0017] - the mode of quickly changing the operating frequency is impossible due to the lack of a procedure for compensating the reactive component of the antenna at each operating frequency of the HF range, as a result of which there is a loss of power of the emitted radio signal;

[0018] - frequency diversity transmission and reception, spatial diversity and weighted majority summation methods are not used.

[0019] The main technical result to which the invention is directed is an increase in noise immunity due to the introduction of digital signal processing procedures, namely: pseudo-random hopping of the operating frequency, frequency diversity of transmission and reception of radio signals, spatial diversity and weighted majority summation of received signals.

[0020] The said technical result is achieved by the fact that in the known method of radio communication, including processes in which the airspace is divided into service zones, in each zone a ground complex (GC) is installed with a high-frequency ground station (HF NS), one of which is designated as the leader, from which, through the ground data transmission network, all HF NS located in the corresponding service zone receive and store information on the processes of communication planning and dynamic management of communication resources, from each HF NS radio signals are emitted on all frequencies, which are periodically assigned and activated in the leading HF NS, different HF NS have different sets of active operating frequencies, then several versions of communication plans are developed, and each version has a corresponding communication plan code and a code for starting work according to a new communication plan, tied to a single time, the developed versions of communication plans are transmitted to all subscribers of the radio communication system,which will be common to them for a specified period of time, then at a specified time, if information is available, the transmission or reception on the opposite side of messages from each subscriber begins on two radio channels on different operating frequencies spaced across the HF range, wherein the two operating frequencies are assigned using the group method of using frequencies on the HF NS and the HF on-board station (HF BS) located on the mobile object (MO), and two frequencies are selected, located in the frequency range in such a way as to ensure the uncorrelatedness of radio signals and the independence of interference levels at these frequencies, the operating frequencies allocated for the HF NS in the same time interval are not repeated, before the end of the communication session according to the current communication plan, the code of the next communication plan and the code for starting work according to it are transmitted to all subscribers, after which the processes of transmitting and receiving messages continue, data is exchanged between the HF NS and the HF BS,through the ground data transmission network, packet data is exchanged between message sources (MS) and each HF NS, including the master HF NS, a message received by the HF NS from the HF BS is transmitted to the MS that issued the corresponding control command through the ground data transmission network, a data packet from the MS or from the master HF NS, intended for a specific HF BS, is transmitted through the ground data transmission network to the HF NS, from which it is then transmitted via the Ground-to-Air HF radio channel to the HF BS, a data packet from the master HF NS, addressed to a specific HF NS, is transmitted through the ground data transmission network to the HF NS, urgent information is transmitted via Ground-to-Air HF radio channels from all HF NS for the selected HF BS, based on the analysis of the state and parameters of the HF radio channel from the HF BS, information is transmitted to the opposite side and then, using the timestamps of the global navigation satellite systems, on the transmitting and receiving sides, programmatically organize the data exchange process,The HF NS are located throughout the territory so that their service areas, limited by the sectors of responsibility of single-hop HF range routes, which are the most reliable in terms of communication, cover all routes of mobile objects with HF BS moving in space, unified planning of communication of all HF NS with the leading HF NS is carried out, to ensure unified time synchronization of all HF NS and HF BS, time stamps of global navigation satellite systems are used, in all HF NS information on control commands from the IS is stored until the moment of receiving a report from the selected HF BS on reliable reception of the corresponding control command, lists of unique communication frequencies for all HF NS for a certain period of time and time interval of radio signal emission on it are created on the leading HF NS in a calculated and experimental manner, this data and the time of frequency switching are entered via the ground data transmission network into all HF NS, and in the HF BS - during pre-flight preparation, periodically at an interval,less than the stationarity interval of the quasi-regular parameters of the ionosphere, radio signals are emitted from the HF NS on a designated set of two frequencies known to all subscribers, the HF BS evaluates the parameters of radio signals of all HF NS covering the location of the HF BS by service areas limited by the sectors of responsibility of single-hop HF range routes, all changes in the frequency ratings of the HF NS transmitted from the leading HF NS are recorded at the corresponding HF NS, if there is information for the HF BS located on the route, the leading HF NS determines the HF NS in whose service areas the required HF BS is located, control commands are transmitted to them, which are stored at the selected HF NS until a report on the parameters of communication channels and other data is received from the required HF BS, after which control commands received at the HF NS from the message source are transmitted to the HF BS, while the frequency of the HF BS receiver does not switch even if a radio channel appears on another frequency with the best parameters,in the HF BS, the quality of all received radio signals from the HF PS, in the service areas of which the selected HF BS is located, is assessed, the parameters are stored and, if during the analysis of the address part of the received message the address matches its own, then at a known frequency the data on the time of measurements of the radio channel parameters, the location and parameters of the movement of the software from the HF BS, data on interference are transmitted to the corresponding HF BS and wait for the reception of a control command, in the HF BS the message is received, its reliability is assessed, if there are no errors, it is considered that the channel is created, the HF BS transmitter is prepared to form and transmit a message in the form of a radio signal with a known frequency with an information part in the form of a control command intended for the selected HF BS, in the HF BS the control command is received, its reliability and address are assessed, if there are no errors and the address matches its own, it is transmitted to the on-board information consumers,then the HF BS transmitter is prepared to form and transmit a response message about the correct reception of the transmitted information in the form of a radio signal with a known frequency and an information part intended for the message source from which the control command was received in the form of a formalized message, for the duration of the HF BS transmitter operation, its receivers are blocked, after reliable reception of the control command at the HF BS and sending to the corresponding HF BS a report on its correct reception at the HF BS, the process of receiving and evaluating the parameters of radio signals continues, the HF BS receives a response message from the HF BS, its reliability is assessed, if there are no errors, data is formed and transmitted via the ground data transmission network to the message source, the information of which was transmitted to the HF BS, after the data exchange, the procedures for forming radio signals in the HF BS and evaluating their parameters in the HF BS continue,the location of the HF BS is determined based on navigation data from the outputs of global navigation satellite system receivers and is transmitted in response messages to the HF NS, where the location of the HF BS for the next communication session is determined using the extrapolation method by assessing the probability of its entry into the HF NS service areas limited by the sectors of responsibility of single-hop HF range routes, the transmission of a message between subscribers of the system is carried out simultaneously over two HF range channels, a satellite communication channel and a MW range channel, the reception of radio signals is carried out simultaneously over two HF range channels, a satellite communication channel and one MW range channel, and in each of the four communication channels the corresponding radio signals are separated from those interfering against the background of the radio frequency spectrum, after converting analog signals into digital ones the signal-to-interference plus noise ratio values ​​are measured,the time delays are equalized and each of the four channels is assigned a weight depending on the value of the signal-to-interference plus noise measured during the process of monitoring the radio frequency spectrum, the obtained values ​​are summed up, the total signal is compared with the threshold generated by the computer based on the results of monitoring the radio frequency spectrum, the results of digital signal processing are transmitted through multi-channel data transmission equipment, a computer, interface means and a ground data transmission network to the recipient of the information, while in the computer of each HF NS and HF BS, upon simultaneous reception from the multi-channel ground data transmission equipment of discrete messages transmitted via two HF channels, a satellite communication channel, a MW channel and one discrete message received during weighted majority summation in the digital signal processing (DSP) block, each message is again assigned its own weight,depending on the signal-to-interference-plus-noise ratio according to the radio frequency spectrum monitoring procedure data in each of the two HF channels, one MW channel, one satellite communication channel and one channel from the digital signal processing unit, then the weighted data are summed up, compared with the threshold, the value of which is set by the computer, and then they are sent to the information display means or through the corresponding nodes to the data recipient, in the digital signal processing unit of each HF PS and HF BS at the first stage, with direct visibility between the subscribers, the weighted majority summation is carried out by digital processing of four signals coming from two HF channels, a satellite communication channel and a MW channel, at the second stage, with direct visibility between the subscribers, digital processing is carried out of five signals coming from two HF channels, a satellite communication channel, a MW channel and from the output of the digital signal processing unit providing the weighted majority summation,At the first stage, in the absence of direct visibility, digital processing is carried out on three signals coming through two high-frequency channels and a satellite channel; at the second stage, in the absence of direct visibility, digital processing is carried out on four signals coming through two high-frequency channels, a satellite channel and from the output of the digital signal processing unit, which provides weighted majority summation.

[0021] The specified technical result is achieved in that the radio communication system with mobile objects implementing the claimed method, consisting of M ground complexes (GC), connected by radio communication channels with N mobile objects, both directly and through the corresponding communication satellites from the satellite constellation, and the ground complexes are connected to each other by means of a ground data transmission network with an input / output of the system, each GC includes ground data transmission equipment (GDE), an ARM computer, an interface module connected by two-way links to the ground data transmission network with an input / output of the system, a ground satellite communication station with an antenna, a ground MW-band radio station with an antenna, a first ground HF-band radio station connected to the first antenna matching device with an HF-band antenna, a second ground HF-band radio station, connected to the second antenna matching device with the RF antenna,wherein the ground control unit is connected to the ground antenna of the satellite communication station via two-way links, the ground satellite communication station, the ground MW-range radio station, the first and second ground HF radio stations are connected to the ground ADF via two-way links, and the ground data transmission equipment, the ground control unit of the ground antenna station of the satellite communication, the ground control command storage unit, the interface module, the first and second antenna matching devices, the first and second on-board HF radio station are connected to the ARM computer via two-way links, the ground receiver of global navigation satellite systems signals and the ARM control panel are connected to the corresponding inputs of the ARM computer, the output of the ARM computer is connected to the ARM monitor, while the ARM computer, the first and second ground HF radio stations are connected to the ground ADF,connected through first and second ground antenna matching devices with first and second ground antennas of the high-frequency range, constitute a ground station of the high-frequency range, the composition of each of the moving objects includes on-board sensors, an on-board receiver of signals of global navigation satellite systems and an analyzer of the type of received messages, each of which is connected to the corresponding inputs of the on-board computer, the output of the on-board computer is connected to the data recording unit, and a bidirectional bus of the control system of the moving object, an on-board unit for storing control commands, a control unit of the on-board antenna station of the satellite communication, connected to the control input of the antenna for communication with the communication satellite from the satellite constellation, an on-board ADF, connected to the on-board radio station of the MV-range with an antenna, the first on-board radio station of the high-frequency range,connected to the first on-board antenna matching device with an HF antenna, a second on-board HF radio station connected to the second on-board antenna matching device with an HF antenna, the first and second antenna matching devices, the first and second on-board HF radio stations and the on-board station are connected to the corresponding inputs / outputs of the on-board ADT, a ground-based digital signal processing unit is additionally introduced on the NC, to the information inputs / outputs of which the first and second ground-based HF antenna matching devices, the ground-based antenna of the satellite communication station, the ground-based MW antenna and the ground-based ADT are connected, and the inputs / outputs for controlling the operating modes and monitoring the operability of the ground-based MW radio station, the ground-based satellite communication station and the ground-based digital signal processing unit are connected to the corresponding input / output of the computer ARM, an on-board digital communications unit has been additionally introduced to the software,to the information inputs / outputs of which the first and second on-board antenna matching devices of the HF range, the on-board antenna of the satellite communication station and the on-board antenna of the MV range and the on-board APD are connected, and the inputs / outputs for controlling the operating modes and monitoring the operability of the on-board digital signal processing unit, the on-board MV range radio station and the on-board satellite communication station are connected to the corresponding input / output of the on-board computer.

[0022] The on-board digital signal processing unit contains four parallel chains, each of which contains a series-connected on-board preselector with a built-in protection circuit against lightning and powerful radio signals, an on-board analog-to-digital converter (ADC), an on-board digital delay line and an on-board module for setting weighting factors, wherein the output of each on-board module for setting weighting factors is connected to the input of the on-board adder, the output of which is connected through the on-board threshold device to the information input of the on-board computer, in which the threshold value is formed, the first and second preselectors are connected to the first and second on-board antenna matching devices of the HF range, respectively, the third preselector is connected to the on-board antenna of the satellite communication station, the fourth - to the on-board antenna of the MB-range, the second outputs of each of the four on-board ADCs are connected to the inputs of the on-board module for monitoring the radio frequency spectrum,the output of which is connected to the on-board computer, the corresponding inputs / outputs of the on-board computer are connected to the corresponding inputs / outputs of the on-board preselectors with a built-in protection circuit against lightning and powerful radio signals, on-board ADCs, on-board digital delay lines, on-board modules for setting weighting factors, an on-board threshold device and an on-board module for monitoring the radio frequency spectrum.

[0023] The ground unit of the digital signal processing system contains four parallel chains, each of which contains a ground preselector with a built-in protection circuit against lightning and powerful radio signals, a ground ADC, a ground digital delay line and a ground module for setting weighting coefficients, connected in series, wherein the output of each ground module for setting weighting coefficients is connected to the input of a ground adder, the output of which is connected through a ground threshold device to the information input of the ground-based computer of the automated workplace, in which the threshold value is formed, the first and second preselectors are connected to the first and second ground-based antenna matching devices of the high-frequency range, respectively, the third preselector is connected to the ground antenna station of satellite communications, the fourth - to the ground-based antenna of the microwave range, the second outputs of each of the four ground ADCs are connected to the inputs of the ground-based module for monitoring the radio frequency spectrum, the output of which is connected to the ground-based computer,The corresponding inputs / outputs of the ground-based computer are connected to the corresponding inputs / outputs of the ground-based preselectors with a built-in protection circuit against lightning and powerful radio signals, ground-based ADCs, ground-based digital delay lines, ground-based modules for setting weighting coefficients, a ground-based threshold device, and a ground-based module for monitoring the radio frequency spectrum.

[0024] The invention is illustrated by figures. Figures 1, 2, and 3 show structural diagrams of a radio communication system with mobile objects, implementing the claimed method, of the onboard and ground portions of the system, respectively, where the following is indicated:

[0025] 1 - ground complex, which includes a high-frequency NS;

[0026] 2 - a mobile object that has a high-frequency BS in its composition;

[0027] 3 - ground data transmission network with input / output of 4 systems;

[0028] 5 - on-board computer,

[0029] 6 - on-board sensors;

[0030] 7 - on-board receiver of signals from global navigation satellite systems, such as GLONASS / GPS;

[0031] 8 - data recording block;

[0032] 9 - on-board data transmission equipment (ODT);

[0033] 10 - on-board MB-range radio station;

[0034] 11 - on-board MB-band antenna;

[0035] 12 - MB-range ground antenna;

[0036] 13 - ground-based MB-range radio station;

[0037] 14 - ground ADF;

[0038] 15 - workstation calculator;

[0039] 16 - ground receiver of global navigation satellite systems signals;

[0040] 17 - workstation monitor;

[0041] 18 - control panel of the automated workplace;

[0042] 19 - analyzer of the type of received messages;

[0043] 20 - bidirectional bus of the mobile object control system;

[0044] 21 - on-board control command storage unit;

[0045] 22 - ground control command storage unit;

[0046] 23 - the first on-board HF radio station;

[0047] 24 - the first on-board HF antenna;

[0048] 25 - on-board satellite communication station;

[0049] 26 - the first ground-based HF radio station;

[0050] 27 - interface module;

[0051] 28 - ground antenna of satellite communication station;

[0052] 29 - satellite communication ground station;

[0053] 30 - a communications satellite from the satellite constellation;

[0054] 31 - ground control unit of the satellite communication ground antenna station;

[0055] 32 - on-board control unit of the on-board antenna of the satellite communication station;

[0056] 33 - the first on-board antenna matching device;

[0057] 34 - second on-board HF radio station;

[0058] 35 - second on-board antenna matching device;

[0059] 36 - second on-board HF antenna;

[0060] 37 - the first ground antenna matching device;

[0061] 38 - the second ground radio station of the HF range;

[0062] 39 - second ground antenna matching device;

[0063] 40 - the second ground antenna of the HF range;

[0064] 41 - the first terrestrial RF antenna;

[0065] 42 - on-board antenna of satellite communication station;

[0066] 43 - on-board digital signal processing (DSP) unit;

[0067] 44 - ground-based digital signal processing system.

[0068] Fig. 4 and Fig. 5 show the structural diagrams of the on-board and ground digital signal processing units, respectively, and introduce the following designations:

[0069] 45 (46) - the first on-board (ground) preselector with a built-in protection circuit against lightning and powerful radio signals;

[0070] 47 (48) - the second on-board (ground) preselector with a built-in protection circuit against lightning and powerful radio signals;

[0071] 49 (50) - first on-board (ground) ADC;

[0072] 51 (52) - second on-board (ground) ADC;

[0073] 53 (54) - first on-board (ground) digital delay line;

[0074] 55 (56) - second on-board (ground) digital delay line;

[0075] 57 (58) - the first on-board (ground) module for setting weighting coefficients;

[0076] 59 (60) - the second on-board (ground) module for setting weighting coefficients;

[0077] 61 (62) - on-board (ground) adder;

[0078] 63 (64) - on-board (ground) threshold device;

[0079] 65 (66) - information output of the on-board (ground) digital signal processing unit;

[0080] 67 (68) - on-board (ground) radio frequency spectrum monitoring module;

[0081] 69 (70) - third on-board (ground) preselector with built-in protection circuit against lightning and powerful radio signals;

[0082] 71 (72) - third on-board (ground) ADC;

[0083] 73 (74) - third on-board (ground) digital delay line;

[0084] 75 (76) - third on-board (ground) module for setting weighting coefficients;

[0085] 77 (78) - the fourth on-board (ground) preselector with a built-in protection circuit against lightning and powerful radio signals;

[0086] 79 (80) - fourth on-board (ground) ADC;

[0087] 81 (82) - the fourth on-board (ground) digital delay line;

[0088] 83 (84) - the fourth on-board (ground) module for setting weighting coefficients.

[0089] The essence of the method is that in order to increase the noise immunity of data exchange between mobile objects, as well as between software and ground systems, digital signal processing devices are used in the onboard and ground equipment using procedures and devices for frequency and spatial channel diversity together with two-stage operations of weighted majority summation of signals from several channels transmitting the same message, while signal processing is carried out in the corresponding nodes and computers.

[0090] Message exchange using the claimed method, using data transmission between subscribers to improve interference immunity, is carried out simultaneously in the HF, MW, and satellite communication bands. In the HF and MW bands, communication is organized under direct (optical) visibility conditions, while over HF and satellite radio links, it is carried out beyond the radio horizon.

[0091] HF BS, consisting of ground radio stations 26 and 38, antennas 41 and 40 of the HF range, two channels of the ground multi-channel ADF 14, software resources of the on-board computer 15, are located throughout the territory so that their radio communication zones, limited by the sectors of responsibility of the single-hop HF paths that are most reliable in terms of communication, would cover all routes of movement of mobile objects with HF BS, consisting of on-board radio stations 23 and 34, antennas 24 and 36 of the HF range, two channels of the on-board multi-channel ADF 9, software resources of the on-board computer 5, moving in space. A single-hop HF path has a radius of 2500-3000 km (excluding the boundaries of the sector of responsibility of the HF BS).

[0092] Before commencing work at the leading ground complex 1, several communication versions are developed, with each version having a corresponding code, one of these codes and a code for starting work according to a new communication plan, including the pseudo-random frequency hopping (FHP) mode

[12] in the presence of interference, are tied to a single time, the assigned codes are transmitted to all subscribers of the radio communication system, which will be common to them for a specified period of time, then at a certain time, if information is available, transmission or reception of messages from each subscriber on the opposite side begins, if information is available, via a satellite channel, a MW-range channel, two radio channels on different operating frequencies spaced across the HF range, which are not repeated in the same time interval. Before the end of a communication session according to the first communication plan, the next communication version code and the code for starting the subsequent work are transmitted to all subscribers, and so on.To ensure a specified level of noise immunity and communication reliability in the area of ​​responsibility of each NC 1, two active HF frequencies are assigned from a common list. The codes for these frequencies are assigned in the master NC for a specific time interval of the current day, for example, 1-2 hours long, optimal (based on accumulated statistics) for radio wave propagation conditions, electromagnetic compatibility, and low interference levels. The code for the assigned frequency set, along with its activation time interval, is then transmitted to each NC 1 via a ground data network 3 with inputs / outputs 4 for connecting ground subscribers, thus implementing the frequency-division multiple access (FDMA) protocol.

[0093] In preparation for data exchange, all PO 2 and NK 1 monitor the radio frequency spectrum using nodes 67 and 68, respectively (without going on the air, since mobile objects 2 can move in space in radio silence mode), determine interference levels on allocated known operating frequencies, and, if interference is detected, urgently report it at known time intervals on the selected frequency to the leading NK for plan adjustment, of which all subscribers are notified. NK 1 with the HF NS are positioned throughout the territory so that their radio communication zones, limited by responsibility sectors, include single-hop HF routes, the most reliable in terms of communication, repeatedly (more than 3 times) overlapping all movement routes of PO 2 with the HF BS.On each NK 1, using the group method of using frequencies from the leading NK, operating frequencies are assigned, located in the frequency range in such a way as to ensure the non-correlation of radio signals and the independence of interference levels on these frequencies; in a calculated and experimental manner, lists of non-repeating communication frequencies are created on the leading NK for all ground-based radio communication facilities for a certain period of time, for example, for a day, the time interval of their radiation, known to all subscribers of the system; then this data is entered from the leading NK and the time of switching frequencies over the ground data transmission network to other NK 1, and to the PO 2 nodes - during pre-flight preparation.

[0094] Periodically, at intervals shorter than the stationarity interval of the quasi-regular ionospheric parameters (less than 5 minutes), from each HF BS 1, in the presence of information from the ground network 3, data transmission with input / output 4, radio signals are emitted on a designated set of two frequencies known to all subscribers of the system. In this case, the response information from the HF BS contains a preamble for bringing the automatic adjustment of the ground receiver of the HF BS to a steady-state mode, the address of the sender of the information to the HF BS - the source of the message, a report on the quality of reception of the control command, the recommended channel speed, the time of channel parameter measurement, the location of the HF BS, data on the presence of interference and its level, and other information.

[0095] Communication is carried out in a similar manner in MB-range channels and in satellite communication channels.

[0096] Each NK 1 emits radio signals on active frequencies. These signals contain a preamble for setting the automatic receiver gain control to steady-state mode, the sender's address (the message source) and the mobile object, or a broadcast mode (for example, when all bits in a given time interval are ones). The signals also provide for the reception of reports on the execution of control commands received by PO 2 and other information. If the address portion of the radio signal contains information such as a specific address or a broadcast mode message, this indicates the transmission of data, starting with the next communication session, to the corresponding PO 2 or to all other PO 2s in the specified time intervals, respectively.

[0097] The peculiarity of the assignment of the address part of the radio signal is as follows: if there is no information in it, then it is used on PO 2 only for the analysis of the communication channel parameters, and if there is an address of PO 2 registered in the system, then this is a sign of the presence of information on NK 1 for the corresponding PO 2, a special sign, for example, all units in broadcast mode, which shows that the remaining PO 2, starting from the next communication session, must be ready to receive control commands from NK 1.

[0098] Unified communication planning for all NC 1s is carried out from the master NC, which functions as the communications control center. It takes into account the replacement of transmitting and receiving nodes that have failed due to malfunctions, information about which is sent to the master NC via the ground data network. NC 1, in whose single-hop path the selected PO 2 is located, stores information (control commands from the message source). All changes to the frequency ratings of NC 1 in the presence of interference are recorded in the memory of the automated workstation computer and transmitted via all communication means to all PO 2s. This procedure, used in dynamic mode, also improves interference immunity.

[0099] To ensure electromagnetic compatibility of the communication equipment on NK 1, which increases the noise immunity of the system, lists of non-repeating communication frequencies and their harmonics are created on the leading NK for all NK 1 for a certain time interval, for example, for a day, the time interval of radio signal emission on them, this data and the frequency switching time are entered through the ground network 3 for data transmission to all NK 1. All changes in the frequency ratings on NK 1, transmitted from the leading ground complex, are recorded on the corresponding NK 1.

[0100] Based on the known location of the called PO 2, determined from the response signals using the extrapolation method

[13] , on the leading NC, those NC 1 are determined in the zones of the single-hop route of which the required PO 2 is located.

[0101] To ensure uniform time synchronization of all NK 1 and PO 2, they use precise time stamps from the outputs of global navigation satellite system receivers. Therefore, the slot timing and frequency switching times specified by the master NK are synchronized for all subscribers.

[0102] The operation of automatic channel creation for establishing communication between the HF NS and HF BS in the over-the-horizon communication mode is reduced in time compared to analogs, which allows for a reduction in the information delivery time, and is performed as follows:

[0103] - if there is information from a message source for PO 2 located on the route, the leading NC determines those NC 1 within whose single-hop route zones the required PO 2 is located and transmits to them the address of the called mobile object 2 and control commands from the message sources for these NC 1, which store this data until the moment of receiving a response message from the called PO 2 - a report on the correct reception of the transmitted control command;

[0104] - calling NK 1 contacts the called PO 2 and transmits the corresponding address in radio signals (if this PO 2 is in the line of sight of NK 1, satellite communication channels are not used);

[0105] - in the called PO 2, the quality of all received radio signals of NK 1 is assessed, the corresponding weight is assigned to them, depending on the signal-to-interference-plus-noise ratio (SINR) in the channel, the best radio signal from them, the most suitable for the interference environment, is selected at the current moment in time, the address of the called PO 2 is analyzed. If, upon analyzing the address part of the received radio signal, the address coincides with its own, then in the next radio signal at a known frequency, the following parameter data is transmitted: the recommended information transfer rate, the signal-to-interference-plus-noise ratio in the channel, the measurement time, the subscriber location, as well as the movement parameters of PO 2 and the address of the corresponding NK 1 with the best communication channel, these parameters are stored, then in the next communication session they are transmitted and, starting from the next radio signal, they wait for the reception of a control command;

[0106] - the calling NK 1 receives information from the called PO 2 with varying degrees of reliability, and only NK 1 will have the most reliable data. The address in the received message on NK 1 is then analyzed. If the address matches its own, the channel is considered established and, starting from the next time slot, control commands are transmitted for this PO 2 at a known frequency and at a specified speed, specified in the message from the called PO 2. During the transmission of control commands, the receivers of the PO 2 radio stations do not switch, even if a frequency with a high signal-to-noise ratio appears during monitoring;

[0107] - in the called software 2, the quality of reception of the control command from the selected ground complex 1 is assessed, a report on correct or incorrect reception is prepared and transmitted to the NC 1 in order to receive a repeat message;

[0108] - after reliable reception of the report on the correct reception of the control command by PO 2, the processes of receiving and evaluating the parameters of radio signals by PO 2 continue;

[0109] - in case of invalid reception of the control command in the response message from software 2, a request is sent for retransmission of the control command and the information processing procedures are repeated.

[0110] In PO 2, the radio frequency spectrum is monitored, interference levels are determined at known operating points of the system, and if interference is detected, it is immediately reported in the first response radio signal along with the interference data to the corresponding NK 1. Similar procedures are also carried out on NK 1, and then these messages are transmitted from NK 1 to the leading ground complex and notification of all subscribers is organized.

[0111] In the case where PO 2 operate in a group and only the communication equipment of slave PO 2 has correctly received the message, it transmits it via a microwave radio line (line of sight) to the moving object of the master (in case of receiving data without errors) and waits for confirmation from it, which is then transmitted to the corresponding NC 1. This procedure also increases the noise immunity of the system.

[0112] Knowing the time of broadcasting of radio signals of the i-th NK 1 and its frequency, using radio frequency spectrum monitoring, it is possible to estimate the parameters of radio signals of all NK 1 received by the corresponding PO 2.

[0113] The location of the PO 2 is determined by linking it to the navigation data of the receivers of global navigation satellite systems and transmitting the information in response messages to the corresponding NK 1, where, using the method of extrapolating the location of the mobile object for the next communication session, the probability of PO 2 entering the zones of a single-hop route limited by the sector of responsibility of ground complexes 1 is calculated.

[0114] The value of the operating frequencies of radio signals and the position of the time interval of their emission are known to all subscribers of the system and are identifiers of ground complexes 1.

[0115] Increased noise immunity is achieved by:

[0116] - introduction of a pseudo-random frequency tuning mode, which makes it difficult to set up targeted interference;

[0117] - using methods of diversity transmission and reception of radio signals together with weighted majority weighting of signals upon reception;

[0118] - formation and transmission of one message on the air simultaneously on several frequencies, spaced across ranges so that the frequencies do not overlap and their combination components do not fall into the spectrum of transmitted radio signals;

[0119] - reducing the value of the standing wave ratio - increasing the radiated power in the HF range when introducing a procedure for matching the output impedance of the HF radio station transmitter with the input impedance of the antennas at all operating points;

[0120] - spatial, frequency separation of receiving and transmitting antennas, weighted majority summation of signals of different frequency ranges, which allows to increase the value of the signal-to-interference plus noise ratio [14, 15, 16], and, consequently, the noise immunity of message reception and reduce the information delivery time, since in this case it is necessary to carry out fewer requests to repeat unreliably received data;

[0121] - using time stamps from the output of the global navigation satellite system signal receiver to form a single time scale for all subscribers of the system, which makes it possible to accurately determine the time of frequency changes.

[0122] The developed procedures will not only improve the noise immunity of data transmission, but also reduce the message delivery time.

[0123] The operating algorithm of the radio communication system with software 2, constructed according to the method discussed above, consists of conducting a continuous analysis in NC 1 and software 2 of the communication channel parameters and transmitted control commands used for data exchange between system objects, for their correctness and logical validity.

[0124] The radio communication system with mobile objects, using the method described above, operates essentially similarly to

[11] , but with some differences. For example, before commencing operations at the master NC, several versions of communication plans are developed, each with a corresponding code. One of these codes and the code for starting operations according to the new communication plan are linked to a common time and are transmitted to the memory of computers 5 and 15 to all subscribers of the system, for whom these codes will be common for a specified period of time.

[0125] Then, at a specified time, if information is available, the transmission or reception of messages from each subscriber on the opposite side begins via radio channels on different, spaced-apart operating frequency ranges allocated to ground complexes 1. These frequencies do not repeat within the same time interval, and the combination components of the transmitted radio signals do not fall within the communication channel frequency band. Before the end of the communication session according to the primary communication plan, the following data is transmitted to all subscribers: the communication version code and the code for starting subsequent operation, etc. Using the group frequency method, frequencies are assigned to NK 1 and PO 2 in frequency ranges such that the radio signals are uncorrelated and interference levels are independent at these frequencies.

[0126] Before starting work, after installing antennas 24 and 36, 41 and 40 on the system objects, procedures are carried out to match the output impedance of the transmitter of radio stations 23 and 34 (on PO 2), 26 and 38 (in NK 1) of the HF range with the input impedance of antennas 24 and 36, 41 and 40, respectively, at all operating points of the range.

[0127] Matching is carried out by compensating for the reactance (inductive or capacitive nature) of the connected antenna using antenna matching devices 33 and 35, 37 and 39, controlled by computers 5 and 15. All received data on the state of the switching nodes at all operating points, necessary for tuning, are sequentially recorded in the memory of computers 5 and 15 for subsequent operation at these operating frequencies

[17] .

[0128] Automatic tuning begins with the selection of the first two operating frequencies from the list of receivers and transmitters of radio stations 23 and 34, 26 and 38, and antenna matching devices 33 and 35, 37 and 39, based on a control command from the memory of computers 5 and 15. These commands correspond to one of the codes previously recorded in computers 5 and 15. Then, sequentially over time, at a time interval known to all subscribers, a second pair of operating frequencies is generated, then a third pair, and so on until the end of the current communication plan. The computers then enter a new communication plan, and system operation resumes.

[0129] To tune antenna matching devices 33 and 35, 37 and 39 to the required next operating frequency according to the communication plan, the generation, control, and switching means [18, 19] are used. The division factors during the operating frequency generation are selected in such a way that the operating points cover the entire set of frequencies, the nominal values ​​and the installation sequence in time of which are entered via the control input from computers 5 and 15, depending on the entered communication plan. Thus, work continues until the end of the current communication plan.

[0130] According to the initial data entered in advance together with the communication plan in nodes 5 and 15, the equipment is tuned to the next operating frequency known to all subscribers of the system, which must be present on the air during a specified time interval, synchronized by the exact time marks from receivers 7 and 16 of the global navigation satellite systems signals. After software switching of the circuits in nodes 33 and 35, 37 and 39 in the next communication session, depending on the commands from nodes 5 and 15, the equipment that is currently already tuned to the operating frequency specified programmatically according to the communication plan is connected, and other equipment, according to the initial data entered in advance according to the communication plan, begins to tune to the next operating frequency known to all subscribers of the system, and so on [20-22].

[0131] At the initial moment of time, the system, using the computer 15 ARM and the corresponding operator, analyzes all radio signals received from the software 2 directly via radio communication links or via the satellite 30 from the satellite constellation and determines the moving objects to which the corresponding control commands must be transmitted

[10] . For this purpose, the corresponding command is selected from the menu on the screen of the monitor 17 ARM, formed on the basis of the data stored in the ground unit 22 for storing control commands, and the logical execution of this command for a specific moving object 2 and the state of its equipment are checked in the computer 15 ARM.After checking, the message is transmitted in parallel through the NK 1 equipment: nodes 14, 13, 12 - for the MW-range channel with direct visibility between objects and for over-the-horizon communication - through the NK 1 nodes: 15, 14, 26, 37, 41 (15, 14, 38, 39, 40) - for the HF range channels, through the nodes: 15, 14, 29, 28 together with node 31 - for the satellite channel to the corresponding PO 2. Received by PO 2, having passed through the nodes: 11, 10, 9, 5 - for the MW-range channel with direct visibility between objects, for over-the-horizon communication through node 42 together with nodes 32, 25, 9, 5 - for the satellite channel, through the PO 2 nodes: 24, 33, 23, 9, 5 (36, 35, 34, 9, 5) - for the HF channel, radio signals are processed in the on-board computer 5. During signal processing, the most reliable information is selected, for example, after the majority weighting of the received signals [14, 15].Ground-based control command storage unit 22 stores data on all active system control commands for mobile objects, while onboard storage unit 21 stores only control commands specific to the equipment. Messages received by software 2 are then processed in message type analyzer 19. If a message is intended for software 2, then after analyzing the logic of the operations performed by software 2 in accordance with the current state of the mobile object's equipment and visually verifying the received control command on the screen of data recording unit 8 (with a "prompt" from onboard computer 5), a decision is made on transmitting the data via bidirectional bus 20 to software 2's control system, not shown in Fig. 2.Loading of the necessary data, including the control commands and the communication plan, into the memory of the onboard computer 5 is performed via the bidirectional bus 20 in the form of a system table during the pre-flight preparation of the mobile object 2 through the input / output 4 of the ground data transmission network 3. The information received by the computer 2 is displayed on the screen of the data recording unit 8 in the form of alphanumeric symbols, points and vectors, or in another form. When a control command is executed, a report on its execution is generated on the computer 2 and transmitted to the ground control system 1. At the ground complex 1, based on the received report, the operator additionally evaluates the current situation on the computer 2 and the air situation around it.

[0132] Messages about the location of the PO 2 and the parameters of its movement, for example, from the outputs of receivers 7 and 16 of signals from global navigation satellite systems, for example, GLONASS / GPS, or from the outputs of inertial systems not indicated in Fig. 2, are recorded in the memory of computers 5 and 15.

[0133] In a situation where one or more PO 2 have gone beyond the line of sight with NK 1, a transition is carried out according to mutually time-coordinated commands from the onboard and ground computers 5 and 15 to replace the MV-range radio link with a satellite radio link consisting of an onboard satellite communication station 25 with an antenna 42 and with a corresponding onboard control unit 32, and in ground complex 1 - from a ground satellite communication station 29 with a corresponding antenna 28 and with a control unit 31, and also switches to the HF BS PO 2, consisting of two parallel circuits: onboard radio stations 23 (34) of the HF range, onboard antenna matching devices 33 (35), onboard antennas 24 (36) of the HF range and in NK 1 - from ground radio stations 26 (38) HF range, ground antenna matching devices 37 (39), ground antennas 41 (40) HF range.The time binding of control commands is carried out using global time markers received by computers 5 and 15 from the outputs of receivers 7 and 16 of signals from global navigation satellite systems.

[0134] To increase the noise immunity of data transmission to mobile objects in interference conditions located beyond the line of sight from NK 1, when using two parallel HF radio lines and the corresponding two channels in computers 5 and 15, in on-board and ground data transmission equipment 9 and 14 and other nodes, known technologies are used [14, 15].

[0135] Onboard and ground computers 5 and 15 store pre-programmed tables for a specified time interval, listing NK 1, mobile objects 2, and sets of frequencies assigned at a specific time. Onboard computer 5 stores the coordinates of all NK 1 and their areas of responsibility. Each NK 1 emits radio signals used by PO 2 on all frequencies assigned to it at a specific time. PO 2 determines the NK 1 with the most stable radio signal parameters based on the received radio signals, and initiates data exchange with that NK 1. The radio signals received by PO 2 are used to evaluate the communication channel parameters in different sections of the used frequency ranges.To establish a communication link with NK 1, the on-board computer 5 PO 2 automatically analyzes the received radio signals from the ground complexes 1 and selects the best radio signals, for example, based on the signal-to-interference-plus-noise ratio or the received signal power value, and the corresponding ground complexes 1 to implement the well-known principle of frequency and space adaptation. Based on the signal-to-interference-plus-noise ratio measured by the monitoring module 67, a communication channel is selected in the on-board computer 5 PO 2. The signal-to-interference ratio in the communication channel is assessed by all NK 1 and PO 2 each time an information message is received. In the multi-channel on-board and ground APDs 9 and 14, well-known algorithms can be used during operation, for example, high-speed adaptive modems designed for operation in channels with multipath. To improve the reliability of information reception, a noise-immune code can be used, for example, a turbo code [14, 15].

[0136] In the 15 ARM computer, the operations of reformatting the codegram from the air-to-ground channel format to the ground data transmission network 3 format with storage in the database and from the ground data transmission network 3 format to the air-to-ground channel format with storage in the database are performed, interaction with the interface module 27 for transmitting / receiving codegrams in the ground data transmission network 3 format is ensured and a control signal for completing the reception of the corresponding control command from the information source is generated.

[0137] When radio signals from different software 2 are simultaneously detected in NK 1, all signals are processed in ARM computer 15. Based on the received radio signals, ARM computer 15 generates a response in the order in which they were received or based on the message priority. ARM computer 15 of all NK 1 continuously analyzes transmitted and received control commands, processes them jointly, generates a decision, and sends recommendations for subsequent control actions to the mobile objects 2 in subsequent messages (if necessary).

[0138] The leading NC, in addition to the operations discussed above, manages processes occurring within the system and distributes communication plans for a specific point in time to all system subscribers. The leading NC's control functions are supplemented by operations such as preparing communication plans, generating status tables and registering software 2, managing the system configuration, ensuring data transmission quality under interference conditions, and processing remote diagnostic signals. Computer 15 ARM, via interface module 27 and input / output 4 of ground data network 3, provides an interface with ground-based sources (receivers) of system information and programs onboard computers 5 of mobile objects 2 at the airfield during pre-flight preparation.Synchronization of the operation of the terrestrial data transmission network 3 is carried out on the basis of the use by all subscribers - participants in the movement of a single global coordinated universal time (UTC), received from existing objects of the global navigation satellite system

[23] .

[0139] A ground data transmission network 3 is used for interaction between ground complexes 1, end users, and software 2. It can be implemented in various known ways, for example, during inter-network operation of NC 1 through packet switching centers, in accordance with the X.25 protocol

[24] . Connections between NC 1 and X.25 packet switching centers (routers) can be provided through specially dedicated or leased communication channels. They will allow users to transmit a message addressed to a specific software 2 to the ground complex 1 on which this software 2 is "registered" and where optimal reception conditions are currently provided.

[0140] In the polling mode, only NK 1 can initiate communication. If the mobile units have generated a message for transmission and detect that the radio channel is free (no radio signals in the data exchange channels), they inform the other mobile units of the start of the data transmission cycle, including their location, and randomly distribute the transmitted messages in the allocated time slots. Messages about the location of PO 2 and its movement parameters, for example, from the outputs of receivers 7 and 16 of global navigation satellite systems, such as GLONASS / GPS, or from the outputs of inertial navigation systems (for PO 2), are recorded in the memory of computers 5 and 15 of the automated workstation with reference to global time.In computers 5 and 15 these data are used to calculate the navigation characteristics, the movement parameters of each PO 2, the selection of a probabilistically optimal frequency for each direction in the area of ​​responsibility of NK 1 and the assessment of the quality of the parameters of the radio communication channel based on the received radio signals. Depending on the selected time interval for issuing messages to NK 1 about the location of PO 2, a corresponding message is formed in on-board computer 5 at a specified time, with a reference to the global time of the measurement of the coordinates of PO 2. These time intervals are used in computer 15 ARM for the known operation of constructing extrapolation marks for PO 2

[12] and in on-board computer 5, on-board unit 43 of the DSP, connected to four on-board antennas 11, 24, 36, 42 to perform procedures that ensure increased noise immunity of information transmission [14, 17]:.

[0141] - avoidance of interference from a carrier located in the direction of PO 2 - NK 1;

[0142] - analysis and selection, in the presence of interference, of a probabilistically optimal frequency at a given moment in time or selection of the closest assigned frequency;

[0143] - use of majority weighting of signals transmitted in different frequency ranges;

[0144] - development of a decision on switching to another type of coding and changing the speed of information transfer during data exchange and when software 2 is located in the line of sight (optical) from the NC 1 it serves;

[0145] - adaptation of the radio communication system to interference and changes in the propagation conditions of radio waves, using frequency and spatial diversity of transmission and reception of signals;

[0146] - adaptation of the radio communication system in terms of data transfer rate, type of modulation and coding, using decision feedback methods when receiving messages with compensation for delay, multipath, interference concentrated in the spectrum, and Doppler frequency shifts;

[0147] - binding all subscribers of the system to a single system time

[23] .

[0148] The majority weighting procedure is carried out in two stages. In the first stage, in the ground complex, radio signals from antennas 12, 28, 41, 40 are sent to the corresponding radio stations 13, 29, 26, 38, and through the ground unit 44 of the digital signal processing system, which consists of four parallel chains, each of which contains corresponding preselectors 70, 46, 48, 78 in series with the antennas 12, 28, 41 40 with the built-in protection circuit against lightning and powerful radio signals, corresponding analog-to-digital converters 72, 50, 52, 80, corresponding digital delay lines 74, 54, 56, 82, corresponding modules 76, 58, 60, 84 for setting weighting coefficients. The outputs of the weighting coefficient setting modules are connected to the inputs of adder 62, the output of which is connected to calculator 15 ARM via threshold device 64 via information output 66. Threshold formation in device 64 is performed by calculator 15 ARM.

[0149] The second outputs of each of the four ADCs 50, 52, 72, 80 are connected to the inputs of the ground module 68 for monitoring the radio frequency spectrum, the output of which is connected to the calculator 15 ARM. The inputs / outputs of the calculator 15 ARM for controlling the operating modes of the nodes and monitoring their status are connected to the corresponding inputs / outputs: preselectors 46, 48, 70, 78 with a built-in protection circuit against lightning and powerful radio signals, ADCs 50, 52, 72, 80, digital delay lines 74, 54, 56, 82, modules 76, 58, 60, 84 for setting weighting coefficients, threshold device 64 and monitoring module 68 of the DSP block 44.

[0150] When receiving radio signals in preselectors 46, 48, 70, 78, the built-in lightning protection circuits and high-power radio signals perform the functions of limiting the level of received electromagnetic pulses, for example, using a power limiter on pin diodes, and protecting against electrostatic discharges, for example, using an assembly of high-speed zener diodes

[25] . Then the radio signals are filtered in preselectors 46, 48, 70, 78 with a built-in lightning protection circuit and high-power radio signals, in which the procedure of selecting a frequency section of a given range and amplifying the radio signal in a low-noise amplifier equipped with automatic gain control controlled by the computer 15 ARM to maintain the required signal level at the input of ADC 50, 52, 72, 80, transferring the radio signal to zero frequency. The control makes it possible to carry out communication at short distances.

[0151] The signals filtered from interference in preselectors 46, 48, 70, 78 with a built-in protection circuit against lightning and powerful radio signals are fed to ADCs 50, 72, 52, 80, respectively, which, using the 15 ARM calculator, implement analog-to-digital processing of radio signals in the best sampling zones according to the quantization level, in which the required number of quantization bits is provided to maximize the dynamic range of the DSP block 44.

[0152] In the second stage, the four messages that have passed antennas 12, 28, 41, 40, the corresponding radio stations 29, 13, 26, 38, the multi-channel ground data transmission equipment 14, and the digital signal processing unit 44 are assigned a weight depending on the signal-to-interference-plus-noise ratio in each of the four channels, according to the data from the ground radio frequency spectrum monitoring unit 68. The weighted data are then summed, compared with a threshold, the value of which is set by the computer 15 of the automated workstation, and then transmitted through the interface module node 27 to the ground data transmission network 3.

[0153] The software modules of the 15 ARM computer generate a radio signal and receive radio signals in certain slots, control the pseudo-random hopping of the operating frequency and the implementation of the “cognitive radio” technology and the hopping of a wideband signal in the entire range of operating frequencies (or in sub-ranges selected by the operator), the analysis of the value of the signal-to-interference plus noise ratio of all receiving channels of the DSP block 44 and radio stations 13, 29, 26, 38, the formation of the threshold voltage, in accordance with a given criterion, for example, maximum likelihood or Neyman-Pearson.In this case, when implementing "cognitive radio" technology, the best frequencies for radio wave propagation and interference control are analyzed in real time during radio spectrum monitoring. After these frequencies are communicated to subscribers, communication sessions are conducted only on a selected set of frequencies, which are adapted in real time. The frequency set is set using pseudo-random frequency hopping. Software modules enable the use of receiver 16 navigation data periodically or on-demand to send precise coordinates to a specific correspondent.

[0154] The control and monitoring of the corresponding electronic units of the system is carried out, for example, via the Ethernet protocol or another [26, 27]. The filters in preselectors 46, 48, 70, 78 with a built-in protection circuit against lightning and powerful radio signals are not controlled by the 15 ARM computer, since they have their own mounting locations and are replaced only when the requirements for the parameters of the 44 DSP block change, for example, when changing the range, etc.

[0155] In the 15 ARM computer, the procedure of weight majority summation is carried out, similar to that discussed above with the signals from the outputs of the on-board 57, 59, 75, 83 and ground 58, 60, 76, 84 weighting coefficient setting modules after equalizing their delays based on a comparison of the time position of the synchronization signals in the structural-address part of the received messages, weights are set for each channel, depending on the signal-to-interference plus noise ratio, measured by known methods [14, 15] by the ground module 68 for monitoring the radio frequency spectrum. Then the received data with the corresponding weights are summed up, compared with the threshold set by the 15 ARM computer, in accordance with the external situation formed on the basis of the received messages from the PO 2 and their analysis in terms of the state of the radio frequency spectrum, and sent for further processing.

[0156] The majority weighting procedure in the onboard DSP unit is performed similarly to that discussed above. The signal processing procedures from the outputs of DSP units 43 and 44—modulation / demodulation, encoding / decoding, interleaving / deinterleaving, equalization for operation in multipath channels, and other operations typical of data transmission equipment—are implemented using software in computers 5 and 15, respectively.

[0157] In data transmission equipment 9 and 14, the following well-known operations are performed: synchronization, modulation and demodulation, encoding and decoding, interfacing with nodes 5, 23, 25, 34, 43 on PO 2 and with nodes 15, 26, 29, 38, 44 on NK 1 and others [14, 15]. To eliminate interference in block 43 of the digital signal processing system when radio stations 23 and 34 are operating in radiation mode, antennas 24 and 36 on PO 2 must be separated by the maximum possible distance and when operating in transmission mode, a prohibition on processing signals from the output of 43 digital signal processing system must be ensured in on-board computer 5.

[0158] The time binding of signal processing procedures in the system is carried out using global time markers received by computers 5 and 15 from the outputs of the corresponding receivers 7 and 16 of signals from global navigation satellite systems.

[0159] To prepare a communication session with NK 1, the on-board radio spectrum monitoring module 67, together with the computer 5 PO 2, automatically analyzes the received radio signals from NK 1 on all allocated frequencies, assigning appropriate weights to them, for example, depending on the signal-to-interference-plus-noise ratio or on the magnitude of the received signal power, and implements a well-known method of frequency and space adaptation [14, 15]. Based on the measured signal-to-interference-plus-noise ratio, the data transfer rate, as well as the type of modulation and coding, are selected in the on-board computer 5 PO 2. The signal-to-interference-plus-noise ratio is assessed by all NK 1 and PO 2 each time an information message is received, as well as during radio frequency spectrum monitoring. Information about the currently optimal channel is communicated to the opposite side in the form of recommended frequency and data transfer rate.To improve noise immunity during data reception, a noise-immune code, such as a turbo code, can be used. The 15 ARM computer software is a multitasking complex in which communication planning and data exchange tasks are solved as follows.

[0160] After the launch of the 15 ARM computer in the NK 1, the ground-based APD 14 is identified and loaded with the current time, data on mobile objects 2 and the NK 1: the communication plan, the start time of operation, and the operating frequency range. The registration of the data exchanged with the APD 14 (service and information parts of messages, control requests for the states of the components of the APD 14, codes of current events and their verbal interpretations) is carried out in the database of the 15 ARM computer, which stores the data exchanged between the NK 1 and each PO 2.

[0161] In the control mode of software 2 with NC 1, the generated planned communication data are selected from the database of the computer 15 ARM for loading into the APD 14. In the computer 15 ARM, a comprehensive analysis of the functioning of its constituent blocks is provided and control of the paths for compliance with the planned communication data and their status ("serviceable", "faulty"). The software provides information exchange with software 2 in the form of formalized messages that implement the following functions: communication checks, changes in the operating frequency of radio stations 10, 23, 25, 34 and 13, 26, 29, 38, units 43 and 44, loading planned data into computers 5 and 15 via inputs / outputs 20 and "a", respectively.

[0162] The 15th computer of all NK-1 automated workstations continuously analyzes radio signal parameters, processes them, generates a decision, and sends the best operating channel frequency with the best performance in subsequent messages (if necessary) to NK-1 and other mobile units 2. This frequency also monitors their operability and the onset of degradation. Radio channel quality analysis in units 43 and 44 can be performed, for example, based on the strongest radio signal currently received or on the signal-to-interference-plus-noise ratio.

[0163] In addition to analyzing the parameters of radio signals, the following methods are used to improve the noise immunity of data transmission: changing the operating frequency range, increasing the transmitter power of radio stations, well-known methods of diversity in frequency, space, time, adaptive equalization, coding with forward error correction, weighted majority summation, interleaving to combat the effects of multipath, fading, impulse noise.

[0164] Thus, to improve noise immunity in the system, the following signal processing methods and devices implementing them are used:

[0165] - in the on-board equipment, the procedures for frequency diversity of channels and weighted majority summation are implemented during the transmission of one message on four operating frequencies, reception and processing of the message on NK 1 using the corresponding nodes 13, 14, 15, 26, 29, 37, 38 39, 44 using software methods when receiving radio signals in interference;

[0166] - in ground equipment, the procedures for spatial (with territorial distribution of antennas 12, 28, 41, 40 per position) and frequency channel spacing together with weighted majority summation are implemented during the reception and processing of one message on four operating frequencies from PO 2 using the corresponding nodes: 5, 9, 10, 23, 25, 33, 34, 35, 43 by software methods during the reception of radio signals in interference [14, 15];

[0167] - in the on-board and ground equipment, pseudo-random switching of the operating frequency is used

[11] according to the law, which is known to all subscribers of the radio communication system, introduced into the computers 5 and 15 via inputs / outputs 20 and "a" during pre-launch preparation. Pseudo-random switching of the operating frequency on the PO 2 is carried out with the help of node 5 and computing means of radio stations 10, 25, 23, 34, and on the NK 1 node 15 and computing means of radio stations 13, 26, 29, 38;

[0168] - use of a multiparameter system adaptation algorithm based on radio frequency spectrum monitoring data [14, 15] and radio frequency spectrum analysis: frequency adaptation using the group frequency usage method, determining the maximum possible signal transmission speed with the minimum permissible transmitter power of radio stations, implemented using nodes 5, 43 on PO 2 and nodes 15, 44 on NC 1;

[0169] - the use of algorithms for automatic multi-parameter adaptation (by frequency, space, power of transmitting devices of radio stations and data transfer rate), the implementation of communication on non-fixed frequencies determined by the conditions of the interference environment leads to an increase in the noise immunity of information transmission [14, 15] and a decrease in the message delivery time and is implemented using nodes 5, 43 on PO 2 and nodes 15, 44 on NC 1.

[0170] Nodes and inputs / outputs 1-42 are similar to the prototype. Input nodes 43, 44 and their components can be implemented programmatically, for example, using SDR technology - "programmable radio" on serial ICs, FPGAs HS7K410T-761 with control of software modules included in the calculators 5 and 15, which can be implemented, for example, on the Elbrus 8C 1550 processor

[28] , and ADCs 49, 51,71, 79, 50, 52, 72, 80 - on 5101HB045 microcircuits

[29] . As antenna matching devices, it is possible to use an antenna matching device of a transmitting antenna-feeder path with an HF-range antenna according to Russian patent No. 2698507

[30] .

[0171] The use of the method and the radio communication system implementing it with mobile objects, with each PO 2 and NK 1 equipment having four radio channels operating at different frequencies, makes it possible to increase noise immunity and the efficiency of organizing communications due to the use of digital signal processing devices and procedures for frequency and spatial channel diversity in the onboard and ground equipment, together with weighted majority summation operations.

[0172] Literature

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[0179] 7. HF Data Link Manual. Geneva. ICAO. 2001.

[0180] 8. Report from the AD HOC Working Group on HF Data Link. Draft Version 1.0. 29 September 1995.

[0181] 9. Russian Federation Patent for Invention No. 2286030, published 10.20.2006, Bulletin No. 29.

[0182] 10. Russian Federation Patent for Invention No. 2612276, published 06.03.2017, Bulletin No. 7.

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[0186] 14. Keistovich A.V., Komyakov A.V. Systems and equipment of radio communication in aviation: textbook / Nizhny Novgorod: NSTU, 2012. - 236 p.

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[0188] 16. Zolotarev V.V., Ovechkin G.V. Noise-correcting coding. Methods and algorithms: Handbook / Ed. Corresponding Member of the Russian Academy of Sciences Yu.B. Zubarev. - M.: Goryachaya Liniya-Telecom, 2004. - 341 p.

[0189] 17. Russian Federation Patent for Invention No. 2792220, published 03.21.2023, Bulletin No. 9.

[0190] 18. Russian Federation Patent for Utility Model No. 106063, published 06 / 27 / 2011, Bulletin No. 18.

[0191] 19. Design of radio transmitting devices using computers: Textbook for universities / O.V. Alekseev, A.A. Golovkov, A.Ya. Dmitriev et al.; edited by O.V. Alekseev - Moscow: Radio and Communications, 1987. - 392 p.

[0192] 20. Filippovich G.A. Method of broadband impedance matching. / / Radio engineering and electronics. Minsk, Issue 25, 2000. - P. 153-159.

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[0195] 23. GPS - global positioning system. - M.: PRIN, 1994, 76 p.

[0196] 24. Kuzmin B.I. Digital Telecommunication Networks and Systems, Part 1 "Concept" ICAO CNS / ATM. Moscow St. Petersburg: JSC "NIIER", 1999, - 206 p.

[0197] 25. Russian Federation Patent for Invention No. 2839959, published 11 / 27 / 2024, Bulletin No. 33.

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[0202] 30. Russian Federation Patent for Invention No. 2698507, published 08 / 28 / 2019, Bulletin No. 25.

Claims

1. A radio communication method that includes processes in which the airspace is divided into service zones, in each zone a ground complex (GC) is installed with a high-frequency ground station (HF NS), one of which is designated as the leader, from which, through a ground data transmission network, all HF NS located in the corresponding service zone receive and store information on the processes of communication planning and dynamic management of communication resources, from each HF NS radio signals are emitted on all frequencies, which are periodically assigned and activated in the leading HF NS, different HF NS have different sets of active operating frequencies, then several versions of communication plans are developed, and each version has a corresponding communication plan code and a code for starting work on a new communication plan, tied to a single time, the developed versions of communication plans are transmitted to all subscribers of the radio communication system, which will be common to them for a specified period of time,then, at a specified time, if information is available, the transmission or reception on the opposite side of messages from each subscriber begins on two radio channels on different operating frequencies spaced across the HF range, wherein the two operating frequencies are assigned using the group method of using frequencies on the HF NS and the HF on-board station (HF BS) located on the mobile object (MO), and two frequencies are selected, located in the frequency range in such a way as to ensure the uncorrelatedness of radio signals and the independence of interference levels on these frequencies, the operating frequencies allocated for the HF NS in the same time interval are not repeated, before the end of the communication session according to the current communication plan, the code for the next communication plan and the code for starting work according to it are transmitted to all subscribers, after which the processes of transmitting and receiving messages continue, data is exchanged between the HF NS and the HF BS,through the ground data transmission network, packet data is exchanged between message sources (MS) and each HF NS, including the master HF NS, a message received by the HF NS from the HF BS is transmitted to the MS that issued the corresponding control command through the ground data transmission network, a data packet from the MS or from the master HF NS, intended for a specific HF BS, is transmitted through the ground data transmission network to the HF NS, from which it is then transmitted via the HF radio channel "Ground - Air" to the HF BS, a data packet from the master HF NS, addressed to a specific HF NS, is transmitted through the ground data transmission network to the HF NS, urgent information is transmitted via HF radio channels "Ground - Air" from all HF NS for the selected HF BS, based on the analysis of the state and parameters of the HF radio channel from the HF BS, information is transmitted to the opposite side and then, using the timestamps of global navigation satellite systems, on the transmitting and receiving sides, programmatically organize the data exchange process,The HF NS are located throughout the territory so that their service areas, limited by the sectors of responsibility of single-hop HF range routes, which are the most reliable in terms of communication, cover all routes of mobile objects with HF BS moving in space, unified planning of communication of all HF NS with the leading HF NS is carried out, to ensure unified time synchronization of all HF NS and HF BS, time stamps of global navigation satellite systems are used, in all HF NS information on control commands from the IS is stored until the moment of receiving a report from the selected HF BS on reliable reception of the corresponding control command, lists of unique communication frequencies for all HF NS for a certain period of time and time interval of radio signal emission on it are created on the leading HF NS in a calculated and experimental manner, this data and the time of frequency switching are entered via the ground data transmission network into all HF NS, and in the HF BS - during pre-flight preparation, periodically at an interval,less than the stationarity interval of the quasi-regular parameters of the ionosphere, radio signals are emitted from the HF BS on a designated set of two frequencies known to all subscribers, the HF BS evaluates the parameters of radio signals of all HF BS covering the location of the HF BS by service areas limited by the sectors of responsibility of single-hop routes of the HF range, all changes in the frequency ratings of the HF BS transmitted from the leading HF BS are recorded at the corresponding HF BS, if information is available for the HF BS located on the route, the leading HF BS determines the HF BS in whose service areas the required HF BS is located, control commands are transmitted to them, which are stored at the selected HF BS until a report on the parameters of communication channels and other data is received from the required HF BS, after which the control commands received at the HF BS from the message source are transmitted to the HF BS, while the frequency of the HF BS receiver does not switch even if a radio channel appears on a different frequency with the best parameters,in the HF BS, the quality of all received radio signals from the HF PS, in the service areas of which the selected HF BS is located, is assessed, the parameters are stored and, if during the analysis of the address part of the received message the address matches its own, then at a known frequency the data on the time of measurements of the radio channel parameters, the location and parameters of the movement of the software from the HF BS, data on interference are transmitted to the corresponding HF BS and wait for the reception of a control command, in the HF BS the message is received, its reliability is assessed, if there are no errors, it is considered that the channel is created, the HF BS transmitter is prepared to form and transmit a message in the form of a radio signal with a known frequency with an information part in the form of a control command intended for the selected HF BS, in the HF BS the control command is received, its reliability and address are assessed, if there are no errors and the address matches its own, it is transmitted to the on-board information consumers,then the HF BS transmitter is prepared to form and transmit a response message about the correct reception of the transmitted information in the form of a radio signal with a known frequency and an information part intended for the message source from which the control command was received in the form of a formalized message, for the duration of the HF BS transmitter operation, its receivers are blocked, after reliable reception of the control command at the HF BS and sending to the corresponding HF BS a report on its correct reception at the HF BS, the process of receiving and evaluating the parameters of radio signals continues, the HF BS receives a response message from the HF BS, its reliability is assessed, if there are no errors, data is formed and transmitted via the ground data transmission network to the message source, the information of which was transmitted to the HF BS, after the data exchange, the procedures for forming radio signals in the HF BS and evaluating their parameters in the HF BS continue,the location of the HF BS is determined based on navigation data from the outputs of the receivers of global navigation satellite systems and is transmitted in response messages to the HF NS, where, using the extrapolation method, the location of the HF BS is determined for the next communication session by assessing the probability of its entry into the service areas of the HF NS, limited by the sectors of responsibility of single-hop routes of the HF range, characterized in that the transmission of messages between subscribers of the system is carried out simultaneously via two channels of the high-frequency range, a satellite communication channel and a channel of the microwave range, the reception of radio signals is carried out simultaneously via two channels of the high-frequency range, a satellite communication channel and one channel of the microwave range, and in each of the four communication channels the corresponding radio signals are separated from those interfering with the background of the radio frequency spectrum, after the conversion of analog signals into digital ones, the values ​​of the signal-to-interference plus noise ratio are measured, time delays are equalized and each of the four channels is assigned its own weight, depending on the value of the signal-to-interference plus noise ratio measured in the process of monitoring the radio frequency spectrum, the obtained values ​​are summed up, the total signal is compared with the threshold generated by a computer based on the results of monitoring the radio frequency spectrum, the results of digital signal processing are transmitted through multi-channel data transmission equipment, a computer,interface means and a ground-based data transmission network to the recipient of the information, wherein in the computer of each HF NS and HF BS, upon simultaneous reception from multi-channel ground-based data transmission equipment of discrete messages transmitted via two HF channels, a satellite communication channel, a MW channel, and one discrete message obtained by weighted majority summation in the digital signal processing (DSP) unit, each message is again assigned its own weight depending on the signal-to-interference plus noise ratio according to the data from the radio frequency spectrum monitoring procedure in each of the two HF channels, one MW channel, one satellite communication channel, and one channel from the DSP unit, then the weighted data are summed up, compared with the threshold, the value of which is set by the computer, and then they are sent to the information display means or through the corresponding nodes to the recipient of the data, in the digital signal processing unit of each high-frequency PS and high-frequency BS, at the first stage, with direct visibility between subscribers, the weighted majority summation is carried out by digital processing of four signals coming from two high-frequency channels, a satellite communication channel and a microwave channel; at the second stage, with direct visibility between subscribers, digital processing is carried out on five signals coming from two high-frequency channels, a satellite communication channel, a microwave channel and from the output of the digital signal processing unit providing weighted majority summation; at the first stage, in the absence of direct visibility, digital processing is carried out on three signals coming via two high-frequency channels and a satellite channel; at the second stage, in the absence of direct visibility, digital processing is carried out on four signals coming via two high-frequency channels, a satellite channel and from the output of the digital signal processing unit providing weighted majority summation.

2. A radio communication system with mobile objects implementing the claimed method, consisting of M ground complexes connected by radio communication channels with N mobile objects, both directly and through the corresponding communication satellites from the satellite constellation, and the ground complexes are connected to each other by means of a ground data transmission network with the input / output of the system, each NC includes ground data transmission equipment (GDE), an automated workstation (AWS) computer, an interface module connected by two-way links to the ground data transmission network with the input / output of the system, a ground satellite communication station with an antenna, a ground MW-band radio station with an antenna, a first ground HF-band radio station connected to the first antenna matching device with an HF-band antenna, a second ground HF-band radio station connected to the second antenna matching device with an antenna high-frequency range,wherein the ground control unit is connected to the ground antenna of the satellite communication station via two-way links, the ground satellite communication station, the ground MW-range radio station, the first and second ground HF radio stations are connected to the ground ADF via two-way links, and the ground data transmission equipment, the ground control unit of the ground antenna station of the satellite communication, the ground control command storage unit, the interface module, the first and second antenna matching devices, the first and second on-board HF radio station are connected to the ARM computer via two-way links, the ground receiver of global navigation satellite systems signals and the ARM control panel are connected to the corresponding inputs of the ARM computer, the output of the ARM computer is connected to the ARM monitor, while the ARM computer, the first and second ground HF radio stations are connected to the ground ADF,connected through the first and second ground antenna matching devices with the first and second ground antennas of the high-frequency range, constitute a ground station of the high-frequency range, each of the moving objects includes on-board sensors, an on-board receiver of global navigation satellite systems signals and an analyzer of the type of received messages, each of which is connected to the corresponding inputs of the on-board computer, the output of the on-board computer is connected to the data recording unit, and a bidirectional bus of the mobile object control system, an on-board control command storage unit, a control unit of the on-board antenna station of the satellite communication, connected to the control input of the antenna for communication with a communication satellite from the satellite constellation, an on-board ADF, connected to an on-board microwave radio station with an antenna, a first on-board HF radio station, connected to the first on-board antenna matching device with an HF antenna, a second on-board HF radio station, connected to the second on-board antenna matching device with an HF antenna,the first and second antenna matching devices, the first and second on-board HF radio stations and the on-board station are connected to the corresponding inputs / outputs of the on-board APD, characterized in that an additional ground-based digital signal processing unit (DSP) has been introduced onto the NK, to the information inputs / outputs of which the first and second ground-based antenna matching devices of the HF range, the ground-based antenna of the satellite communication station, the ground-based antenna of the MV range and the ground-based ADF are connected, and the inputs / outputs for controlling the operating modes and monitoring the operability of the ground-based radio station of the MV range, the ground-based satellite communication station and the ground-based DSP unit are connected to the corresponding input / output of the ARM computer, An on-board digital signal processing unit has been additionally introduced into the software, to the information inputs / outputs of which the first and second on-board antenna matching devices of the HF range, the on-board antenna of the satellite communication station and the on-board antenna of the MV range and the on-board ADF are connected, and the inputs / outputs for controlling the operating modes and monitoring the operability of the on-board digital signal processing unit, the on-board MV range radio station and the on-board satellite communication station are connected to the corresponding input / output of the on-board computer.

3. A radio communication system with mobile objects according to paragraph 2, characterized in that the on-board digital signal processing unit contains four parallel chains, each of which contains, in series, an on-board preselector with a built-in protection circuit against lightning and powerful radio signals, an on-board analog-to-digital converter (ADC), an on-board digital delay line and an on-board module for setting weighting factors, wherein the output of each on-board module for setting weighting factors is connected to the input of an on-board adder, the output of which is connected through an on-board threshold device to the information input of an on-board computer in which the threshold values ​​are formed, the first and second preselectors are connected to the first and second on-board antenna matching devices of the HF range, respectively, the third preselector is connected to the on-board antenna of the satellite communication station, the fourth - to the on-board antenna of the MB range,the second outputs of each of the four on-board ADCs are connected to the inputs of the on-board radio frequency spectrum monitoring module, the output of which is connected to the on-board computer; the corresponding inputs / outputs of the on-board preselectors with a built-in lightning and high-power radio signal protection circuit, on-board ADCs, on-board digital delay lines, on-board weighting coefficient setting modules, an on-board threshold device and an on-board radio frequency spectrum monitoring module are connected to the corresponding inputs / outputs of the on-board computer.

4. A radio communication system with mobile objects according to any one of paragraphs 2, 3, characterized in that the ground unit of the digital signal processing system contains four parallel chains, each of which contains a ground preselector connected in series with a built-in protection circuit against lightning and powerful radio signals, a ground ADC, a ground digital delay line and a ground module for setting weighting coefficients, wherein the output of each ground module for setting weighting coefficients is connected to the input of a ground adder, the output of which is connected through a ground threshold device to the information input of the ground computer of the automated workplace, in which the threshold value is formed, the first and second preselectors are connected to the first and second ground antenna matching devices of the HF range, respectively, the third preselector is connected to the ground antenna station of the satellite communication, the fourth - to the ground antenna of the MW range,the second outputs of each of the four ground-based ADCs are connected to the inputs of the ground-based radio frequency spectrum monitoring module, the output of which is connected to the ground-based computer; the corresponding inputs / outputs of the ground-based computer are connected to the corresponding inputs / outputs of the ground-based preselectors with a built-in lightning and high-power radio signal protection circuit, ground-based ADCs, ground-based digital delay lines, ground-based weighting coefficient setting modules, a ground-based threshold device, and a ground-based radio frequency spectrum monitoring module.

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