CN111983596A - Multichannel parallel search tracking ranging device - Google Patents
Multichannel parallel search tracking ranging device Download PDFInfo
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- CN111983596A CN111983596A CN202010911930.8A CN202010911930A CN111983596A CN 111983596 A CN111983596 A CN 111983596A CN 202010911930 A CN202010911930 A CN 202010911930A CN 111983596 A CN111983596 A CN 111983596A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/70—Radar-tracking systems; Analogous systems for range tracking only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a multi-channel parallel search tracking ranging device. The problem of prior art when the aircraft passes through complicated terrain condition, because of the echo signal of tracking error, lead to exporting the wrong height in the short time is mainly solved. It includes: the device comprises a transceiving antenna, a transceiving unit, an A/D unit and a signal processing unit. The signal processing unit comprises two channels, and each channel is realized by an FPGA and a DSP; two channels in the FPGA interact with the same channel in the DSP respectively, and modules in the two channels in the DSP are mutually crosslinked and controlled. The pseudo code generated by the signal processing unit is modulated by the transmitting unit and then transmitted by the transmitting antenna, the signal reflected from the target ground enters the receiving unit through the receiving antenna, and after frequency mixing, the signal is sampled by the A/D unit and then returns to the signal processing unit, and the target distance is obtained and output. The invention improves the accuracy of the output altitude information and can be used for measuring the flight altitude in an aviation aircraft.
Description
Technical Field
The invention belongs to the technical field of distance measurement, and particularly relates to distance measurement equipment which can be used for measuring flight altitude or radar distance measurement in an aviation aircraft.
Background
Ranging devices are used to measure the distance between a user and a target, typically by various types of vehicle or aircraft equipment, to measure the desired distance.
The radio altimeter is an indispensable electronic distance measuring device on various aerospace aircrafts and can measure the altitude of the aircrafts relative to the ground in real time. The radio altimeter has three main working systems, one is pulse system, the other is frequency modulated continuous wave system and pseudo code continuous wave height measuring system. The altimeter in each system works through the capture and tracking process. In the capture process of the altimeter, the working altitude of the altimeter needs to be traversed, the ground echo signal is searched, once a proper signal is found, the signal capture is finished, and the altimeter enters a tracking state. In a tracking state, for stable and accurate tracking, the altimeter is only sensitive to signals within a range of dozens of meters near the current target distance signal, and tracking and processing are carried out according to the signals.
The CN101241186 patent discloses a radio altimeter based on pseudo-random code ranging, which comprises a transmitting module, a receiving module and a signal processing module, and captures and tracks ground echo signals by adopting a pseudo-code ranging technology to complete a height measurement task. The acquisition process needs to traverse the working height, the time is long, the accuracy of the acquisition height is insufficient, the sensitivity range of high-level signals in the tracking process is small, and echo signals in a large range cannot be processed. When the aircraft passes through a complex terrain condition, the ground echoes are complex and changeable, and all ground echoes cannot be processed due to the small processing range of the tracking loop, so that the altimeter tracking loop can possibly lock wrong echo signals, and wrong altitude can be output in a short time.
The CN106019268A patent discloses a random transformation pseudo code distance measuring device and a distance measuring method, which mainly solve the problem that an altimeter provided with a fixed pseudo code is not suitable for airplane formation flying. The distance measuring equipment and method also adopt a pseudo code distance measuring technology, and the capturing and tracking process of the distance measuring equipment and the distance measuring method has the same defects as the CN101241186 patent.
Disclosure of Invention
The invention aims to provide a multi-channel parallel search tracking distance measuring device and a method aiming at the defects of the prior art, so as to improve the height measuring and tracking capability of an altimeter under the condition of complex terrain and avoid locking wrong echo signals and outputting wrong heights.
The technical idea of the invention is as follows: by adding an auxiliary signal processing channel outside the main signal processing channel of the ranging device, when the main signal processing channel captures the target height, the auxiliary signal processing channel searches for the height signal in a limited range below the height. Because the search range is limited, the auxiliary channel can complete the search and repeat in a short time, and once the auxiliary channel captures the target signal in the limited range, the positions of the main channel and the auxiliary channel are interchanged. By the method, the main channel is prevented from continuously tracking wrong echo signals, the altimeter always captures and tracks the echo signal closest to the ground, and the minimum height information is output.
According to the above idea, the multi-channel parallel search and tracking ranging apparatus of the present invention comprises: transmitting antenna, receiving antenna, radio frequency receiving and dispatching subassembly, the AD unit, signal processing unit, interface unit and power supply unit, radio frequency receiving and dispatching subassembly comprises transmitting unit and receiving unit, the pseudo-code that signal processing unit produced is through transmitting antenna transmission after the transmitting unit modulation, the signal that reflects from the target ground gets into the receiving element in the radio frequency receiving and dispatching subassembly through receiving antenna, export for the AD unit after the mixing, return to signal processing unit after the AD unit sampling, obtain target distance or equipment height through calculating the time difference of receiving and dispatching signal, and export through interface unit, its characterized in that:
the signal processing unit comprises two channels, namely a first channel and a second channel, and each channel is realized by an FPGA and a DSP; only one channel of the two channels is in a tracking state and the tracking height of the channel is output by the equipment, and the other channel is in a searching state; any channel, if in the tracking state, is referred to as a primary signal processing channel, and the channel in the search state is referred to as a secondary signal processing channel.
The two channels of the FPGA have the same structure, namely each channel comprises: frequency word latch, accumulator, and local code counter and related processing module;
two channels of the DSP are provided with local code shift control modules;
the two channels in the FPGA are mutually independent and are respectively interacted with the local code shift control modules of the same channel in the DSP, the local code shift control modules of the two channels in the DSP are used for controlling the frequency word latch and the local code counter module in the FPGA, and meanwhile, the modules of the two channels in the DSP are mutually crosslinked and controlled in the task process.
Further, a first channel frequency word latch in the FPGA is configured to latch a first channel local code shift frequency word generated by a first channel local code shift control module in the DSP, and send the first channel local code shift frequency word to a first channel accumulator for accumulation, so that a generated overflow signal is used as a shift clock of a local code counter of the first channel and is simultaneously uploaded to the first channel related processing module, and the first channel related processing module simultaneously feeds back a processing result to the first channel local code shift control module.
Furthermore, a first channel local code counter in the FPGA is used for counting the local code shift phase of the first channel and transmitting the counting result to a first channel local code shift control module of the DSP, and the first channel local code shift control module of the DSP simultaneously carries out pause and zero clearing control on the counting process of the first channel local code counter of the FPGA.
Furthermore, a second channel frequency word latch in the FPGA is configured to latch a first channel local code shift frequency word generated by a second channel local code shift control module in the DSP, and send the first channel local code shift frequency word to a second channel accumulator for accumulation, so that a generated overflow signal is used as a shift clock of a second channel local code counter and is simultaneously uploaded to a second channel related processing module, and the second channel related processing module simultaneously feeds back a processing result to the second channel local code shift control module.
Furthermore, a second channel local code counter in the FPGA is used for counting the local code shift phase of the second channel and transmitting the counting result to a second channel local code shift control module of the DSP, and the second channel local code shift control module of the DSP simultaneously carries out pause and zero clearing control on the counting process of the second channel local code counter in the FPGA.
Further, the power supply unit converts the 28V power supply provided by the system into 5V, 12V, 3.3V, 1.2V and 1.8V power supply to respectively provide the working voltages required by the radio frequency transceiving component, the a/D unit signal processing unit and the interface unit.
Furthermore, the modules of the two channels in the DSP are cross-linked and controlled in the task process, which means that the two channels in the DSP perform mutual monitoring according to the current state, that is, when the first channel interrupt data of the DSP arrives, the current state of the first channel of the DSP is determined, and the current state of the second channel of the DSP is determined according to the current state of the first channel: and when the interruption data of the second channel of the DSP arrives, judging the current state of the second channel of the DSP, and judging the current state of the first channel of the DSP according to the current state of the second channel.
The invention adopts FPGA and DSP as the signal processing unit, and two channels with the same structure are arranged in the two chips, two channels in the FPGA are respectively interacted with the local code shift control module of the same channel in the DSP, the frequency word latch and the local code counter module in the FPGA are controlled by the local code shift control modules of two channels in the DSP, meanwhile, the modules of the two channels in the DSP are mutually crosslinked and controlled in the task process, so that the problem of overlong searching time in the prior art is avoided, thereby realizing the effect of searching and tracking at the same time, solving the problem of continuously tracking the wrong echo signal by adopting a single channel in the prior art, therefore, the distance measuring equipment can always capture and track the echo signal nearest to the ground, output accurate height information in real time and improve the tracking capability of height measurement under the condition of complex terrain.
Drawings
FIG. 1 is a block diagram of the overall architecture of the present invention;
FIG. 2 is a block diagram of a signal processing unit according to the present invention;
FIG. 3 is a flow chart of a first channel data processing in the signal processing unit according to the present invention;
FIG. 4 is a flowchart illustrating a second channel data processing procedure in the signal processing unit according to the present invention.
Detailed Description
Embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Referring to fig. 1, the present example includes: the device comprises a transmitting antenna 1, a receiving antenna 2, a radio frequency transceiving component 3, an A/D unit 4, a signal processing unit 5, an interface unit 6 and a power supply unit 7. The radio frequency transceiving component 3 is composed of a transmitting unit 31 and a receiving unit 32; the signal processing unit 5 uses a DSP + FPGA signal processing mode, pseudo codes generated by the signal processing unit are modulated to radio frequency by the transmitting unit 31, are transmitted by the transmitting antenna 1 after being amplified, signals reflected from the target ground enter the receiving unit 32 in the radio frequency transceiving component through the receiving antenna 2, and output analog intermediate frequency signals after frequency mixing to be sent to the A/D unit 4; the a/D unit 4 performs analog-to-digital conversion, sends the converted sampling data to the signal processing unit 5 for demodulation operation, correlation operation, etc., obtains a target distance or an equipment height by calculating a time difference of a transmission and reception signal, and outputs the target distance or the equipment height through the interface unit 6.
And the interface unit 6 receives the data of the signal processing unit 5 and uploads the data to the system to complete the communication between the equipment and the system. The equipment adopts CAN bus protocol. The interface unit 6 adopts, but is not limited to, a TMS320F28235ZJZS chip of TI company, the TMS320F28235ZJZS supports CAN 2.0B protocol, and the data transmission rate CAN reach 1 Mbps.
The power supply unit 7 converts the 28V power supplied from the system into various voltages required for the operation of the device. The main power module adopts but not limited to a DC-DC power module DVTR2812T of VPT company to convert voltages of +5V and +12V, the input voltage range of the DVTR2812T is 15V-50V, and the total power output can reach 30W. Other power supply sections employ, but are not limited to, a switching power supply chip LTC3404 by LINEAR and a switching power supply chip TPS54312 by TI to perform voltage conversion of +3.3V and +1.2V, respectively. The converted +5V, +12V voltage is supplied to the rf transceiving component 3, +3.3V, +1.2V is supplied to the a/D unit 4, the signal processing unit 5, and the interface unit 6, so that they can normally operate.
In the embodiment, the pseudo code ranging technology is adopted to capture and track the ground echo signal, and the height measurement task is completed. The conventional altimeter needs to traverse the working height in the capturing process, needs long time, has insufficient capturing height precision, has small high-level signal sensitivity range in the tracking process, and cannot process echo signals in a larger range. When the aircraft passes through a complex terrain condition, the ground echoes are complex and changeable, and all ground echoes cannot be processed due to the small processing range of the tracking loop, so that the altimeter tracking loop can possibly lock wrong echo signals, and wrong altitude can be output in a short time.
In order to solve the defects of the existing altimeter, the invention focuses on improving the structure of the signal processing unit 5, namely, an auxiliary signal processing channel is added outside the main signal processing channel, so that when the main signal processing channel captures the target altitude, the auxiliary signal processing channel searches the altitude signal in a limited range below the altitude. Because the search range is limited, the auxiliary channel can complete the search and repeat in a short time, and once the auxiliary channel captures the target signal in the limited range, the main channel and the auxiliary channel are interchanged in position. By the method, the main channel is prevented from continuously tracking wrong echo signals, so that the altimeter can always capture and track the echo signal closest to the ground, accurate altitude information is output in real time, and the tracking capability of height measurement under the condition of complex terrain is improved.
Referring to fig. 2, the signal processing unit 5 in this example includes two channels, namely a first channel and a second channel, each of which is implemented by an FPGA and a DSP;
two channel structures of FPGA are the same, and mutually independent, and every passageway all includes: the frequency word latch, the accumulator, and the local code counter and the related processing module, i.e. the FPGA of the first channel, include a first channel frequency word latch 51, a first channel accumulator 52, a first channel local code counter 53, and a first channel related processing module 59. The FPGA of the second channel includes a second channel frequency word latch 55, a second channel accumulator 56, a second channel local code counter 57, and a second channel correlation processing module 60.
Both channels of the DSP are provided with local code relocation control modules, namely a first channel local code relocation control module 54 and a second channel local code relocation control module 58.
Two channels in the FPGA interact with local code shift control modules of the same channel in the DSP respectively, and modules of the two channels in the DSP are mutually crosslinked and controlled in a task process.
The signal transmission interaction between the FPGA and the DSP of the first channel is as follows: the first channel local code shift control module 54 in the DSP generates a frequency word and transmits it to the first channel frequency word latch 51 in the FPGA, and the latch 51 feeds the frequency word into the first channel accumulator 52 for accumulation, and the generated shift clock is transmitted to the first channel local code counter 53 and the first channel correlation processing module 59. The first channel correlation processing module 59 feeds back the processing result to the first channel local code shift control module 54, the local code counter 53 of the first channel feeds back the counting result to the first channel local code shift control module 54 in the DSP, and the first channel local code shift control module 54 performs pause and zero clearing control on the counting of the local code counter 53 of the first channel according to the feedback result.
The signal transmission interaction between the FPGA and the DSP of the second channel is as follows: the second channel local code shift control module 58 in the DSP generates a frequency word and transfers it to the second channel frequency word latch 55 in the FPGA, and the latch 55 feeds the frequency word to the second channel accumulator 56 for accumulation, and the generated shift clock is transferred to the second channel local code counter 57 and the second channel correlation processing module 60. The second channel related processing module 60 feeds back the processing result to the second channel local code shift control module 58, the local code counter 57 of the second channel feeds back the counting result to the second channel local code shift control module 58 in the DSP, and the second channel local code shift control module 58 performs pause and zero clearing control on the local code counter 57 of the second channel according to the feedback result.
The modules of the two channels in the DSP are mutually cross-linked and controlled in the task process, which means that the searching or tracking state of any one of the two channels needs to refer to the state of the other channel, namely, the state of the other channel is used for determining whether the channel height tracking result is finally output by the device. And after the modules of the two channels in the DSP complete a processing cycle of mutual cross-linking and control in the task process, only one channel in the two signal processing channels of the whole ranging equipment is in a tracking state and the equipment outputs the tracking height.
The working process of the multichannel parallel search tracking ranging device in the embodiment is as follows:
the first step, the equipment is initialized, namely after being electrified, the A/D unit sampling data is started to be read and respectively transmitted to the first channel and the second channel for relevant operation, so that the equipment enters the working state.
And secondly, processing the data machine after the respective correlation operation through two channels as follows:
2.1) referring to fig. 3, the first channel of the DSP processes the data:
when the sampling data of the first channel of the DSP arrives, the current state of the first channel of the DSP is judged, and the current state of the second channel of the DSP is further judged according to the current state of the first channel:
if the first channel and the second channel are both in a searching state currently, the first channel searches the full height measurement range signal according to a normal working mode;
if the first channel is in a searching state at present and the second channel is in a tracking state at present, the searching range of the first channel is limited within a limited height below the tracking height of the second channel, the example is limited within 360m, and at this moment, the equipment outputs the tracking height of the second channel;
if the first channel enters a tracking state at present and the second channel is in a searching state at present, the first channel loop tracks the current ground echo signal and outputs the tracking height of the first channel loop;
if the first channel is currently in the tracking state and the second channel is currently in the tracking state, judging the tracking positions of the two channels:
if the tracking position of the first channel is below the processing range of the second channel tracking loop, setting a channel switching parameter to be 1 so as to force the second channel loop to lose lock and enter a searching state, and outputting the first channel tracking height by equipment;
if the tracking position of the first channel is not below the processing range of the second channel tracking loop, setting the channel switching parameter to be 2, enabling the first channel loop to be forcibly unlocked and enter the search, and the search range of the first channel is still limited within the range limited below the tracking height of the second channel, wherein the example is limited within 360m, and at the moment, the equipment still outputs the tracking height of the second channel.
The searching range of the first channel is limited within the height limited below the tracking height of the second channel, the current tracking position of the second channel is read by a first channel local code shift control module 54 in the DSP, the height searching range is determined after the first channel searching position in the DSP enters the same position, frequency words are calculated and increased according to the height searching range and are transmitted to a first channel frequency word latch 51 in the FPGA to accelerate the local code clock output by a first channel accumulator 52 in the FPGA, and after the first channel local code counter module 53 and a first channel related processing module 59 increase the count to the designated position within the limited time, normal frequency words are recovered, and the normal searching signal is started, wherein the limited time in the example is within 0.1 ms.
2,2) referring to fig. 4, the second channel of the DSP processes the data:
when the second channel sampling data of the DSP arrives, the current state of the second channel of the DSP is judged, and the current state of the first channel of the DSP is further judged according to the current state of the second channel:
if the second channel and the first channel are both in the searching state currently, the second channel searches the full height measurement range signal according to the normal working mode;
if the second channel is in a searching state and the first channel is in a tracking state, the searching range of the second channel is limited within a height limited below the tracking height of the first channel, the example is limited within 360m, and the device outputs the tracking height of the first channel;
if the second channel enters a tracking state at present and the first channel is in a searching state at present, the second channel loop tracks the current ground echo signal and outputs the tracking height of the current ground echo signal;
if the second channel is currently in the tracking state and the first channel is currently in the tracking state, judging the tracking positions of the two channels:
if the tracking position of the second channel is below the processing range of the first channel tracking loop, setting a channel switching parameter to be 2 so that the first channel loop is forced to lose lock and enters a searching state, and outputting a second channel tracking height by equipment;
if the tracking position of the second channel is not below the processing range of the first channel tracking loop, setting the channel switching parameter to 1, forcing the second channel loop to lose lock and enter the search, and the search range of the second channel is still limited within the limited height below the first channel tracking height, and the device still outputs the first channel tracking height within the limit of 360m in the example.
The search range of the second channel is limited within the limited height below the tracking height of the first channel, the current tracking position of the first channel is read by a second channel local code shift control module 58 in the DSP, after the search position of the second channel in the DSP enters the same position, the height search range is determined, the increased frequency word is calculated according to the height search range and is transmitted to a second channel frequency word latch 55 in the FPGA, the local code clock output by a second channel accumulator 56 in the FPGA is accelerated, after the count is increased to the designated position within the limited time by a second channel local code counter module 57 and a second channel related processing module 60, the normal frequency word is recovered, and the normal search signal is started, wherein the limited time in this example is within 0.1 ms.
And step three, after the processing of the step two is finished, only one channel in two signal processing channels of the distance measuring equipment is in a tracking state, the equipment outputs the tracking height, and the step two is returned to and executed repeatedly.
The foregoing description is only an example of the present invention, and it will be apparent to those skilled in the art that various modifications and variations in form and detail can be made without departing from the principle and structure of the invention, but these modifications and variations are within the scope of the invention as defined in the appended claims.
Claims (10)
1. A ranging apparatus for multi-channel parallel search tracking, comprising: the system comprises a transmitting antenna (1), a receiving antenna (2), a radio frequency transceiving component (3), an A/D unit (4), a signal processing unit (5), an interface unit (6) and a power supply unit (7), wherein the radio frequency transceiving component (3) consists of the transmitting unit and the receiving unit, a pseudo code generated by the signal processing unit is modulated by the transmitting unit and then transmitted by the transmitting antenna, a signal reflected from the ground of a target enters the receiving unit in the radio frequency transceiving component through the receiving antenna, is output to the A/D unit after frequency mixing, is returned to the signal processing unit after being sampled by the A/D unit, and obtains a target distance or equipment height by calculating the time difference of the transceiving signal and outputs the target distance or the equipment height through the interface unit; the power supply unit (7) converts the 28V power supply provided by the system into 5V, 12V, 3.3V, 1.2V and 1.8V power supply to respectively provide working voltages required by the radio frequency transceiving component (3), the A/D unit (4) signal processing unit (5) and the interface unit (6), and is characterized in that:
the signal processing unit comprises two channels, and each channel is realized by an FPGA and a DSP;
the two channels of the FPGA have the same structure, namely each channel comprises: frequency word latch, accumulator, and local code counter and related processing module;
two channels of the DSP are provided with local code shift control modules;
the two channels in the FPGA are mutually independent and are respectively interacted with the local code shift control modules of the same channel in the DSP, the local code shift control modules of the two channels in the DSP are used for controlling the frequency word latch and the local code counter module in the FPGA, and meanwhile, the modules of the two channels in the DSP are mutually crosslinked and controlled in the task process.
2. The apparatus of claim 1, wherein the first channel frequency word latch (51) in the FPGA is configured to latch the first channel local code shift frequency word generated by the first channel local code shift control module (54) in the DSP and send the first channel local code shift frequency word to the first channel accumulator (52) for accumulation, so that the generated overflow signal is used as a shift clock of the first channel local code counter (53) and is simultaneously uploaded to the first channel correlation processing module (59), and the first channel correlation processing module (59) simultaneously feeds back a processing result to the first channel local code shift control module (54).
3. The device according to claim 1, wherein the first channel local code counter (53) in the FPGA is configured to count the local code shift phase of the first channel and transmit the count result to the first channel local code shift control module (54) of the DSP, and the first channel local code shift control module (54) of the DSP simultaneously performs pause and zero clearing control on the counting process of the first channel local code counter (53) in the FPGA.
4. The apparatus of claim 1, wherein the second channel frequency word latch (55) in the FPGA is configured to latch the first channel local code shift frequency word generated by the second channel local code shift control module (58) in the DSP and send the first channel local code shift frequency word to the second channel accumulator (56) for accumulation, so that the generated overflow signal is used as a shift clock of the second channel local code counter (57) and is simultaneously uploaded to the second channel correlation processing module (60), and the second channel correlation processing module (60) simultaneously feeds back a processing result to the second channel local code shift control module (58).
5. The device according to claim 1, wherein the second channel local code counter (57) in the FPGA is configured to count the local code shift phase of the second channel and transmit the count result to the second channel local code shift control module (58) of the DSP, and the second channel local code shift control module (58) of the DSP simultaneously performs pause and zero clearing control on the count process of the second channel local code counter (57) in the FPGA.
6. The apparatus of claim 1, wherein the modules of the two channels in the DSP are cross-linked and controlled during the task, which means that the two channels in the DSP perform mutual monitoring according to the current state, that is, when the sampling data of the first channel of the DSP arrives, the current state of the first channel of the DSP is determined, and the current state of the second channel of the DSP is further determined according to the current state of the first channel: and when the second channel sampling data of the DSP arrives, judging the current state of the second channel of the DSP, and further judging the current state of the first channel of the DSP according to the current state of the second channel.
7. The apparatus of claim 6, wherein when the first channel sampling data of the DSP arrives, determining a current state of the first channel of the DSP, and further determining a current state of the second channel of the DSP according to the current state of the first channel, is implemented as follows:
if the first channel and the second channel are both in a searching state currently, the first channel searches the full height measurement range signal according to a normal working mode;
if the first channel is in a searching state at present and the second channel is in a tracking state at present, the searching range of the first channel is limited within 360m below the tracking height of the second channel, and the device outputs the tracking height of the second channel;
if the first channel enters a tracking state at present and the second channel is in a searching state at present, the first channel loop tracks the current ground echo signal and outputs the tracking height of the current ground echo signal;
if the first channel is currently in the tracking state and the second channel is currently in the tracking state, judging the tracking positions of the two channels:
if the tracking position of the first channel is below the processing range of the second channel tracking loop, setting a channel switching parameter to be 1 so as to force the second channel loop to lose lock and enter a searching state, and outputting the first channel tracking height by equipment;
and if the tracking position of the first channel is not below the processing range of the second channel tracking loop, setting the channel switching parameter to be 2, so that the first channel loop is forced to lose lock and enters the search, the search range of the first channel is still limited within 360m below the tracking height of the second channel, and the equipment still outputs the tracking height of the second channel.
8. The apparatus of claim 6, wherein the determining the current state of the second channel of the DSP when the sampling data of the second channel of the DSP arrives, and further determining the current state of the first channel of the DSP according to the current state of the second channel, is implemented as follows:
if the second channel and the first channel are both in the searching state currently, the second channel searches the full height measurement range signal according to the normal working mode;
if the second channel is in a searching state at present, and the first channel is in a tracking state at present, the searching range of the second channel is limited within 360m below the tracking height of the first channel, and the device outputs the tracking height of the first channel;
if the second channel enters a tracking state at present and the first channel is in a searching state at present, the second channel loop tracks the current ground echo signal and outputs the tracking height of the current ground echo signal;
if the second channel is currently in the tracking state and the first channel is currently in the tracking state, judging the tracking positions of the two channels:
if the tracking position of the second channel is below the processing range of the first channel tracking loop, setting a channel switching parameter to be 2 so that the first channel loop is forced to lose lock and enters a searching state, and outputting a second channel tracking height by equipment;
and if the tracking position of the second channel is not below the processing range of the first channel tracking loop, setting the channel switching parameter to be 1, so that the second channel loop is forced to lose lock and enter the search, the search range of the second channel is still limited within 360m below the tracking height of the first channel, and the equipment still outputs the tracking height of the first channel.
9. The device of claim 7, wherein the search range of the first channel is limited to 360m below the tracking height of the second channel, and the increased frequency word is calculated by a first channel local code shift control module (54) in the DSP and transmitted to a first channel frequency word latch (51) in the FPGA to speed up a local code clock output by a first channel accumulator (52) in the FPGA, so that the first channel local code counter module (53) and the first channel correlation processing module (59) increase the count to a specified position within a limited 0.1ms, and then a normal frequency word is recovered to start a normal search signal.
10. The device according to claim 8, wherein the search range of the second channel is limited to 360m below the tracking height of the first channel, and the increased frequency word is calculated by a second channel local code shift control module (58) in the DSP and transmitted to a second channel frequency word latch (55) in the FPGA to speed up a local code clock output by a second channel accumulator (56) in the FPGA, so that the second channel local code counter module (57) and the second channel correlation processing module (60) count up to a specified position within a limited 0.1ms, and then a normal frequency word is recovered to start a normal search signal.
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