CN105738892A - Method for enhancing tracking convergence of angle tracking system simulator - Google Patents
Method for enhancing tracking convergence of angle tracking system simulator Download PDFInfo
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- CN105738892A CN105738892A CN201610171243.0A CN201610171243A CN105738892A CN 105738892 A CN105738892 A CN 105738892A CN 201610171243 A CN201610171243 A CN 201610171243A CN 105738892 A CN105738892 A CN 105738892A
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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
- G01S13/68—Radar-tracking systems; Analogous systems for angle 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
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- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
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Abstract
The invention provides a method for enhancing the tracking convergence of an angle tracking system simulator. Through utilization of the method, cross coupling and an error accumulation can be reduced, and the convergence of an angle tracking process is improved. The method is achieved through the following technical scheme: after accurate amplitude adjustment, precision of which is better than 0.01dB, is performed on an intermediate frequency signal by a simulator signal processing unit, the adjusted intermediate frequency signal is divided into three signals, i.e., a sum signal, an azimuth sub signal and an elevation sub signal, via a demultiplexer, amplitude attenuations are performed on the three signals through the numerical control attenuators receiving an attenuation control command corresponding to simulator monitoring software, the sum signal after the corresponding amplitude attenuation directly sends to a tracking receiver, the azimuth and elevation sub signals send polarity switching respectively via 0/[Pi] switchers under the control of the simulator monitoring software, the switched azimuth and elevation sub signals are synthesized into a difference signal in a quadrature synthesizer, the difference signal is sent to the tracking receiver, and the tracking receiver extracts an angle error signal according to the sum signal and the difference signal and sends the angle error signal to an antenna servo feedback system so that an antenna is controlled to rotate in a direction facing to a target.
Description
Technical field
The present invention relates to a kind of angle tracking system simulator that strengthens and follow the tracks of constringent method.
Background technology
Following the tracks of convergence is follow the tracks of the important embodiment of system performance index, follows the tracks of convergence and is subject to tracking system tracking coefficient k and follows the tracks of phase error △ impact.Diminish along with following the tracks of coefficient k deviation △ k and tracking phase error △ with 1, follow the tracks of convergence step-length and diminish accordingly, follow the tracks of convergence and turn for the better, otherwise, then follow the tracks of convergence and become poor.Angle tracking system often can cause cross-couplings relatively big or the link processing time longer causes the accumulation of error because of the orthogonality of azimuth pitch signal is bad, causes that angle tracking convergence is bad.nullIn radio measurement and control system, cross-couplings itself is to cause owing to antenna feed orthogonality is bad，Angle tracking system simulator is when artificial antenna is from deviation target to scopodromic angle tracking process，Generally require the tracking characteristics in artificial antenna main lobe beamwidth，Need simulation generation angle tracking process necessary and road、Difference road signal，Corresponding with the deviation angle of target to the road according to antenna radiation pattern designing antenna、Orientation branch road、The look-up table of pitching tributary signal amplitude relation，Look-up table angle deviation range at least covers antenna main lobe beam angle，Control corresponding attenuator according to look-up table and 0/ π switch goes to control and road and mutually orthogonal orientation branch road、The amplitude of pitching tributary signal and phase place，Produce a feedback signal，Antenna is driven to move towards scopodromic direction，Relative amplitudes difference 40dB between general azimuth pitch tributary signal、Orthogonality is better than 90 ° ± 3 ° and is considered as not having cross-couplings、Process time and error accumulation time would not cause control delayed less than 50 milliseconds，Its angle tracking system simulator would not impact following the tracks of convergence.nullIn angle tracking system simulator，For control azimuth branch road、The attenuator controllable attenuation scope of pitching tributary signal is wide not，Less than 40dB，Precision is not high，More than 0.1dB，Or monitoring processes in computer, and according to following the tracks of, antenna that antenna radiation pattern extrapolates is corresponding with the deviation angle of target and road、Orientation branch road、The angle deviation range of the look-up table that pitching tributary signal amplitude relation designs in advance is not completely covered antenna main lobe beam angle，The attenuation range that can look into is wide not，Less than 40dB，Precision is not high，More than 0.1dB，Or for by orientation tributary signal、The quadrature combiners orthogonality of pitching tributary signal synthesis difference road signal lower than 90 ° ± 1 °，Or regulate orientation tributary signal passing through control attenuator、Phase place is caused to vary more than ± 1 ° during pitching tributary signal amplitude，Cause composite signal orthogonality lower than 90 ° ± 3 °，To cause that angle tracking system simulator is in simulation angle tracking process，During control azimuth branch road amplitude, pitching branch road is impacted，Control orientation branch road during pitching branch road amplitude impacted，Produce cross-couplings；nullAngle tracking system simulator monitoring software accesses the time of look-up table according to the difference of antenna real-time angular with analog orbit angle，And the antenna extrapolated of antenna radiation pattern is corresponding with the deviation angle of target and road according to following the tracks of、Orientation branch road、The look-up table of pitching tributary signal amplitude relation goes to control attenuator，Attenuator to the response time of control command more than 50 milliseconds，Or look-up table is fine not，Angle skew stepping is more than 0.0001 °，Azimuth pitch branch road amplitude fading stepping is more than 0.01dB，Angular error signal will be caused to accumulate，Cause the error signal fed back to each time be last or on information several times，Cross-couplings and the accumulation of error cause in simulation autotracking process，Extract angle error voltage by system track receiver and cannot quickly tend to 0，Make tracking coefficient k with 1 deviation △ k and follow the tracks of phase error △ all cannot quickly tend to 0，Tracking system is caused not restrain、Antenna shakes.
nullBefore TT&C system execution task，Wish that a set of angle tracking system simulator is to verify the tracking performance of system，Particularly marine or not easily set up the occasion of calibration facility，If there being a set of angle tracking system simulator that can simulate angle tracking procedure parameter，Simulate a cross-couplings little、Angle tracking scene that little tracking lag time convergence is good or by reverse thinking by control relevant parameter simulate cross-couplings and lag time all undesirable scene，Then can verify performance indications and the limit state of system，There is no the goods shelf products meeting the demand on the market at present，Inconvenience is brought to following the tracks of systematic difference under the application of TT&C system particularly special environment，It is thus desirable to develop a set of angle tracking system simulator meeting above-mentioned requirements，Simulate the angle tracking system task environment of a high fidelity，Verify whole TT&C system functional parameter，Inspection equipment state.Along with the continuous intensification that outer space is recognized by the mankind, and the expansion of China's overseas interests, acquisition and detection to various information can constantly be strengthened, need to set up the radio tracking TT&C system of more acquisition information, all kinds of simulator demands are continuously increased, the performance requirement of simulator is more and more higher, and angle tracking system simulator can meet above-mentioned requirements.
Summary of the invention
The task of the present invention is the demand developed for above-mentioned prior art Problems existing and observation and control technology, it is provided that a kind of simple and reliable, expend that resource is little, the process time fast, can adapt to the angle tracking system simulator of multiple system and strengthen follow the tracks of constringent method.
The above-mentioned purpose of the present invention can be reached by following measures, constringent method followed the tracks of by a kind of angle tracking system simulator that strengthens, there is following technical characteristic: simulator monitoring processes built-in computer and controls track software and the simulator monitoring software of Antenna Orbit angle, connect simulator signal processing unit by cpci bus and watch feedback system by network interface connection sky；Simulator monitoring software according in angle tracking system and road difference road antenna radiation pattern target and center of antenna axle deviation angle and and difference road signal gain between relation, the look-up table of design deviation angle and He Lu, orientation branch road, pitching tributary signal amplitude and phase relation in advance, look-up table covers antenna main lobe beam angle, sets ± 0.6 ° of angle deviation range with the stepping-in amount of 0.0001 °, sets the amplitude fading scope of 0dB～60dB with the decay stepping-in amount of 0.01dB；The antenna real-time angular that feeding comes is watched in orbit angle and sky that simulator monitoring software reception track software is sent here, receive a current real-time angular of antenna to obtain immediately and the difference of respective carter angle, access look-up table according to angle difference, search signal amplitude pad value and the phase value of correspondence；nullWhen carrying out angle tracking process simulation，Simulator signal processing unit receives the intermediate-freuqncy signal that outside TT&C system is sent here，Simulator monitoring software controls amplitude regulator built-in in field programmable gate array chip FPGA by digital signal processing chip DSP，Intermediate-freuqncy signal is carried out precision and is better than the Precise amplitudes control of 0.01dB，Digital intermediate frequency signal after amplitude control is sent into by simulator signal processing unit the attenuator module being connected to shunt，Through shunt one dividing into three road signal，Formed and road signal、Orientation tributary signal and pitching tributary signal，Three road signals are respectively through corresponding and road、Orientation branch road、The numerical-control attenuator of pitching branch road，Simulator monitoring software accesses look-up table according to the difference of real-time angular with orbit angle，Find and road、Orientation branch road、The signal amplitude pad value that pitching branch road is corresponding，Control command is converted to by DSP，Control the numerical-control attenuator 1 of correspondence respectively、Numerical-control attenuator 2、Numerical-control attenuator 3 carries out 0～60dB scope、The amplitude fading of precision 0.01dB，Amplitude fading Hou He road signal directly arrives track receiver，Orientation tributary signal and pitching tributary signal relative amplitudes after amplitude fading differ 0～60dB，Signal phase changes less than ± 1 °，Respectively through 0/ π switch 1 and 0/ π position switch 2，Polarity switching is carried out under the control of 0/ π switching control order corresponding to simulator monitoring software，Orientation tributary signal and pitching tributary signal after polarity switching reach synthesis difference road signal in the quadrature combiners of 89 °～91 ° in orthogonality，The cross-couplings of difference road signal is reduced from amplitude and Phase Processing link，Track receiver is sent by difference road signal，Track receiver according to and road difference road signal extraction angular error signal send into sky watch feedback system control antenna turn to，The real-time angular that antenna turns to feeds back to simulation monitoring and processes computer，Simulator monitoring software tries to achieve new orientation according to new deviation angle from look-up table、Amplitude attenuation value that pitching branch road is corresponding and phase value，Converted to the order controlling numerical-control attenuator and 0/ π position switch by DSP，Numerical-control attenuator and 0/ π position switch are with the response time responsing control command of nanosecond，Control the state of parameter current correspondence current antenna，Antenna is driven to move towards scopodromic direction，From reducing cross-couplings and reducing the accumulation of error two aspect that lag of processing time causes，Realize angle tracking system simulator and strengthen tracking convergence.
The present invention has the advantages that compared to prior art
Simple and reliable, expend resource little.nullThe angle tracking system simulator of the present invention，Computer is processed containing simulator monitoring，Simulator monitoring processes built-in computer and controls track software and the simulator monitoring software of Antenna Orbit angle,Simulator monitoring processes computer and connects simulator signal processing unit by cpci bus，Connect sky by network interface and watch feedback system，Simulator signal processing unit connects attenuator module，The output of attenuator module is sent track receiver to watch feedback system control antenna by sky and is turned to，Simulator monitoring software is according to antenna and road difference road beam pattern attenuation range 0～60dB，Precision 0.01dB，Angle deviation range ± 0.6 °，Angle stepping-in amount 0.0001 °，Count the look-up table more than 8192，Simulator monitoring software tries to achieve orientation according to look-up table、Amplitude that pitching branch road is corresponding and phase value，Attenuation range 0～60dB is controlled by DSP，Precision is better than the numerical-control attenuator of 0.01dB，Signal is in the amplitude span of control of 60dB，Phase place changes less than ± 1 °，And it is better than the synthesizer of 90 ° ± 1 ° to orientation branch road and pitching branch road synthesis difference road signal through orthogonality，Reduce the cross-couplings that angle tracking system simulator produces，The time is processed by improving monitoring software、DSP processes the time、The accumulation of error that Hardware Response Delay time and look-up table fineness cause，Realize strengthening and follow the tracks of convergence.Simulator monitoring software management angle tracking system simulator functional parameter and algorithm, digital-to-analogue combination, software and hardware combining, resource cost is little, realize simple and direct reliably.
The process time is fast.The angle tracking system simulator of the present invention, the process time includes software and hardware and processes the time, simulator monitoring and DSP process program software and complete software processes with the process time of Millisecond, simulator monitoring software is corresponding with the deviation angle of target to road according to antenna radiation pattern designing antenna in advance, orientation branch road, the look-up table of pitching branch road tributary signal amplitude relation, simulator monitoring software is when calculating the real-time angular difference with orbit angle and accessing look-up table, receive a current real-time angular of antenna to obtain immediately and the difference of respective carter angle, access look-up table and find signal attenuation value and the phase value of correspondence, pad value and phase value convert the numerical-control attenuator in physical control state modulator attenuator module and 0/ π switch in dsp to the time of delicate level.Simulator monitoring software and DSP process software and reduce program waiting time and interrupt inquiry time, complete computing with the process time of Millisecond and table look-up and convert control command to, numerical-control attenuator and switching switch receive the control command response time responsing control command with nanosecond of correspondence, guarantee that control command accurately and timely controls to put in place, reduce the process time of software and hardware in angle tracking system simulator, it is reduced by sky and watches feedback system from output current angular information to the lag time generating angle error control signal, guarantee the parameter of current control corresponding be the state of current antenna, rather than upper one or upper several state, reduce and be reduced by the corresponding accumulation of error lag time, improve convergence in angle tracking process.Reduce the accumulation of error, it is achieved strengthen and follow the tracks of convergence.
Cross-couplings is little.The present invention is from signal amplitude being processed and Phase Processing link reduction cross-couplings, simulator monitoring software is when amplitude that angle tracking system simulator and difference road, road signal are carried out processes, corresponding with target offset angle to the road according to antenna radiation pattern reckoning antenna direction, orientation branch road, pitching branch road amplitude fading amount and phase relation look-up table, simulated-azimuth branch road, the pad value look-up table of pitching tributary signal and the attenuation range 0～60dB of numerical-control attenuator, precision 0.01dB, when guaranteeing to need relative attenuation value bigger, monitoring software can find corresponding pad value from look-up table, attenuator also can respond the adjustable attenuation instruction of correspondence.So in angle tracking simulation process, antenna bearingt is to quasi goal, namely when azimuth deviation angle is 0, orientation branch road numerical-control attenuator 2 is decayed 60dB relative to pitching branch road numerical-control attenuator 3, antenna pitching is to quasi goal, i.e. pitching deviation angle be 0 time, pitching branch road numerical-control attenuator 3 is decayed 60dB relative to orientation branch road numerical-control attenuator 2, relative attenuation reaches the two paths of signals of more than 60dB and influences each other only small, reduces the issuable cross-couplings of angle tracking system simulator from look-up table and two amplitude processing links of attenuator.In attenuator module, numerical-control attenuator 1, numerical-control attenuator 2, the amplitude-phase consistency of numerical-control attenuator 3 is in the amplitude span of control of 60dB, signal phase changes less than ± 1 °, quadrature combiners orthogonality reaches 89 °～91 °, rule according to vector calculus, if two direction vectors are close to 90 °, one of them vector projection is just only small to the part of another vector, its physical significance reduces cross-couplings exactly, cross-couplings is reduced from angle tracking system simulator amplitude and Phase Processing link, the angular error signal that so simulation angle tracking signal out extracts through track receiver will seldom have cross-couplings, pitch information is affected when avoiding control azimuth information, azimuth information is affected when controlling pitch information, thus improving convergence in angle tracking simulation process.
Look-up table wide ranges, precision degree is high.In simulator monitoring software, the present invention according to the deviation angle of target and center of antenna axle in angle tracking system antenna and road difference road directional diagram with and difference road signal gain between relation design deviation angle and orientation branch road in advance, the look-up table of pitching tributary signal amplitude relation, antenna direction G-Design look-up table according to 15 meters of bores of S frequency range, angle deviation range with ± 0.6 ° of design look-up table, with the deviation angle stepping-in amount of 0.0001 °, attenuation range with 0dB～60dB, look-up table is designed with the decay stepping-in amount of 0.01dB, in the angle deviation range of ± 0.6 °, look-up table count more than 8192 points, take into account the fine of look-up table；nullSimulator monitoring software controls attenuation range 0～60dB according to look-up table，The numerical-control attenuator of precision 0.01dB，Angle tracking system simulation deviates relatively as far as scopodromic process gradually from antenna and target in simulation，When artificial antenna alignment of orientation target，Namely when azimuth deviation angle is 0，Reducing cross-linked mechanism according to simulator needs orientation branch road numerical-control attenuator 2 to decay 60dB relative to pitching branch road numerical-control attenuator 3，Artificial antenna pitching is to quasi goal，I.e. pitching deviation angle be 0 time，Reducing cross-linked mechanism according to simulator needs pitching branch road numerical-control attenuator 3 to decay 60dB relative to orientation branch road numerical-control attenuator 2，Because look-up table has the seeking scope of 0dB～60dB，Guarantee from look-up table, find sufficiently large deviation angle and signal amplitude attenuation relation respective value；nullAngle tracking system simulator artificial antenna close to quasi goal time，Angular misalignment is likely less than 0.001 °，The signal amplitude precision needing orientation or the pitching branch road controlled is better than 0.1dB，Because the angle stepping-in amount of look-up table design reaches 0.0001 °，Amplitude fading stepping-in amount reaches 0.01dB，Guarantee from look-up table, find enough fine deviation angle and signal amplitude attenuation relation respective value，So ensure that angle tracking system simulator is angle tracking simulation process from look-up table and numerical-control attenuator link，Can find from look-up table and control when requiring to look up big pad value or little pad value and put in place，Avoid because look-up table attenuation range is less than 40dB，Or angle stepping-in amount is more than 0.001 °，Amplitude fading stepping-in amount is more than 0.01dB，Bigger cross-couplings or the accumulation of error is caused to cause tracking not restrain，Ensure that angle tracking system simulator strengthens from look-up table and numerical-control attenuator link and follow the tracks of constringent needs.
Algorithm restructural, can adapt to multiple system.The present invention processes computer by monitoring and extrapolates according to antenna radiation pattern that antenna direction is corresponding with target offset angle and road, orientation branch road, pitching branch road amplitude fading amount and phase relation look-up table, calculate the difference of antenna real-time angular and orbit angle, from look-up table, the amplitude adjusted parameter before signal branch and the decay of branch amplitude and phase controlling parameter is tried to achieve according to difference, converted to the physical parameter of correspondence by DSP, control high accuracy amplitude regulator in branch front simulation device signal processing unit FPGA respectively, and to attenuator module Zhong He road after branch, orientation branch road, pitching branch road numerical-control attenuator and 0/ π switch, orientation branch road, pitching tributary signal forms difference road signal in quadrature combiners, send track receiver to watch feedback system control antenna by sky with difference signal to turn to；By improving the fine and closely woven degree of simulated-azimuth branch road, the attenuation range of numerical-control attenuator of pitching branch road angle error voltage, precision and look-up table and improving the amplitude-phase consistency of the orthogonality of quadrature combiners, numerical-control attenuator, reduce the cross-couplings between azimuth pitch signal, feedback system is watched from output current angular information to the process time reduction error accumulation generating angle error control signal by reducing sky, reduce cross-couplings and error accumulation, strengthen and follow the tracks of convergence.The system that angle tracking system simulator strengthens intermediate-freuqncy signal form and the TT&C system following the tracks of constringent method and receive outside TT&C system channel downconverter is unrelated.Owing to main algorithm differs from the look-up table of road beam pattern deviation angle and He Lu, orientation branch road, pitching tributary signal amplitude and phase relation in simulator monitoring software according to angle tracking system antenna and road, different antenna radiation patterns can generate different look-up tables, load different look-up tables and can simulate the tracking characteristics of different tracking system, algorithm restructural.
Strengthen tracking convergence by the present invention, system needs can be better adapted to.nullThe simulator monitoring of angle tracking system simulator processes computer can follow the tracks of the needs of system according to difference，By controlling 0/ π switch 1、0/ π switch 2，To orientation branch road、The polarity of pitching tributary signal is controlled，Produce the angle positively biased positive error voltage of output or angle positively biased exports negative error voltage，Adapt to tracking system and be likely to there is different control characteristics，Control antenna with negative error voltage during some required angle positively biased to rotate towards scopodromic direction，Some is then contrary，Guarantee that angle makes tracking system always tend to convergence with the error voltage polarity that system track simulator produces，In simulation autotracking process，Extract angle error voltage by system track receiver and also will quickly tend to 0，Make tracking coefficient k with 1 deviation △ k and follow the tracks of phase error △ all can quickly tend to 0，Realize angle tracking system simulator and strengthen the constringent purpose of tracking；If needing checking system limits tolerance or operator training to process the ability of equipment emergency situations, it is also possible to reverse thinking.
There is versatility.The present invention strengthens convergence by reducing cross-couplings and the accumulation of error.By the controlled range of the scope of design look-up table and fineness and the attenuator going control according to look-up table and precision, allow antenna when orientation or pitch orientation are to quasi goal, it is directed at the signal in that direction relative to misalignment Na mono-tunnel signal attenuation 60dB, it is achieved reduce cross-couplings to signal amplitude processing links；Control phase place when signal is carried out amplitude process by numerical-control attenuator to change less than ± 1o, reach 89 by orthogonalityo～91oSynthesizer orientation Pitch signal is carried out orthogonal synthesis, it is ensured that the orthogonality of azimuth pitch signal, to signal phase processing links reduce cross-couplings；By reducing the response time processing time and numerical-control attenuator and 0/ two kinds of hardware of π switch of monitoring software and dsp software, and improve the fineness of look-up table, reduce the accumulation of error.From reducing cross-couplings and reducing the accumulation of error two aspect that lag of processing time causes, it is achieved angle tracking system simulator strengthens follows the tracks of convergence, it is adaptable to angle tracking system simulates various needs, is especially suitable for not easily setting up the marine application scenarios of calibration environment.
Accompanying drawing explanation
Below in conjunction with accompanying drawing and embodiment, the present invention is further described.
Fig. 1 is that the present invention strengthens the angle tracking system simulator constringent schematic diagram of tracking.
Fig. 2 is antenna and difference directional diagram schematic diagram.
Fig. 3 is orientation, pitching tributary signal Vector modulation schematic diagram.
Fig. 4 is that prior art follows the tracks of not convergence error change in voltage characteristic curve schematic diagram.
Fig. 5 follows the tracks of convergence error change in voltage characteristic curve schematic diagram.
Detailed description of the invention
Consult Fig. 1.Further illustrate the present invention by the examples below.In the examples below, simulator monitoring processes built-in computer and controls track software and the simulator monitoring software of Antenna Orbit angle, simulator monitoring processes computer and connects simulator signal processing unit by cpci bus, connect sky by network interface and watch feedback system, simulator signal processing unit connects attenuator module, and the output of attenuator module is sent track receiver to watch feedback system control antenna by sky and turned to；Simulator signal processing unit is containing devices such as modulus converter A/D, digital to analog converter D/A, digital signal processing chip DSP, field programmable gate array chip FPGA, and wherein, the built-in amplitude regulator of FPGA, FPGA two ends series connection A/D and D/A is also connected with DSP.Attenuator module is containing shunt, numerical-control attenuator, 0/ π position switch and quadrature combiners, shunt connects numerical-control attenuator 1, numerical-control attenuator 2 and numerical-control attenuator 3, wherein, numerical-control attenuator 2 and numerical-control attenuator 3 are connected between shunt and quadrature combiners respectively through 0/ π switch 1 and 0/ π position switch 2, and numerical-control attenuator 1, quadrature combiners export and road signal and difference road signal being connected with track receiver respectively.
nullWhen carrying out angle tracking process simulation，Simulator signal processing unit receives the intermediate-freuqncy signal that outside TT&C system channel downconverter is sent here，Modulus converter A/D through simulator signal processing unit becomes digital medium-frequency signal and delivers in field programmable gate array chip FPGA，Built-in amplitude regulator in FPGA，Digital signal processing chip DSP accepts the instruction span of control limit of control actuator of simulator monitoring software，Intermediate-freuqncy signal is carried out precision and is better than the Precise amplitudes adjustment of 0.01dB，Digital intermediate frequency signal after amplitude adjusted converts analogue signal to through digital to analog converter D/A and sends into the attenuator module being connected to shunt，Shunt is by its one dividing into three road，Three road signals are respectively through corresponding and road、Orientation branch road、The numerical-control attenuator of pitching branch road，Simulator monitoring software presets the analog orbit software that artificial antenna runs according to certain rule，Comprise the azimuth pitch angular position information that every 50ms spaced antenna needs arrive，Receive sky simultaneously and watch the current real-time angular of antenna that feedback system is sent here.The difference of simulator monitoring software real-time angular and orbit angle is equivalent to the deviation angle of antenna and target, according to the deviation angle of antenna radiation pattern designing antenna and target with and differ from the look-up table of road signal amplitude relation.nullSimulator monitoring processes computer and calculates the difference of the current real-time angular of antenna and respective carter angle in real time，From look-up table, the amplitude adjusted parameter before signal branch and the decay of branch amplitude and phase controlling parameter is tried to achieve according to difference，Control command is converted to by DSP，Control the numerical-control attenuator 1 of correspondence respectively、Numerical-control attenuator 2、Numerical-control attenuator 3 carries out 0～60dB scope、The amplitude fading of precision 0.01dB，Amplitude fading Hou He road signal directly arrives track receiver，Orientation tributary signal and pitching tributary signal relative amplitudes after amplitude fading differ 0～60dB，Respectively through 0/ π switch 1 and 0/ π position switch 2，Polarity switching is carried out under the control of 0/ π switching control order corresponding to simulator monitoring software，Orientation tributary signal and pitching tributary signal after polarity switching synthesize difference road signal in quadrature combiners，Track receiver is sent by difference road signal，Track receiver according to and road difference road signal extraction angular error signal send into sky watch feedback system control antenna turn to，It is watched feedback system and again real-time angular value new for antenna is fed back to simulation monitoring process computer，Simulator monitoring software accesses look-up table according to the difference of new real-time angular value with respective carter angle value，Try to achieve and road、Orientation branch road、New amplitude that pitching branch road is corresponding and phase value，Control corresponding numerical-control attenuator and 0/ π switch produces Xin Hecha road signal，Watch feedback system control antenna by track receiver and sky to move towards scopodromic direction，Constantly tend to quasi goal.When antenna alignment of orientation target, namely when azimuth deviation angle is 0, orientation branch road numerical-control attenuator 2 is decayed 60dB relative to pitching branch road numerical-control attenuator 3, antenna pitching is to quasi goal, i.e. pitching deviation angle be 0 time, pitching branch road numerical-control attenuator 3 is decayed 60dB relative to orientation branch road numerical-control attenuator 2, and relative attenuation reaches the two paths of signals of 60dB and influences each other only small, reduces the issuable cross-couplings of angle tracking system simulator from look-up table and two amplitude processing links of attenuator.In attenuator module, numerical-control attenuator 1, numerical-control attenuator 2, the amplitude-phase consistency of numerical-control attenuator 3 is in the amplitude span of control of 60dB, signal phase changes less than ± 1 °, quadrature combiners orthogonality reaches 89 °～91 °, rule according to vector calculus, if two direction vectors are close to 90 °, one of them vector projection is just only small to the part of another vector, its physical significance reduces cross-couplings exactly, cross-couplings is reduced from angle tracking system simulator amplitude and Phase Processing link, the angular error signal that so simulation angle tracking signal out extracts through track receiver will seldom have cross-couplings, pitch information is affected when avoiding control azimuth information, azimuth information is affected when controlling pitch information.Simulator monitoring software completes computing with the process time of Millisecond and accesses look-up table and convert the order controlling numerical-control attenuator and 0/ π switch to, after numerical-control attenuator and 0/ π switch receive the control command of correspondence, response time responsing control command with nanosecond, reduce software and hardware and process the time, guarantee that parameter current correspondence controls the state of current antenna, reduce the accumulation of error that lag of processing time causes, the accumulation of error that angle tracking system simulator reduction cross-couplings and lag of processing time cause.Simulation autotracking process in, the angle error voltage that track receiver extracts quickly tends to 0, make tracking coefficient k with 1 deviation △ k and follow the tracks of phase error △ all can quickly tend to 0, it is achieved strengthen angle tracking system simulator follow the tracks of convergence.Wherein, track receiver and sky are watched feedback system and are not belonging to angle tracking system simulator.
Simulator monitoring processes computer can follow the tracks of the needs of system according to difference, by controlling 0/ π switch 1, 0/ π switch 2, to orientation branch road, the polarity of pitching tributary signal is controlled, produce the angle positively biased positive error voltage of output or angle positively biased exports negative error voltage, adapt to tracking system and be likely to there is different control characteristics, control antenna with negative error voltage during some required angle positively biased to rotate towards scopodromic direction, some is then contrary, guarantee that angle makes tracking system always tend to convergence with the error voltage polarity that system track simulator produces, rather than disperse.
Consult Fig. 2.Antenna and poor directional diagram, relation between reflection deviation angle and He Lu, difference orientation, road, difference road pitching gain, simulator monitoring software is as shown in table 1 with the look-up table of He Lu, difference orientation, road, difference road pitching amplitude and phase relation characteristic according to beam pattern deviation angle, different antennas has different directional diagrams, different antenna radiation patterns can generate different look-up tables, angle tracking system simulator loads different look-up tables can simulate the tracking characteristics of different system, algorithm restructural.
The look-up table of table 1 deviation angle and He Lu, difference orientation, road, difference road pitching amplitude and phase relation characteristic
In simulator monitoring software, according to the deviation angle of target and center of antenna axle in angle tracking system antenna and road difference road directional diagram with and difference road signal gain between relation design deviation angle and orientation branch road in advance, the look-up table of pitching tributary signal amplitude relation, the present invention antenna direction G-Design look-up table according to 15 meters of bores of S frequency range, angle deviation range with ± 0.6 ° of design look-up table, with the deviation angle stepping-in amount of 0.0001 °, attenuation range with 0dB～60dB, look-up table is designed with the decay stepping-in amount of 0.01dB, in the angle deviation range of ± 0.6 °, look-up table count more than 8192 points, take into account the fineness of look-up table；nullSimulator monitoring software controls attenuation range 0～60dB according to look-up table，The numerical-control attenuator of precision 0.01dB，Angle tracking system simulation deviates relatively as far as scopodromic process gradually from antenna and target in simulation，When artificial antenna alignment of orientation target，Namely when azimuth deviation angle is 0，Reducing cross-linked mechanism according to simulator needs orientation branch road numerical-control attenuator 2 to decay 60dB relative to pitching branch road numerical-control attenuator 3，Artificial antenna pitching is to quasi goal，I.e. pitching deviation angle be 0 time，Reducing cross-linked mechanism according to simulator needs pitching branch road numerical-control attenuator 3 to decay 60dB relative to orientation branch road numerical-control attenuator 2，Because look-up table has the seeking scope of 0dB～60dB，Guarantee from look-up table, find sufficiently large deviation angle and signal amplitude attenuation relation respective value；nullAngle tracking system simulator artificial antenna close to quasi goal time，Angular misalignment is likely less than 0.001 °，The signal amplitude precision needing orientation or the pitching branch road controlled is better than 0.1dB，Because the angle stepping-in amount of look-up table design reaches 0.0001 °，Amplitude fading stepping-in amount reaches 0.01dB，Guarantee from look-up table, find enough fine deviation angle and signal amplitude attenuation relation respective value，So ensure that angle tracking system simulator is angle tracking simulation process from look-up table and numerical-control attenuator link，Can find from look-up table and control when requiring to look up big pad value or little pad value and put in place，Avoid because look-up table attenuation range is less than 40dB，Or angle stepping-in amount is more than 0.001 °，Amplitude fading stepping-in amount is more than 0.01dB，Bigger cross-couplings or the accumulation of error is caused to cause tracking not restrain，Ensure that angle tracking system simulator strengthens from look-up table and numerical-control attenuator link and follow the tracks of constringent needs.
Consult Fig. 3.nullOrientation branch road vector signal A and pitching branch road vector signal its angle of E strict orthogonal should be 90 °，If having the angle between a pitching branch road vector signal E1 and orientation branch road vector signal A is α，The then rule according to vector calculus，Pitching branch road vector signal E1 projects to the component E1A=E1COS α on orientation branch road，α is closer to 90 °，It is more little that pitching branch road projects to the component on orientation branch road，Pitching branch road is more little to orientation branches affect，In like manner orientation branch road projects to the relation of pitching branch road too，Namely orientation branch road is more little closer to 90 ° of cross-couplings with the angle of pitching branch road，Angle tracking system simulator is artificial antenna is from deviation target to scopodromic angle tracking process，Numerical-control attenuator is in the amplitude span of control of 60dB，Signal phase changes less than ± 1 °，And it is better than the synthesizer of 90 ° ± 1 ° to orientation branch road and pitching branch road synthesis difference road signal through orthogonality，The cross-couplings that angle tracking system simulator produces is reduced to signal phase processing links，Realize strengthening and follow the tracks of convergence.
Consult Fig. 4.In angle tracking system simulator, orientation branch road, the numerical-control attenuator attenuation range of pitching tributary signal and precision are not, numerical-control attenuator amplitude-phase consistency is not so good, look-up table scope and precision not, that quadrature combiners orthogonality is bad, software and hardware processes the time is longer, causing that the concussion of tracking system does not restrain, azimuth pitch error voltage can not tend to 0 all the time.
Consult Fig. 5.In angle tracking system simulator, orientation branch road, the numerical-control attenuator attenuation range of pitching tributary signal and precision are enough, numerical-control attenuator amplitude-phase consistency is good, look-up table scope and precision enough, that quadrature combiners orthogonality reaches 89 °～91 °, software and hardware processes the time is shorter, following the tracks of system convergence, azimuth pitch error voltage quickly tends to 0.
Claims (11)
1. one kind strengthens the angle tracking system simulator constringent method of tracking, there is following technical characteristic: simulator monitoring processes built-in computer and controls track software and the simulator monitoring software of Antenna Orbit angle, connect simulator signal processing unit by cpci bus and watch feedback system by network interface connection sky；Simulator monitoring software according in angle tracking system and road difference road antenna radiation pattern target and center of antenna axle deviation angle and and difference road signal gain between relation, the look-up table of design deviation angle and He Lu, orientation branch road, pitching tributary signal amplitude and phase relation in advance, look-up table covers antenna main lobe beam angle, sets ± 0.6 ° of angle deviation range with the stepping-in amount of 0.0001 °, sets the amplitude fading scope of 0dB～60dB with the decay stepping-in amount of 0.01dB；The antenna real-time angular that feeding comes is watched in orbit angle and sky that simulator monitoring software reception track software is sent here, receive a current real-time angular of antenna to obtain immediately and the difference of respective carter angle, access look-up table according to angle difference, search signal amplitude pad value and the phase value of correspondence；nullWhen carrying out angle tracking process simulation，Simulator signal processing unit receives the intermediate-freuqncy signal that outside TT&C system is sent here，Simulator monitoring software controls amplitude regulator built-in in field programmable gate array chip FPGA by digital signal processing chip DSP，Intermediate-freuqncy signal is carried out precision and is better than the Precise amplitudes control of 0.01dB，Digital intermediate frequency signal after amplitude control is sent into by simulator signal processing unit the attenuator module being connected to shunt，Through shunt one dividing into three road signal，Formed and road signal、Orientation tributary signal and pitching tributary signal，Three road signals are respectively through corresponding and road、Orientation branch road、The numerical-control attenuator of pitching branch road，Simulator monitoring software accesses look-up table according to the difference of real-time angular with orbit angle，Find and road、Orientation branch road、The signal amplitude pad value that pitching branch road is corresponding，Control command is converted to by DSP，Control the numerical-control attenuator 1 of correspondence respectively、Numerical-control attenuator 2、Numerical-control attenuator 3 carries out 0～60dB scope、The amplitude fading of precision 0.01dB，Amplitude fading Hou He road signal directly arrives track receiver，Orientation tributary signal and pitching tributary signal relative amplitudes after amplitude fading differ 0～60dB，Signal phase changes less than ± 1 °，Respectively through 0/ π switch 1 and 0/ π position switch 2，Polarity switching is carried out under the control of 0/ π switching control order corresponding to simulator monitoring software，Orientation tributary signal and pitching tributary signal after polarity switching reach synthesis difference road signal in the quadrature combiners of 89 °～91 ° in orthogonality，The cross-couplings of difference road signal is reduced from amplitude and Phase Processing link，Track receiver is sent by difference road signal，Track receiver according to and road difference road signal extraction angular error signal send into sky watch feedback system control antenna turn to，The real-time angular that antenna turns to feeds back to simulation monitoring and processes computer，Simulator monitoring software tries to achieve new orientation according to new deviation angle from look-up table、Amplitude attenuation value that pitching branch road is corresponding and phase value，Converted to the order controlling numerical-control attenuator and 0/ π position switch by DSP，Numerical-control attenuator and 0/ π position switch are with the response time responsing control command of nanosecond，Control the state of parameter current correspondence current antenna，Antenna is driven to move towards scopodromic direction，From reducing cross-couplings and reducing the accumulation of error two aspect that lag of processing time causes，Realize angle tracking system simulator and strengthen tracking convergence.
2. constringent method followed the tracks of by the angle tracking system simulator that strengthens as claimed in claim 1, it is characterized in that: simulator signal processing unit is containing devices such as modulus converter A/D, digital to analog converter D/A, digital signal processing chip DSP, field programmable gate array chip FPGA, wherein, FPGA two ends series connection A/D and the D/A being connected with DSP of built-in amplitude regulator.
3. constringent method followed the tracks of by the angle tracking system simulator that strengthens as claimed in claim 1, it is characterized in that: attenuator module is containing shunt, numerical-control attenuator, 0/ π position switch and quadrature combiners, shunt connects numerical-control attenuator 1, numerical-control attenuator 2 and numerical-control attenuator 3, wherein, numerical-control attenuator 2 and numerical-control attenuator 3 are connected between shunt and quadrature combiners respectively through 0/ π switch 1 and 0/ π position switch 2, and numerical-control attenuator 1, quadrature combiners export and road signal and difference road signal being connected with track receiver respectively.
4. constringent method followed the tracks of by the angle tracking system simulator that strengthens as claimed in claim 1, it is characterized in that: simulator signal processing unit receives the intermediate-freuqncy signal that outside TT&C system channel downconverter is sent here, modulus converter A/D through simulator signal processing unit becomes digital medium-frequency signal and delivers in field programmable gate array chip FPGA, built-in amplitude regulator in FPGA, digital signal processing chip DSP accepts the instruction span of control limit of control actuator of simulator monitoring software, intermediate-freuqncy signal is carried out precision and is better than the Precise amplitudes adjustment of 0.01dB, digital intermediate frequency signal after amplitude adjusted converts analogue signal to through digital to analog converter D/A and sends into the attenuator module being connected to shunt.
5. constringent method followed the tracks of by the angle tracking system simulator that strengthens as claimed in claim 1, it is characterized in that, track software kit needs the azimuth pitch angular position information arrived containing every 50ms spaced antenna, and simulator monitoring software receives sky simultaneously and watches the current real-time angular of antenna that feedback system sends here and the orbit angle that track software is sent here.
6. constringent method followed the tracks of by the angle tracking system simulator that strengthens as claimed in claim 1, it is characterized in that: simulator monitoring processes computer and runs simulator monitoring software, calculate the difference of the current real-time angular of antenna and respective carter angle in real time, from look-up table, the amplitude adjusted parameter before signal branch and the decay of branch amplitude and phase controlling parameter is tried to achieve according to difference, control command is converted to by DSP, control the numerical-control attenuator 1 of correspondence respectively, numerical-control attenuator 2, numerical-control attenuator 3 carries out 0～60dB scope, the amplitude fading of precision 0.01dB, signal phase changes less than ± 1 °, the cross-couplings of poor road signal is reduced from amplitude processing links.
7. constringent method followed the tracks of by the angle tracking system simulator that strengthens as claimed in claim 1, it is characterized in that: orientation tributary signal and pitching tributary signal relative amplitudes after amplitude fading differ 0～60dB, signal phase changes less than ± 1 °, respectively through 0/ π switch 1 and 0/ π position switch 2, polarity switching is carried out under the control of 0/ π switching control order corresponding to simulator monitoring software, orientation tributary signal and pitching tributary signal after polarity switching reach synthesis difference road signal in the quadrature combiners of 89 °～91 ° in orthogonality, the cross-couplings of difference road signal is reduced from Phase Processing link.
8. constringent method followed the tracks of by the angle tracking system simulator that strengthens as claimed in claim 1, it is characterized in that: when antenna alignment of orientation target, namely when azimuth deviation angle is 0, orientation branch road numerical-control attenuator 2 is decayed 60dB relative to pitching branch road numerical-control attenuator 3, antenna pitching is to quasi goal, i.e. pitching deviation angle be 0 time, pitching branch road numerical-control attenuator 3 is decayed 60dB relative to orientation branch road numerical-control attenuator 2, reduces the issuable cross-couplings of angle tracking system simulator from look-up table and two amplitude processing links of attenuator.
9. constringent method followed the tracks of by the angle tracking system simulator that strengthens as claimed in claim 1, it is characterized in that: track receiver according to and road difference road signal extraction angular error signal send into sky watch feedback system control antenna turn to, it is watched feedback system and again real-time angular value new for antenna is fed back to simulation monitoring process computer, simulator monitoring software accesses look-up table according to the difference of new real-time angular value with respective carter angle value, try to achieve and road, orientation branch road, new amplitude that pitching branch road is corresponding and phase value, control corresponding numerical-control attenuator and 0/ π switch produces Xin Hecha road signal, watch feedback system control antenna by track receiver and sky to move towards scopodromic direction, constantly tend to quasi goal.
null10. constringent method followed the tracks of by the angle tracking system simulator that strengthens as claimed in claim 1，It is characterized in that: the simulator monitoring of angle tracking system simulator processes computer can follow the tracks of the needs of system according to difference，By controlling 0/ π switch 1、0/ π switch 2，To orientation branch road、The polarity of pitching tributary signal is controlled，Produce the angle positively biased positive error voltage of output or angle positively biased exports negative error voltage，Adapt to tracking system and be likely to there is different control characteristics，Control antenna with negative error voltage during some required angle positively biased to rotate towards scopodromic direction，Some is then contrary，Guarantee that angle makes tracking system always tend to convergence with the error voltage polarity that system track simulator produces，In simulation autotracking process，Extract angle error voltage by system track receiver and also will quickly tend to 0，Make tracking coefficient k with 1 deviation △ k and follow the tracks of phase error △ all can quickly tend to 0，Realize angle tracking system simulator and strengthen the constringent purpose of tracking.
11. strengthen angle tracking system simulator as claimed in claim 1 to follow the tracks of constringent method, it is characterized in that: different antennas has different directional diagrams, different antenna radiation patterns generates different look-up tables, angle tracking system simulator loads the tracking characteristics of different look-up table simulation different systems, algorithm restructural.
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