CN111983596B - Multichannel parallel search tracking distance measuring equipment - Google Patents
Multichannel parallel search tracking distance measuring equipment Download PDFInfo
- Publication number
- CN111983596B CN111983596B CN202010911930.8A CN202010911930A CN111983596B CN 111983596 B CN111983596 B CN 111983596B CN 202010911930 A CN202010911930 A CN 202010911930A CN 111983596 B CN111983596 B CN 111983596B
- Authority
- CN
- China
- Prior art keywords
- channel
- tracking
- dsp
- local code
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012545 processing Methods 0.000 claims abstract description 83
- 238000000034 method Methods 0.000 claims abstract description 29
- 238000005070 sampling Methods 0.000 claims description 7
- 238000009825 accumulation Methods 0.000 claims description 6
- 238000004132 cross linking Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000002592 echocardiography Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses multichannel parallel searching, tracking and ranging equipment. The method mainly solves the problem that in the prior art, when an aircraft passes through complex terrain conditions, an error height is output in a short time due to the fact that an echo signal of an error is tracked. It comprises the following steps: the antenna comprises a transmitting and receiving antenna, a transmitting and receiving 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; the two channels in the FPGA interact with the same channel in the DSP respectively, and meanwhile, the 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 mixing, the signal is sampled by the A/D unit and then returned to the signal processing unit, so that the target distance is obtained and output. The invention improves the accuracy of the output height information and can be used for measuring the flying height in the aviation aircraft.
Description
Technical Field
The invention belongs to the technical field of ranging, and particularly relates to ranging equipment which can be used for measuring flying height or radar ranging in an aviation aircraft.
Background
Distance measuring devices are used to measure the distance between a user and a target, and are commonly used by various types of vehicles or aircraft equipment to measure the required distance.
Radio altimeters are indispensable electronic ranging devices on various aerospace vehicles, and can measure the altitude of the vehicle relative to the ground in real time. The radio altimeter mainly has three working systems, namely a pulse system, a frequency modulation continuous wave system and a pseudo code continuous wave altimeter system. The operation mode of each system altimeter is completed through the capturing and tracking process. In the capturing process, the altimeter is required to traverse the working height of the altimeter, search ground echo signals, complete signal capturing once a proper signal is found, and enter a tracking state. In the tracking state, the altimeter is sensitive only to signals in the range of tens of meters around the current target distance signal for stable and accurate tracking, and performs tracking and processing accordingly.
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 pseudo-code ranging technology to complete the task of altitude measurement. The capturing process needs to traverse the working height, the time is long, the accuracy of the capturing height is insufficient, the sensitivity range of the height signal 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, ground echoes are complex and changeable, and due to the small processing range of the tracking loop, all ground echoes cannot be processed, so that the altimeter tracking loop can lock wrong echo signals, and therefore wrong heights can be output in a short time.
CN106019268A patent discloses a ranging device and ranging method for random transformation pseudo code, which mainly solves the problem that altimeter for installing fixed pseudo code is not suitable for airplane formation flight. The ranging device and method also adopt pseudo code ranging technology, and the capturing and tracking process has the same defects as the CN101241186 patent.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a multichannel parallel search tracking distance measuring device and a multichannel parallel search tracking distance measuring method, so that the height measurement tracking capacity of an altimeter under the condition of complex terrain is improved, and the echo signals with locking errors and the output error heights are avoided.
The technical idea of the invention is as follows: by adding an auxiliary signal processing channel outside the main signal processing channel of the distance measuring device, it is achieved that the auxiliary signal processing channel searches for a height signal within a defined range below the height when the main signal processing channel captures the target 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. With this method, the main channel is prevented from continuously tracking the wrong echo signal, the altimeter will always capture the echo signal which is tracked closest to the ground, and the minimum altitude information is output.
According to the above-mentioned idea, the multi-channel parallel search tracking ranging device of the present invention includes: the system comprises a transmitting antenna, a receiving antenna, a radio frequency receiving and transmitting assembly, an A/D unit, a signal processing unit, an interface unit and a power supply unit, wherein the radio frequency receiving and transmitting assembly consists of the transmitting unit and the receiving unit, pseudo codes generated by the signal processing unit are modulated by the transmitting unit and then transmitted through the transmitting antenna, signals reflected from the ground of a target enter the receiving unit in the radio frequency receiving and transmitting assembly through the receiving antenna, the signals are output to the A/D unit after mixing, the signals are returned to the signal processing unit after being sampled by the A/D unit, the target distance or the equipment height is obtained by calculating the time difference of the received and transmitted signals, and the signals are output through the interface unit, and the system is 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 of the two channels is in tracking state and the tracking height is output by the device, while the other channel is in searching state; any channel, if it is in tracking state, is called a primary signal processing channel, while the channel in searching state is called a secondary signal processing channel.
The two channels of the FPGA are identical in structure, i.e., each channel includes: a frequency word latch, an accumulator, and a local code counter and associated processing module;
both channels of the DSP are provided with local code shift control modules;
the two channels in the FPGA are mutually independent and respectively interact 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, the first channel frequency word latch 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 in the DSP, send the first channel local code shift frequency word to the first channel accumulator for accumulation, use the generated overflow signal as a shift clock of the local code counter of the first channel, and upload the overflow signal to the first channel related processing module at the same time, where the first channel related processing module feeds back the processing result to the first channel local code shift control module at the same time.
Further, the 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 the 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 in the FPGA.
Further, the second channel frequency word latch 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 in the DSP, and send the first channel local code shift frequency word to the second channel accumulator for accumulation, so that the generated overflow signal is used as a shift clock of the second channel local code counter, and is uploaded to the second channel related processing module at the same time, and the second channel related processing module feeds back the processing result to the second channel local code shift control module at the same time.
Further, the second channel local code counter in the FPGA is configured to count a local code shift phase of the second channel, and transmit a count result to the second channel local code shift control module of the DSP, where the second channel local code shift control module of the DSP simultaneously performs pause and zero clearing control on a 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 to respectively provide the working voltages required by the radio frequency transceiver component, the A/D unit signal processing unit and the interface unit.
Further, the modules of the two channels in the DSP perform cross-linking and control during the task process, that is, the two channels in the DSP perform monitoring according to the current state, that is, when the interrupt 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 judged according to the current state of the first channel: when the interrupt data of the second channel 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 judged according to the current state of the second channel.
The invention adopts the FPGA and the DSP as the signal processing units, and two channels with the same structure are arranged in the two chips, the two channels in the FPGA interact with the local code shift control module of the same channel in the DSP respectively, the local code shift control modules of the two channels in the DSP control the frequency word latch and the local code counter module in the FPGA, and simultaneously 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, the effect of tracking while searching is realized, the problem of adopting a single channel to continuously track error echo signals in the prior art is solved, the ranging equipment can always capture and track the echo signals closest to the ground, accurate height information is output in real time, and the tracking capability of height measurement under the condition of complex topography is improved.
Drawings
FIG. 1 is a block diagram of the overall structure of the present invention;
fig. 2 is a block diagram of a signal processing unit in 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 flow chart of a second channel data processing 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: a transmitting antenna 1, a receiving antenna 2, a radio frequency transceiver 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 transceiver component 3 consists 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, the pseudo codes are amplified and transmitted by the transmitting antenna 1, signals reflected from the target ground enter the receiving unit 32 in the radio frequency receiving and transmitting assembly through the receiving antenna 2, and analog intermediate frequency signals are output after mixing and 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, and the like, obtains a target distance or a device height by calculating a time difference of the transmit-receive signal, and outputs the target distance or the device height through the interface unit 6.
The interface unit 6 receives the data of the signal processing unit 5 and uploads the data to the system, thereby completing the device-to-system communication. The device adopts CAN bus protocol. The interface unit 6 adopts, but is not limited to, a TMS320F28235ZJZS chip of TI company, and the TMS320F28235ZJZS supports CAN 2.0B protocol, and the data transmission rate CAN reach 1Mbps.
The power supply unit 7 converts the 28V power supplied by the system into various voltages required for the operation of the apparatus. The main power module adopts, but is not limited to, a DC-DC power module DVTR2812T of VPT company to perform +5V, +12V voltage conversion, the input voltage range of the DVTR2812T is 15V-50V, and the total power output can reach 30W. Other power supply parts adopt, but are not limited to, a switching power supply chip LTC3404 of LINEAR company and a switching power supply chip TPS54312 of TI company to perform +3.3V and +1.2V voltage conversion respectively. The converted +5V, +12V voltage is provided for the radio frequency transceiver component 3, +3.3V, +1.2V is provided for the A/D unit 4, the signal processing unit 5 and the interface unit 6, so that the radio frequency transceiver component can work normally.
The pseudo code ranging technology is adopted in the embodiment to capture and track the ground echo signals, and the height measurement task is completed. The prior altimeter needs to traverse the working height in the capturing process, the time is long, the accuracy of the capturing height is insufficient, the sensitive range of the altitude signal in the tracking process is small, and echo signals in a larger range can not be processed. When the aircraft passes through a complex terrain condition, ground echoes are complex and changeable, and due to the small processing range of the tracking loop, all ground echoes cannot be processed, so that the altimeter tracking loop can lock wrong echo signals, and therefore wrong heights can be output in a short time.
In order to solve the defects of the prior altimeter, the invention focuses on improving the structure of the signal processing unit 5, namely, by adding an auxiliary signal processing channel outside a main signal processing channel, 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 a 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 the false echo signals, so that the altimeter can always capture and track the echo signals closest to the ground, accurate altitude information is output in real time, and the tracking capacity of measuring the altitude under the condition of complex terrain is improved.
Referring to fig. 2, a signal processing unit 5 in this example includes two channels, a first channel and a second channel, respectively, each of which is implemented by an FPGA and a DSP;
the two channels of the FPGA are identical in structure and independent of each other, and each channel comprises: the frequency word latch, the accumulator, the local code counter and the related processing module, namely the first channel FPGA, comprise 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 second channel FPGA comprises 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 shift control modules, namely a first channel local code shift control module 54 and a second channel local code shift control module 58.
The two channels in the FPGA interact with the local code shift control modules of the same channel in the DSP respectively, and meanwhile, the modules of the two channels in the DSP are mutually crosslinked and controlled in the 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 sends the frequency word to 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 related processing module 59. The first channel-related processing module 59 feeds back the processing result to the first channel local code shift control module 54 at the same time, the first channel local code counter 53 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 clear control on the count of the first channel local code counter 53 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 transmits it to the second channel frequency word latch 55 in the FPGA, and the latch 55 sends the frequency word to the second channel accumulator 56 for accumulation, and the generated shift clock is transmitted to the second channel local code counter 57 and the second channel correlation processing module 60. The second channel correlation processing module 60 feeds back the processing result to the second channel local code shift control module 58 at the same time, the second channel local code counter 57 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 second channel local code counter 57 according to the feedback result.
The modules of the two channels in the DSP are mutually crosslinked and controlled in the task process, namely 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 equipment. And after the two channels in the FPGA respectively complete one processing cycle of mutual crosslinking and control with the local code shift control module of the same channel in the DSP, and simultaneously the modules of the two channels in the DSP complete one processing cycle of mutual crosslinking and control in the task process, only one channel is in a tracking state in the two signal processing channels of the whole ranging equipment, and the tracking height of the channel is output by the equipment.
The working process of the multichannel parallel search tracking distance measuring equipment of the embodiment is as follows:
the first step is to initialize the equipment, namely, after the equipment is powered on, the sampled data of the A/D unit is read, and the sampled data are respectively transmitted to the first channel and the second channel to carry out correlation operation, so that the equipment enters the working state.
Secondly, the data machine after the respective correlation operation is processed through two channels as follows:
2.1 Referring to fig. 3, the first channel of the dsp processes data:
when the sampling data of the first channel of the DSP arrives, judging the current state of the first channel of the DSP, and further judging the current state of the second channel of the DSP according to the current state of the first channel:
if the first channel and the second channel are both in a searching state, the first channel searches the full-height range signal according to a normal working mode;
if the first channel is currently in a search state and the second channel is currently in a tracking state, the search range of the first channel is limited to be within a limit height below the tracking height of the second channel, the example is limited to be within 360m, and the device outputs the tracking height of the second channel;
if the first channel currently enters a tracking state and the second channel currently enters a searching state, 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 tracking loop of the second channel, setting a channel switching parameter to 1 so as to enable the loop of the second channel to be out of lock forcedly, entering a searching state, and outputting the tracking height of the first channel by the equipment;
if the tracking position of the first channel is not below the processing range of the tracking loop of the second channel, the channel switching parameter is set to 2, so that the first channel loop is forced to be unlocked and enters searching, the searching range of the first channel is still limited within the range limited below the tracking height of the second channel, the example is limited within 360m, and at the moment, the equipment still outputs the tracking height of the second channel.
The first channel searching range is limited within the height limited below the second channel tracking height, the first channel local code shift control module 54 in the DSP reads the current tracking position of the second channel first, then after the first channel searching position in the DSP enters the same position, the height searching range is determined, so as to calculate the added frequency word, and the added frequency word is transmitted to the first channel frequency word latch 51 in the FPGA, so as to accelerate the local code clock output by the first channel accumulator 52 in the FPGA, and after the first channel local code counter module 53 and the first channel related processing module 59 are increased and counted to the designated position within the limited time, the normal frequency word is restored again, and the normal searching signal is started, wherein the limited time of the example is within 0.1 ms.
2, 2) referring to fig. 4, the second channel of the dsp processes data:
when the sampling data of the second channel 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:
if the second channel and the first channel are both in the searching state, the second channel searches the full-height range signal according to the normal working mode;
if the second channel is currently in a search state and the first channel is currently in a tracking state, the search range of the second channel is limited to be within a height limited by the tracking height of the first channel, the example is limited to be within 360m, and the device outputs the tracking height of the first channel;
if the second channel currently enters a tracking state and the first channel is currently in a searching state, 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 tracking loop of the first channel, setting the channel switching parameter to 2 so as to enable the loop of the first channel to be out of lock forcedly, entering a searching state, and outputting the tracking height of the second channel by the equipment;
if the tracking position of the second channel is not below the processing range of the first channel tracking loop, the channel switching parameter is set to 1, so that the second channel loop is forced to be unlocked and enter searching, the searching range of the second channel is still limited to be within the limit height below the first channel tracking height, the limit of the example is within 360m, and the device still outputs the first channel tracking height.
The second channel searching range is limited within the limit height below the first channel tracking height, the second channel local code shift control module 58 in the DSP reads the current tracking position of the first channel, after the second channel searching position in the DSP enters the same position, the height searching range is determined, the frequency word is calculated and added, and the frequency word is transmitted to the second channel frequency word latch 55 in the FPGA to accelerate the local code clock output by the second channel accumulator 56 in the FPGA, so that the second channel local code counter module 57 and the second channel related processing module 60 recover the normal frequency word after the second channel local code shift control module in the DSP increases and counts to the specified position within the limit time, and the normal searching signal is started, and the limit time of the example is within 0.1 ms.
And thirdly, after the processing in the second step is finished, only one of the two signal processing channels of the distance measuring equipment is in a tracking state, the equipment outputs the tracking height, and the second step is returned to and the repeated execution is carried out.
The foregoing description is only one example of the invention, and it will be apparent to those skilled in the art that various modifications and changes in form and detail may be made without departing from the principles and construction of the invention, but these modifications and changes based on the idea of the invention remain within the scope of the appended claims.
Claims (6)
1. A multi-channel parallel search tracking ranging apparatus, comprising: the system comprises a transmitting antenna (1), a receiving antenna (2), a radio frequency receiving and transmitting assembly (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 receiving and transmitting assembly (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 receiving and transmitting assembly through the receiving antenna, the signal is output to the A/D unit after being mixed, the signal is returned to the signal processing unit after being sampled by the A/D unit, the target distance or the equipment height is obtained by calculating the time difference of the received and transmitted signal, and the signal is output 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 to respectively provide the working voltages required by the radio frequency receiving and transmitting 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 are identical in structure, i.e., each channel includes: a frequency word latch, an accumulator, and a local code counter and associated processing module; the first channel frequency word latch (51) in the FPGA is used for latching a first channel local code shift frequency word generated by the first channel local code shift control module (54) in the DSP, sending the first channel local code shift frequency word into the first channel accumulator (52) for accumulation, taking the generated overflow signal as a shift clock of the local code counter (53) of the first channel, and uploading the overflow signal to the first channel related processing module (59) at the same time, and the first channel related processing module (59) simultaneously feeds back the processing result to the first channel local code shift control module (54); the first channel local code counter (53) in the FPGA is used for counting the local code shift phase of the first channel, transmitting the counting result to the first channel local code shift control module (54) of the DSP, and simultaneously carrying out pause and zero clearing control on the counting process of the first channel local code counter (53) in the FPGA by the first channel local code shift control module (54) of the DSP;
both channels of the DSP are provided with local code shift control modules;
the two channels in the FPGA are mutually independent and respectively interact 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;
the modules of the two channels in the DSP perform cross-linking and control in the task process, namely the two channels in the DSP perform mutual monitoring according to the current state, namely 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: when the sampling data of the second channel 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;
when the first channel sampling data of the DSP arrives, judging the current state of the first channel of the DSP, and further judging the current state of the second channel of the DSP according to the current state of the first channel, wherein the method is realized as follows:
if the first channel and the second channel are both in a searching state, the first channel searches the full-height range signal according to a normal working mode;
if the first channel is in a search state and the second channel is in a tracking state, the search range of the first channel is limited to be 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 currently enters a tracking state and the second channel currently enters a searching state, 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 tracking loop of the second channel, setting a channel switching parameter to 1 so as to enable the loop of the second channel to be out of lock forcedly, entering a searching state, and outputting the tracking height of the first channel by the equipment;
if the tracking position of the first channel is not below the processing range of the tracking loop of the second channel, setting the channel switching parameter to 2, so that the first channel loop is forced to be unlocked and enters searching, the searching range of the first channel is still limited to be within 360m below the tracking height of the second channel, and the equipment still outputs the tracking height of the second channel.
2. The apparatus of claim 1, wherein a 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 related processing module (60), and the second channel related processing module (60) simultaneously feeds back the processing result to the second channel local code shift control module (58).
3. The device according to claim 1, characterized by a second channel local code counter (57) in the FPGA for counting the local code shift phase of the second channel and transmitting the count result to a second channel local code shift control module (58) of the DSP, the second channel local code shift control module (58) of the DSP performing a pause and clear control of the counting process of the second channel local code counter (57) in the FPGA at the same time.
4. The apparatus of claim 1, 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, the second channel searches the full-height range signal according to the normal working mode;
if the second channel is currently in the search state and the first channel is currently in the tracking state, the search range of the second channel is limited to be 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 currently enters a tracking state and the first channel is currently in a searching state, 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 tracking loop of the first channel, setting the channel switching parameter to 2 so as to enable the loop of the first channel to be out of lock forcedly, entering a searching state, and outputting the tracking height of the second channel by the 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 to enable the second channel loop to be out of lock forcedly to enter searching, wherein the searching range of the second channel is still limited within 360m below the first channel tracking height, and the equipment still outputs the first channel tracking height.
5. The apparatus of claim 1 wherein the search range of the first channel is defined to be within 360m of the second channel tracking height, the increment 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 the local code clock output by a first channel accumulator (52) in the FPGA, the first channel local code counter module (53) and the first channel related processing module (59) are incremented to a specified position within a defined 0.1ms time, the normal frequency word is restored, and the normal search signal is started.
6. The apparatus of claim 4 wherein the search range of the second channel is limited to less than 360m below the first channel tracking height by calculating an increment frequency word by a second channel local code shift control module (58) in the DSP and transmitting the increment frequency word to a second channel frequency word latch (55) in the FPGA to speed up the local code clock output by a second channel accumulator (56) in the FPGA, causing a second channel local code counter module (57) and a second channel associated processing module (60) to increment the count to a specified position within a limited 0.1ms time, recovering the normal frequency word, and starting the normal search signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010911930.8A CN111983596B (en) | 2020-09-02 | 2020-09-02 | Multichannel parallel search tracking distance measuring equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010911930.8A CN111983596B (en) | 2020-09-02 | 2020-09-02 | Multichannel parallel search tracking distance measuring equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111983596A CN111983596A (en) | 2020-11-24 |
| CN111983596B true CN111983596B (en) | 2024-02-06 |
Family
ID=73446955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010911930.8A Active CN111983596B (en) | 2020-09-02 | 2020-09-02 | Multichannel parallel search tracking distance measuring equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111983596B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1521442A (en) * | 1967-02-22 | 1968-04-19 | Thomson Houston Comp Francaise | Improvements to automatic tracking systems combining tracking radar with surveillance radars |
| KR20020080619A (en) * | 2001-04-16 | 2002-10-26 | 주식회사 케이티 | Receiving device and method for time/frequency synchronizing system using satellites |
| CN101252398A (en) * | 2008-04-03 | 2008-08-27 | 北京航空航天大学 | Spread Spectrum Signal Source with Doppler Simulation |
| CA2701471A1 (en) * | 2010-04-27 | 2011-10-27 | Ecole De Technologie Superieure | Universal acquisition and tracking apparatus for global navigation satellite system (gnss) signals |
| CN107121685A (en) * | 2017-06-08 | 2017-09-01 | 南京理工大学 | A kind of miniature spaceborne high-dynamic GNSS receiver and its air navigation aid |
| CN107561524A (en) * | 2017-07-21 | 2018-01-09 | 陕西长岭电子科技有限责任公司 | Pseudo-random Code Phase Modulation continuous wave surveys high equipment and the high method of survey with interrupting continuous wave multi-mode |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8401546B2 (en) * | 2010-04-26 | 2013-03-19 | Ecole De Technologie Superieure | Universal acquisition and tracking apparatus for global navigation satellite system (GNSS) |
-
2020
- 2020-09-02 CN CN202010911930.8A patent/CN111983596B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1521442A (en) * | 1967-02-22 | 1968-04-19 | Thomson Houston Comp Francaise | Improvements to automatic tracking systems combining tracking radar with surveillance radars |
| KR20020080619A (en) * | 2001-04-16 | 2002-10-26 | 주식회사 케이티 | Receiving device and method for time/frequency synchronizing system using satellites |
| CN101252398A (en) * | 2008-04-03 | 2008-08-27 | 北京航空航天大学 | Spread Spectrum Signal Source with Doppler Simulation |
| CA2701471A1 (en) * | 2010-04-27 | 2011-10-27 | Ecole De Technologie Superieure | Universal acquisition and tracking apparatus for global navigation satellite system (gnss) signals |
| CN107121685A (en) * | 2017-06-08 | 2017-09-01 | 南京理工大学 | A kind of miniature spaceborne high-dynamic GNSS receiver and its air navigation aid |
| CN107561524A (en) * | 2017-07-21 | 2018-01-09 | 陕西长岭电子科技有限责任公司 | Pseudo-random Code Phase Modulation continuous wave surveys high equipment and the high method of survey with interrupting continuous wave multi-mode |
Non-Patent Citations (3)
| Title |
|---|
| 王留全 ; 黄建国 ; 张群飞 ; 雷开卓 ; .水下多目标模拟信号源的设计及实现.电声技术.2007,(04),全文. * |
| 耿生群 ; 吴嗣亮 ; .伪码连续波交会对接雷达信号处理机设计.现代雷达.2006,(第09期),全文. * |
| 蒋志涛 ; 杨海光 ; 黄钰林 ; 杨建宇 ; .LFMICW雷达高度计信号处理机设计与实现.电子科技大学学报.2008,(第S1期),全文. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111983596A (en) | 2020-11-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1082621B1 (en) | System and method for distance measurement by inphase and quadrature signals in a radio system | |
| CN108802715B (en) | Radio altimeter of digital pulse system | |
| CN109709542B (en) | Portable high-frequency ground wave radar system | |
| CN100546217C (en) | Vehicle satellite telecommunication automatic seeking method | |
| CN110488229B (en) | Time-frequency space-synchronization method for double-multi-base forward-looking imaging | |
| US4599618A (en) | Nearest return tracking in an FMCW system | |
| CN103430041A (en) | Pulse radar device and method for controlling same | |
| RU2439608C1 (en) | Monopulse detection and homing radar system | |
| CN107991709B (en) | A UAV Airborne Stepped Frequency Ground Penetrating Radar | |
| CN109581369A (en) | The radar altimeter of non-homogeneous multichannel perseverance difference frequency system | |
| CN108845312B (en) | Height measurement method based on pulse system radio altimeter | |
| CN111983596B (en) | Multichannel parallel search tracking distance measuring equipment | |
| CN201191184Y (en) | Digital wireless electric height meter | |
| KR101031890B1 (en) | Wireless distance measuring device and method | |
| CN117331038A (en) | Dynamic target simulation equipment and test method for carrier-based guided radar | |
| CN111983593B (en) | High-precision double-base linear frequency modulation continuous wave radar synchronization system | |
| US4888594A (en) | Loran-C receiver module | |
| CN116559851A (en) | Multiple ranging device in sweep frequency period and method thereof | |
| CN111487611A (en) | Operation position and action monitoring equipment | |
| US7286591B2 (en) | Synchronizing position detecting circuit | |
| CN222145220U (en) | A Doppler radio altimeter based on pulse coding | |
| CN119620059A (en) | Pseudo code ranging equipment and ranging method with variable code rate | |
| CN203338015U (en) | A Star-to-Earth Laser Time Comparison System | |
| CN219245761U (en) | Centralized calculation millimeter wave radar system adopting high-speed digital bus | |
| CN101553853A (en) | Vehicle data recorder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |