CN109780946B - Laser beam-steering guidance angle measurement receiver - Google Patents
Laser beam-steering guidance angle measurement receiver Download PDFInfo
- Publication number
- CN109780946B CN109780946B CN201910107465.XA CN201910107465A CN109780946B CN 109780946 B CN109780946 B CN 109780946B CN 201910107465 A CN201910107465 A CN 201910107465A CN 109780946 B CN109780946 B CN 109780946B
- Authority
- CN
- China
- Prior art keywords
- circuit
- laser
- missile
- adder
- center
- 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
Images
Landscapes
- Radar Systems Or Details Thereof (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention provides a laser beam steering guidance angle measurement receiver, and belongs to the technical field of short-range ground-to-air and ground missile attitude measurement and control. The method comprises the following steps: wide-angle optical lens assembly, four-quadrant photoelectric detector, signal conversion and amplification circuit, filter circuit and analog/digital mixed resolving circuit. The receiver receives modulated laser guidance information transmitted by a ground laser beam steering guidance instrument, processes the signals in real time through an optical convergence imaging, signal conversion and amplification circuit, a shaping filter circuit and a sum-difference processing circuit, and then obtains a two-dimensional position coordinate of the missile in a space laser beam steering guidance information field relative to the center of the information field, and a pitch offset angle and a yaw offset angle of the missile axis relative to a laser ray of the laser beam steering guidance information field through a digital signal resolving circuit and software. The invention adopts the mode of direct irradiation of coded laser and receiving of an angle measurement receiver, and simultaneously measures the position information and the attitude information of the missile relative to a guidance information field, thereby providing accurate position and attitude angle measurement for the missile and greatly improving the transient control quality of the missile.
Description
Technical Field
The invention relates to a receiver, in particular to an angle measurement receiver for laser beam steering guidance, and belongs to the technical field of ground-air short-range missile control and attitude measurement.
Background
Ammunition acts as a terminal for the weapon system, directly determining the effectiveness of the strike and the win or loss of the battlefield. With the change of modern war operation mode and operation mode, each major military and strong country is developing the information intelligent ammunition weapon system featuring high first-onset hit rate, no matter after firing, high-efficiency damage and the like. The laser beam-driving guidance ammunition becomes an important development field and direction of intelligent ammunition by virtue of the advantages of high guidance precision, low cost, small collateral damage, quick response time, high combat effectiveness and the like.
The laser beam steering guidance is an accurate guidance system which is characterized in that a laser beam irradiated by a laser irradiator outside a missile irradiates and tracks a target, a laser receiver on the missile receives laser information, and the missile is controlled by a control system to fly along the central line of the laser beam. The laser beam steering guidance information field can be formed by various schemes, the most mature engineering application at present is a frequency coding scheme, the scheme modulates the emitted laser beam through a modulation system in a ground laser beam steering guidance instrument to form different serial frequency codes at different spatial positions, and after a receiver on the missile receives the laser frequency codes, the position coordinate of the receiver relative to the center of the information field can be calculated, so that a control instruction is formed to control the missile to fly.
The missile system adopting the laser beam-steering guidance system generally adopts a three-point method guidance law, the missile automatically flies along the center of a laser beam-steering guidance information field under the action of a control system, and the center of the guidance information field is superposed with the center of a sighting device, so that the static/maneuvering target is attacked. The existing laser beam-steering guidance system can only measure the position coordinates of the missile relative to the center of a laser information field and is used for a missile guidance loop to control the position of the center of mass of the missile, however, in the controlled flight process of the missile, the missile needs to be guided to fly along the center of the laser information field all the time, the missile body can have the change of an attitude angle in the process, when the change of the attitude angle exceeds a certain range, if conical pendulum motion occurs, the missile precision, the force of a warhead, the performance of a guidance head and the like can be greatly influenced, so that the modern missile design increasingly improves the dynamic characteristics of the missile body by adopting attitude control to improve the control quality of the missile. The adoption of the attitude control loop needs to measure the attitude motion information of the missile, and traditionally, the information is measured by inertia devices such as a gyroscope and the like, but the increase of the inertia devices not only has high cost, but also occupies the space on the missile, and brings difficulty to the overall design of the missile.
Disclosure of Invention
In view of the above, the invention provides a laser beam steering guidance angle measurement receiver, which can not only measure the position coordinates of a missile relative to the center of a laser information field, but also measure the pitch offset angle and the yaw offset angle of the axis of the missile relative to a laser ray, so as to provide control information for a missile attitude control loop, and the introduction of the included angle information can effectively solve the problems that the cone pendulum motion of the existing rotating missile influences the armor breaking capacity of a fighting part and the like.
The laser beam-steering guidance angle-measuring receiver is placed at the tail of a missile body, so that the missile body is in the X direction in the axial direction, the Y direction in the pitching direction and the Z direction in the yawing direction; the method comprises the following steps: the photoelectric detector comprises an optical lens assembly, a four-quadrant photoelectric detector, a signal conversion and amplification circuit, a filter circuit and an analog/digital mixed resolving circuit;
the optical lens assembly is used for receiving coded laser emitted by the ground guidance instrument and converging the coded laser on the target surface of the four-quadrant photoelectric detector;
the four-quadrant photoelectric detector is arranged behind the optical lens assembly; the four-quadrant photoelectric detector is provided with an optical sensitive surface in each of four quadrants, and the four optical sensitive surfaces are mutually independent; a lead is led out of each optical sensitive surface to serve as an electrode and serve as a signal output end corresponding to the optical sensitive surface; laser beams are imaged on a four-quadrant photoelectric detector through the wide-angle optical lens assembly, and when the center of the imaging light spot is located at the center of the target surface of the four-quadrant photoelectric detector, the amplitudes of electric signals output by four optical sensitive surfaces are the same; when the center of the imaging light spot deviates from the center of the target surface, the amplitudes of the electric signals output by the four optical sensitive surfaces are different, and the amplitudes of the output electric signals are in direct proportion to the area of the light spot on the corresponding quadrant;
the signal conversion and amplification circuit is used for amplifying four paths of electric signals output by the four-quadrant photoelectric detector, then sending the four paths of electric signals to the filter circuit for filtering, and sending the filtered electric signals to the analog/digital hybrid resolving circuit;
the analog/digital hybrid solution circuit includes: a coordinate position calculating circuit and an attitude angle calculating circuit; the coordinate position resolving circuit is used for resolving coordinate positions delta Y and delta Z of the guided missile relative to the center of the laser guidance information field in real time;
the attitude angle resolving circuit resolves position parameters of the center of a laser spot imaged on a target surface of the four-quadrant photoelectric detector after being converged by the optical lens assembly relative to the center of the target surface of the detector in real time, namely position coordinates (z, y) of the spot center on the target surface of the detector; and then calculating the pitch offset angle and the yaw offset angle of the missile axis relative to the laser ray of the laser guidance information field by using the position coordinate.
The optical lens assembly includes: the surface of the lens A facing the incident laser is a plane, and the surface facing the lens B is a concave surface; the surface of the lens B facing the lens A is a plane, and the surface facing the optical filter is a convex surface; the surface of the lens C facing the optical filter is a plane, and the surface facing the lens D is a convex surface; the surface of the lens D facing the lens C is a convex surface, and the other surface of the lens D is a plane.
The signal conversion and amplification circuit includes: four paths of I-V conversion circuits which are correspondingly connected with the signal output ends of four optical sensitive surfaces of the four quadrant photoelectric detectors one by one and signal amplification circuits which are correspondingly connected with the four I-V conversion circuits one by one; the I-V conversion circuit is used for converting a current signal obtained by sensing of the optical sensitive surface connected with the I-V conversion circuit into a voltage signal.
The signal amplification circuit adopts a two-stage amplification mode, wherein the first stage is a fixed gain operational amplifier circuit, and the second stage is a gain self-adjusting operational amplifier circuit.
The coordinate position calculating circuit includes: adder A, A/D converting circuit and coordinate calculation control circuit that link to each other in proper order, coordinate calculation control circuit includes: the frequency gating circuit comprises more than two frequency gating amplifying circuits, comparators connected with the frequency gating amplifying circuits in a one-to-one correspondence manner, shaping circuits connected with the comparators in a one-to-one correspondence manner and low-pass filter banks; four current signals output by the four-quadrant detector group are respectively subjected to I-V conversion circuit, signal amplification and filtering processing, then enter an adder A for addition calculation, are converted into digital signals through an A/D conversion circuit after the addition calculation, then are input into more than two gating filters with different central frequencies to respectively detect signals with different frequencies forming a laser information field, are input into each comparator after the amplification to obtain square waves with constant amplitude and frequency, and then are output into unidirectional pulse signals with amplitude in direct proportion to the signal duty ratio through corresponding shaping circuits and are sent to a low-pass filter group, pulse signals with different duty ratios are spread into direct current signals with slow change by a low-pass filter in the low-pass filter group, and the amplitude of the direct current signals is changed along with the duration time of the input signals with different frequencies, thereby forming voltage signals Uy and Uz corresponding to the deviation delta Y and delta Z of the central positions of the missile and the information field; then, according to Uy, Uz and Kz, calculating coordinate positions delta Y and delta Z of the guided missile relative to the center of the guidance laser information field; ky and Kz are pitch deviation command coefficient and yaw deviation command coefficient, respectively.
The attitude angle resolving circuit includes: the device comprises a sum-difference processing circuit, two A/D conversion circuits and an included angle resolving control unit; the sum and difference processing circuit is used for calculating the position deviation (z, y) of the laser spot center relative to the detector target surface center, and comprises five adders, two subtractors and two dividers, wherein the five adders are respectively an adder B, an adder C, an adder D, an adder E and an adder A shared by the coordinate position calculating circuit; the input signals of the adder B, the adder C, the adder D and the adder E are respectively the pairwise combination of four paths of current signals; the output ends of the adder B and the adder E are respectively connected with the input end of the subtracter A, and the output end of the subtracter A is connected with the input end of the divider A; the output ends of the adder C and the adder D are respectively connected with the input end of a subtracter B, and the output end of the subtracter B is connected with the input end of a divider B; the output end of the adder A is respectively connected with the input ends of the divider A and the divider B; the output end of the divider A is connected with the included angle calculation control unit through an A/D conversion circuit, and the output end of the divider B is connected with the included angle calculation control unit through another A/D conversion circuit;
the included angle calculation control unit calculates a pitching offset angle and a yawing offset angle according to (z, y) calculated by the sum and difference processing circuit;
the pitch offset angle α is:
the yaw offset angle β is:
wherein: the position coordinate of the light spot center on the photosensitive surface of the detector is (z, y), and f' is the equivalent focal length of the optical lens assembly.
Has the advantages that:
(1) by the method, the pitch offset angle and the yaw offset angle of the axis of the missile relative to the laser ray of the guidance information field can be measured while the two-dimensional position coordinates delta Y and delta Z of the missile relative to the center of the information field are measured, and the angle can be obtained to provide guarantee for the missile control system to introduce an attitude control loop to stabilize the attitude of the missile, so that the control precision and the flight stability of the missile are greatly improved. The component can be used for a laser beam driving system adopting a frequency coding system and can also be used for laser beam driving systems adopting other systems such as a strip scanning system and the like.
(2) The invention has the advantages of small delay time and good real-time tracking performance, and the acquisition of the pitch offset angle and the yaw offset angle can provide guarantee for a missile control system to introduce an attitude control loop to stabilize the missile body attitude, and can greatly improve the control quality and the target hit precision of the laser beam-guided missile.
(3) The angle measurement receiver provided by the invention does not add redundant measuring devices such as inertial elements on the missile under the condition of providing the position coordinate information and the attitude information of the missile, is easy to realize, has lower cost and does not occupy too much space on the missile.
(4) The signal resolving processing of the angle measuring receiver of the invention adopts an analog/digital combined design mode to realize the rapid and real-time processing and secondary result verification of coded laser in a larger frequency range, has stronger anti-jamming capability and real-time performance, and has the function of wide frequency self-adaption capability in the online software upgrading.
Drawings
FIG. 1 is a schematic diagram of the measurement of the system;
FIG. 2 is a block diagram of an angle measurement receiver;
FIG. 3 is a schematic diagram of optical convergence;
FIG. 4 is a schematic diagram of a four quadrant detector;
FIG. 5 is a schematic block diagram of the internal circuitry of the angle measuring receiver;
FIG. 6 is a schematic block diagram of a high-precision analog/digital hybrid solution circuit;
FIG. 7 is a schematic block diagram of a coordinate position resolving circuit;
fig. 8 is an attitude angle calculation function block diagram.
Wherein: 1-lens A, 2-lens B, 3-filter, 4-lens C, 5-lens D
Detailed Description
The invention is further described with reference to the following figures and examples.
The embodiment provides an angle measurement receiver based on a laser beam steering guidance system, which can obtain two-dimensional position coordinates delta Y and delta Z of a laser beam steering guidance missile in a space laser beam steering guidance information field relative to the center of the guidance laser information field, and a pitch offset angle and a yaw offset angle of a missile axis relative to a laser ray (namely a laser central axis) of the laser beam steering guidance information field.
The receiver is placed at the tail of a missile body, the measurement principle of the receiver is shown in figure 1, the missile flies in a laser guidance information field (an area surrounded by the edge of a coding guidance laser field, and the axial section of the guidance laser information field is circular) after taking off and gradually converges to the vicinity of the central shaft of the guidance laser information field, an angle measurement receiver arranged at the tail of the missile receives laser guidance information with set codes in real time, and the angle measurement receiver processes the received laser guidance information to complete the position and angle measurement function. The method specifically comprises the following steps:
the angle measuring receiver is shown in fig. 2, and comprises: wide-angle optical lens assembly, four-quadrant photoelectric detector, signal conversion and amplification circuit, filter circuit and analog/digital mixed resolving circuit.
The wide-angle optical lens component is used for receiving coded laser emitted by the ground guidance instrument and converging the coded laser on a target surface of the photoelectric detector. As shown in fig. 3, the optical lens assembly used in this embodiment includes a lens a1, a lens B2, a filter 3, a lens C4, and a lens D5 coaxially arranged in sequence, where the lens a1 and the lens B2, and the lens C3 and the lens D4 form an improved double-gauss lens set structure, a surface of the lens a1 facing the lens B2 is a concave surface, and another surface is a flat surface (the surface facing incident laser light); the surface of the lens B2 facing the lens a1 is a plane, and the surface facing the filter 3 is a convex surface; the surface of the lens C4 facing the filter 3 is a plane and faces the transmission lensThe face of the mirror D5 is convex; the surface of the lens D5 facing the lens C4 is convex, and the other surface is flat. The filter 3 is a narrow band filter for suppressing ambient light to eliminate chromatic aberration. For the wide-angle optical lens assembly, the equivalent focal length f' is the focal length f of lens A11The product of the three other lens powers is calculated as:
f'＝f1·β2·β3·β4
wherein: beta is a2Magnification of lens B2, beta3Magnification of lens C4, beta4The power of lens D5.
The four-quadrant photodetector is arranged behind the optical lens assembly (behind the lens D5), the photodetector is a circular four-quadrant PIN photodetector, and as shown in fig. 4, the optical lens assembly converges the coded laser emitted by the ground guidance instrument into an effective target surface of the four-quadrant detector. The method specifically comprises the following steps: the circular area where the photoelectric detector is located is divided into four quadrants, the photoelectric detector is provided with an optical sensitive surface in each quadrant, and the four optical sensitive surfaces are independent; and a lead is led out from each optical sensitive surface to be used as an electrode. The four-quadrant PIN photoelectric detector is arranged in the wide-angle optical lens assembly and slightly away from the focal plane, laser beams are imaged on the four-quadrant PIN photoelectric detector through the wide-angle optical lens assembly, and the photoelectric detector converts optical signals into electric signals and outputs the electric signals to the signal conversion and amplification circuit. When the center of the imaging light spot is positioned at the center of the target surface of the four-quadrant photoelectric detector, the amplitudes of the electric signals output by the optical sensitive surfaces on the four quadrants are the same; when the center of the imaging light spot deviates from the center of the target surface, the amplitudes of the electric signals output by the optical sensitive surfaces on the four quadrants are different, and the amplitudes of the output electric signals are in direct proportion to the area of the light spot on the quadrant.
The schematic block diagram of the internal circuit of the angle measuring receiver is shown in fig. 5, and comprises: signal conversion and amplification circuit, filter circuit and analog/digital mixed resolving circuit. The signal conversion and amplification circuit comprises four paths of I-V conversion circuits and signal amplification circuits, wherein the four paths of I-V conversion circuits are correspondingly connected with electrodes of four optical sensitive surfaces in the four-quadrant photoelectric detector one by one, and the signal amplification circuits are correspondingly connected with the four I-V conversion circuits one by one. The electric signal output by the photoelectric detector is a current signal, the I-V conversion circuit is used for converting a photo-generated current signal obtained by sensing an optical sensitive surface connected with the I-V conversion circuit into a voltage signal, and the energy of an optical signal received by the missile receiver is small under the condition of long flight distance, so that the optical signal needs to be amplified by a signal amplification circuit. The signal amplification circuit adopts a two-stage amplification mode, the first stage is a fixed gain operational amplifier circuit, the second stage is a gain self-adjusting operational amplifier circuit, and a stable signal can be obtained after the two-stage operational amplifier circuit is used for amplification. Before the signal conversion and amplification circuit sends the converted voltage signal to the analog/digital mixed resolving circuit for signal calculation, each path of signal is subjected to filtering gating on the known laser frequency signal by adopting a low-pass and band-pass filter (filtering circuit), interference and noise signals are filtered, and the precision of the calculation result is improved.
As shown in fig. 6, the analog/digital hybrid solution circuit includes: the system comprises a coordinate position resolving circuit and an attitude angle resolving circuit, wherein the coordinate position resolving circuit is used for resolving coordinate positions delta Y and delta Z of the guided missile relative to the center of a guided laser information field in real time (the coordinate system is that the center of the guided laser information field is taken as a coordinate origin in an axial section of the light guided information field, the horizontal direction (corresponding to the yaw direction of the guided missile) is taken as the Z direction, and the vertical direction (corresponding to the pitch direction of the guided missile) is taken as the Y direction); the attitude angle resolving circuit resolves position parameters of the center of a laser spot imaged on the target surface of the detector relative to the center of the target surface of the detector after being converged by the optical lens assembly in real time, namely position coordinates (z, y) of the center of the laser spot on the center of the target surface of the detector; the method comprises the steps of (the coordinate system is that the center of a target surface of a detector is taken as the origin of coordinates, the horizontal direction is the Z direction (corresponding to the yaw direction of a missile), and the vertical direction is the Y direction (corresponding to the pitch direction of the missile)), and then the pitch offset angle and the yaw offset angle of a missile axis (X axis) relative to a laser ray of a laser guidance information field are calculated by utilizing the position coordinates (Z, Y) of a spot center. The two groups of resolving circuits belong to a parallel structure, and four paths of electric signals obtained by processing of a four-quadrant photoelectric detector, a signal conversion and amplification circuit and a filter circuit are used together to realize simultaneous measurement of position and attitude information of the missile relative to a guidance information field.
The measurement principle of the coordinate position calculating circuit is that the line deviation between the missile and the center of a laser information field in the laser information field is measured by utilizing the properties that the laser durations of all frequencies in the laser information received by a receiver are different when the missile is positioned at different positions in the laser information field, namely, the duty ratios are different, and the circuit comprises: an adder A, A/D conversion circuit and an MCU digital circuit (i.e., a control unit) connected in sequence, wherein the MCU digital circuit is shown in fig. 7 and includes: the frequency gating circuit comprises a plurality of frequency gating amplifying circuits (including gating filters and amplifiers), comparators connected with the frequency gating amplifying circuits in a one-to-one correspondence mode, shaping circuits connected with the comparators in a one-to-one correspondence mode and a low-pass filter bank. Four current signals output by a four-quadrant detector enter an adder A for addition calculation after being respectively subjected to I-V conversion circuit, signal amplification and filtering processing, are converted into digital signals through an A/D conversion circuit after being subjected to addition calculation, are input into a plurality of gating filters with different central frequencies to respectively detect signals with different frequencies forming a laser information field, are input into each comparator after being amplified to obtain square waves with certain amplitude and invariable frequency, and then are output into unidirectional pulse signals with amplitude in direct proportion to the signal duty ratio through corresponding shaping circuits and are input into a low-pass filter group, the pulse signals with different duty ratios are spread into slowly-changing direct current signals by the low-pass filter, the amplitude of the direct current signals is different along with the duration time of the input different frequency signals, so that voltage signals Uy and Uz corresponding to the central position deviations delta Y and delta Z of the missile and the information field are formed, because Uy is Ky Δ Y and Uz is Kz Δ Z, the coordinate positions Δ Y and Δ Z of the missile relative to the center of the guidance laser information field can be obtained, wherein Ky and Kz are a pitch deviation command coefficient and a yaw deviation command coefficient respectively and are determined by the amplification factor of an amplifier in the frequency gating amplification circuit.
The attitude angle resolving circuit includes: a sum and difference processing circuit, two A/D conversion circuits and an MCU digital circuit (i.e. a control unit). The sum and difference processing circuit is used for calculating the position deviation of the laser spot center relative to the center of the target surface of the detector, and comprises: five groups of addition circuits, wherein input signals of four groups of addition circuits (respectively making an adder B, an adder C, an adder D and an adder E) are combined in pairs of four paths of current signals, the other group of addition circuits (namely the adder A in the coordinate position calculating circuit) inputs all four paths of current signals, two subtracters (respectively making a subtracter A and a subtracter B) and two dividers (respectively making a divider A and a divider B), wherein output ends of the adder B and the adder E are respectively connected with an input end of the subtracter A, an output end of the subtracter A is connected with an input end of the divider A, output ends of the adder C and the adder D are respectively connected with an input end of the subtracter B, and an output end of the subtracter B is connected with an input end of the divider B; the output end of the adder A is respectively connected with the input ends of the divider A and the divider B. The output end of the divider A is connected with the MCU digital circuit through an A/D conversion circuit, and the output end of the divider B is connected with the MCU digital circuit through another A/D conversion circuit.
The calculation principle of the attitude angle calculation circuit for the pitch offset angle and the yaw offset angle is the same, and the calculation principle of the attitude angle calculation circuit is described in detail below by taking the calculation of the pitch offset angle α as an example: when the light spot moves on the four-quadrant photoelectric detector, the light receiving area of the optical sensitive surface of each quadrant changes, so that the intensity of an electric signal generated by the four quadrants changes. According to the amplitude of the signals obtained by the four quadrants, the position coordinates (z, y) of the light spot center on the photosensitive surface (target surface) of the detector can be obtained by calculation; the basic algorithm for calculating the offset of the center position of the light spot is similar to a centroid algorithm of a physical centroid, and specifically comprises the following steps: the sum and difference processing circuit works by utilizing an adder B, an adder E and a subtracter A to obtain a deviation signal voltage V in the pitching directionel＝(Va+Vb)-(Vc+Vd) While obtaining V-V using adder Aa+Vb+Vc+VdThe quadrants of the four-quadrant photoelectric detection are quadrant A, quadrant B, quadrant C and quadrant D, wherein V isaVoltage signal, V, corresponding to quadrant AbFor voltage signals corresponding to quadrant B, VcFor voltage signals corresponding to quadrant C, VdA voltage signal corresponding to quadrant D; the division operation is realized by adopting a four-quadrant division circuit consisting of linear four-quadrant multipliers, and voltage signals output by the adder A are used as dividers A (a divider is used for acquiring in the pitching direction and the yawing direction respectivelyPosition coordinates of the center of the light spot, only the pitch direction is used when only the pitch direction is calculated), and the other input end is used for outputting a pitch deviation signal voltage V by a sum-difference operation circuitelProviding, from which the signal voltage V of the final pitch direction output is calculatedoyNamely:
the offset y in the pitch direction and the voltage signal VoyIn proportion, namely:
y＝k·Voy
where k is the scaling factor. Assuming that f' is the equivalent focal length of the optical lens assembly, the pitch offset angle α can be found from the position coordinates (z, y):
the yaw offset z is used in calculating the yaw offset angle, which is the same as the above-described method for calculating the pitch offset angle, except that the offset is different.
The yaw offset angle β is:
the signal voltage V output by the sum and difference processing circuitoyThe parameters are input into an A/D sampling circuit and an MCU digital circuit, after A/D sampling, software filtering and secondary correction are carried out on the parameters, invalid out-of-tolerance parameters possibly generated by interference and noise signals which are not filtered by a front stage are eliminated, and mean value processing is carried out on the parameters obtained in one period according to the requirement of the output time of a missile control period so as to improve the precision of the signals. Judging whether the coded laser is the coded laser for irradiating the target, if so, resolving the coded laser by the known optical position and the related indexes of the detector to obtain the corresponding coordinate position of the target spot center in the four-quadrant detector, and then combining the diameter of the detector, the clear aperture of the optical lens and the equivalentThe focal length calculates the pitch offset angle and the yaw offset angle of the X-axis of the missile relative to the laser ray of the laser information field in the flying process of the missile, the calculation is carried out by an MCU digital circuit, the calculation functional block diagram is shown in figure 8, and simultaneously voltage signals corresponding to the pitch offset angle and the yaw offset angle are formed and output to a missile on-board controller for the control of the attitude and the hit precision of the missile. And the coordinate positions delta Y and delta Z of the missile relative to the center of the laser guidance information field and the calculation of the included angle between the X axis of the missile and the laser ray of the laser information field are integrated in the MCU digital circuit.
The software of the MCU digital signal processing circuit is designed with an online upgrading interface, and parameter upgrading can be carried out before missile shooting, so that the self-adaptive capacity of coding laser information with different frequencies is improved.
The working process of the angle measuring receiver is as follows:
the receiver is placed at the tail of a missile body, after a space laser coding signal generated by an aiming guidance device is received, a wide-angle optical lens converges laser in an effective target surface of a four-quadrant detector, the silicon-based four-quadrant detector converts four received optical signals into current signals, four voltage pulse signals are formed after sampling through a sampling resistor, and the voltage signals are sent to a low-pass filter and a band-pass filter after secondary amplification. Because the laser generated by the aiming guidance device is a signal after being coded, the signal can filter interference noise through a low-pass filter and a band-pass filter so as to improve the precision of a subsequent resolving circuit. On one hand, the voltage signals are sent to an addition circuit consisting of an analog operational amplifier circuit to sum four paths of signals, the summed voltage pulse signals with frequency codes are sent to an A/D conversion circuit to be converted into digital signals, then the digital signals are sent to a frequency selection and detection circuit realized by the digital circuit, duty ratios of signals with different frequencies are identified and processed under the condition of a fixed period T, and the difference of the duty ratios among different frequencies is obtained, so that position voltage signals corresponding to position deviations delta Y and delta Z of the missile relative to the center of an information field are obtained.
On the other hand, voltage signals of four different quadrants of the detector after filtering and shaping are sent to a sum and difference processing circuit consisting of an analog operational amplifier circuit, voltage signals corresponding to the relative positions of the center of a laser spot imaged on a target surface of the detector and the center of the target surface of the detector are obtained through resolving by the sum and difference processing circuit, the signals are collected through an A/D circuit, a digital signal processor consisting of an MCU carries out software filtering and parameter correction again, and then the included angle between the X axis of the missile and the laser ray of the guided laser information field is obtained through calculating by combining the parameters such as the size of the target surface of the detector, the focal length of an optical lens and the caliber. And the position information and the included angle information are solved simultaneously.
And after the signals of the delta Y and the delta Z, the pitch offset angle and the yaw offset angle are acquired by the digital processing circuit, the signals are processed according to the cycle requirement and the coding requirement of the missile-borne control system and are sent to the missile control system for use. The software filter and the algorithm of the digital processing circuit can realize the self-adaption of laser codes in a wider frequency range in an online upgrading mode, and the universality and the application range of the system are improved.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A laser beam-steering guidance angle measurement receiver is arranged at the tail of a missile body, the axial direction of the missile body is X direction, the pitching direction of the missile body is Y direction, and the yawing direction is Z direction; the method is characterized in that: the method comprises the following steps: the photoelectric detector comprises an optical lens assembly, a four-quadrant photoelectric detector, a signal conversion and amplification circuit, a filter circuit and an analog/digital mixed resolving circuit;
the optical lens assembly is used for receiving coded laser emitted by the ground guidance instrument and converging the coded laser on the target surface of the four-quadrant photoelectric detector;
the four-quadrant photoelectric detector is arranged behind the optical lens assembly; the four-quadrant photoelectric detector is provided with an optical sensitive surface in each of four quadrants, and the four optical sensitive surfaces are mutually independent; a lead is led out of each optical sensitive surface to serve as an electrode and serve as a signal output end corresponding to the optical sensitive surface; laser beams are imaged on a four-quadrant photoelectric detector through the optical lens assembly, and when the center of an imaging light spot is positioned at the center of a target surface of the four-quadrant photoelectric detector, the amplitudes of electric signals output by the four optically sensitive surfaces are the same; when the center of the imaging light spot deviates from the center of the target surface, the amplitudes of the electric signals output by the four optical sensitive surfaces are different, and the amplitudes of the output electric signals are in direct proportion to the area of the light spot on the corresponding quadrant;
the signal conversion and amplification circuit is used for amplifying four paths of electric signals output by the four-quadrant photoelectric detector, then sending the four paths of electric signals to the filter circuit for filtering, and sending the filtered electric signals to the analog/digital hybrid resolving circuit;
the analog/digital hybrid solution circuit includes: a coordinate position calculating circuit and an attitude angle calculating circuit; the coordinate position resolving circuit is used for resolving coordinate positions delta Y and delta Z of the guided missile relative to the center of the laser guidance information field in real time;
the attitude angle resolving circuit resolves position parameters of the center of a laser spot imaged on a target surface of the four-quadrant photoelectric detector after being converged by the optical lens assembly relative to the center of the target surface of the detector in real time, namely position coordinates (z, y) of the spot center on the target surface of the detector; and then calculating the pitch offset angle and the yaw offset angle of the missile axis relative to the laser ray of the laser guidance information field by using the position coordinate.
2. The laser beam steering goniometer receiver of claim 1, wherein: the optical lens assembly includes: the laser beam splitter comprises a lens A (1), a lens B (2), an optical filter (3), a lens C (4) and a lens D (5) which are coaxially arranged in sequence, wherein the surface of the lens A (1) facing incident laser is a plane, and the surface facing the lens B (2) is a concave surface; the surface of the lens B (2) facing the lens A (1) is a plane, and the surface facing the optical filter (3) is a convex surface; the surface of the lens C (4) facing the optical filter (3) is a plane, and the surface facing the lens D (5) is a convex surface; the surface of the lens D (5) facing the lens C (4) is a convex surface, and the other surface is a plane.
3. The laser beam steering goniometer receiver of claim 1, wherein: the signal conversion and amplification circuit includes: four paths of I-V conversion circuits which are correspondingly connected with the signal output ends of four optical sensitive surfaces of the four quadrant photoelectric detectors one by one and signal amplification circuits which are correspondingly connected with the four I-V conversion circuits one by one; the I-V conversion circuit is used for converting a current signal obtained by sensing of the optical sensitive surface connected with the I-V conversion circuit into a voltage signal.
4. The laser beam steering goniometer receiver of claim 3, wherein: the signal amplification circuit adopts a two-stage amplification mode, wherein the first stage is a fixed gain operational amplifier circuit, and the second stage is a gain self-adjusting operational amplifier circuit.
5. The laser beam steering goniometer receiver of claim 1, wherein: the coordinate position calculating circuit includes: adder A, A/D converting circuit and coordinate calculation control circuit that link to each other in proper order, coordinate calculation control circuit includes: the frequency gating circuit comprises more than two frequency gating amplifying circuits, comparators connected with the frequency gating amplifying circuits in a one-to-one correspondence manner, shaping circuits connected with the comparators in a one-to-one correspondence manner and low-pass filter banks; four paths of current signals output by the four-quadrant photoelectric detector enter an adder A for addition calculation after being respectively subjected to I-V conversion circuit, signal amplification and filtering processing, are converted into digital signals through an A/D conversion circuit after being subjected to addition calculation, are input into more than two paths of gating filters with different central frequencies to respectively detect signals with different frequencies forming a laser information field, are input into each path of comparator after being amplified to obtain square waves with constant amplitude and constant frequency, and output unidirectional pulse signals with amplitude in direct proportion to the signal duty ratio through corresponding shaping circuits and are sent to a low-pass filter bank, pulse signals with different duty ratios are spread into direct current signals with slow change by a low-pass filter in the low-pass filter bank, and the amplitude of the direct current signals is changed along with the duration time of the input signals with different frequencies, thereby forming voltage signals Uy and Uz corresponding to the coordinate positions delta Y and delta Z of the missile relative to the center of the laser guidance information field; then, according to Uy, Uz and Kz, calculating coordinate positions delta Y and delta Z of the missile relative to the center of the laser guidance information field; ky and Kz are pitch deviation command coefficient and yaw deviation command coefficient, respectively.
6. The laser beam steering goniometer receiver of claim 5, wherein: the attitude angle resolving circuit includes: the device comprises a sum-difference processing circuit, two A/D conversion circuits and an included angle resolving control unit; the sum and difference processing circuit is used for calculating the position coordinates (z, y) of the light spot center on the target surface of the detector, and comprises five adders, two subtractors and two dividers, wherein the five adders are respectively an adder B, an adder C, an adder D, an adder E and an adder A shared by the coordinate position calculating circuit; the input signals of the adder B, the adder C, the adder D and the adder E are respectively the pairwise combination of four paths of current signals; the output ends of the adder B and the adder E are respectively connected with the input end of the subtracter A, and the output end of the subtracter A is connected with the input end of the divider A; the output ends of the adder C and the adder D are respectively connected with the input end of a subtracter B, and the output end of the subtracter B is connected with the input end of a divider B; the output end of the adder A is respectively connected with the input ends of the divider A and the divider B; the output end of the divider A is connected with the included angle calculation control unit through an A/D conversion circuit, and the output end of the divider B is connected with the included angle calculation control unit through another A/D conversion circuit;
the included angle calculation control unit calculates a pitching offset angle and a yawing offset angle according to (z, y) calculated by the sum and difference processing circuit;
the pitch offset angle α is:
the yaw offset angle β is:
wherein: the position coordinates of the light spot center on the target surface of the detector are (z, y), and f' is the equivalent focal length of the optical lens assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910107465.XA CN109780946B (en) | 2019-02-02 | 2019-02-02 | Laser beam-steering guidance angle measurement receiver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910107465.XA CN109780946B (en) | 2019-02-02 | 2019-02-02 | Laser beam-steering guidance angle measurement receiver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109780946A CN109780946A (en) | 2019-05-21 |
| CN109780946B true CN109780946B (en) | 2020-12-29 |
Family
ID=66504278
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910107465.XA Active CN109780946B (en) | 2019-02-02 | 2019-02-02 | Laser beam-steering guidance angle measurement receiver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109780946B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2791420C1 (en) * | 2022-03-18 | 2023-03-07 | Акционерное общество "Концерн "Калашников" | Method for optoelectronic guidance and remote detonation of a guided missile and an integrated system for its implementation |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110429923B (en) * | 2019-07-30 | 2023-01-13 | 天津讯联科技有限公司 | Laser receiving signal digital processing method |
| CN111692918A (en) * | 2019-08-09 | 2020-09-22 | 刘翔 | Underwater guidance method |
| CN112383350A (en) * | 2020-08-14 | 2021-02-19 | 长春理工大学 | Space laser communication system between launch vehicle and guided missile |
| RU2770951C1 (en) * | 2021-07-19 | 2022-04-25 | Акционерное общество "Концерн "Калашников" | Method for optoelectronic guidance and remote detonation of a guided projectile and a combined system for its implementation |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5427328A (en) * | 1985-02-12 | 1995-06-27 | Northrop Grumman Corporation | Laser beam rider guidance utilizing beam quadrature detection |
| US7714989B1 (en) * | 2007-11-28 | 2010-05-11 | The United States Of America As Represented By The Secretary Of The Navy | Micropulse laser guidance |
| CN102012192B (en) * | 2010-09-15 | 2013-09-25 | 北京理工大学 | Method for determining laser beam rider guidance information field initial fixed focus parameters |
| CN111183737B (en) * | 2012-11-08 | 2015-03-04 | 西安电子工程研究所 | Method for measuring non-fuzzy roll angle of projectile |
| CN204806976U (en) * | 2015-07-03 | 2015-11-25 | 中国人民解放军63966部队 | Guided weapon laser information field parameter testing device is restrainted to frame |
| CN107179021B (en) * | 2017-06-14 | 2018-08-28 | 北京理工大学 | More bullets cooperate with zero-miss guidance control methods under a kind of beam rider guidance system |
-
2019
- 2019-02-02 CN CN201910107465.XA patent/CN109780946B/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2791420C1 (en) * | 2022-03-18 | 2023-03-07 | Акционерное общество "Концерн "Калашников" | Method for optoelectronic guidance and remote detonation of a guided missile and an integrated system for its implementation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109780946A (en) | 2019-05-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109780946B (en) | Laser beam-steering guidance angle measurement receiver | |
| US8451432B2 (en) | Laser spot tracking with off-axis angle detection | |
| US7773202B2 (en) | Laser spot tracker and target identifier | |
| CN110579874B (en) | Compact structure's self-adaptation laser defense system | |
| CN104267406A (en) | Diffuse reflection laser ranging and high resolution imaging synchronous measurement photoelectric telescope system | |
| CN101651496A (en) | Beacon optical axis precision positioning system in atmosphere laser communication system | |
| CN110864587B (en) | Seeker aiming positioning method and aiming positioning system | |
| US6851645B1 (en) | Non-coherent fresnel direction finding method and apparatus | |
| CN109579639A (en) | Semi-active LASER target seeker | |
| CN113726428A (en) | Large-view-field light and small-size laser communication optical transmitter and receiver suitable for light platform | |
| CN110579875B (en) | Laser defense system and method based on Hartmann focusing | |
| CN111765809A (en) | Cooperative target laser induced polarization parameter measurement system and method | |
| CN108955904B (en) | Multifunctional wavefront detection device considering point-surface target | |
| RU127889U1 (en) | PASSIVE DOUBLE SPECTRAL Homing head for anti-aircraft guided missiles | |
| Pu et al. | Design and analysis of optical system of semi-active laser seeker | |
| EP2985623B1 (en) | System and method for array lateral effect position sensing detector | |
| CN108662979B (en) | Four-quadrant detector | |
| US4021007A (en) | Pitch-yaw stabilization system | |
| CN211878185U (en) | Remote follow-up laser seeker | |
| CN110579138B (en) | Antiaircraft gun firing practice target reporting method, system and device | |
| CN111664329B (en) | Integrated photoelectric turret | |
| Adel et al. | Design and implementation of a promising optical subsystem with a sky camera for laser warning systems | |
| Li et al. | Design and detection calculation model of laser photoelectric detection target with array lens and high-power line laser | |
| CN111521075A (en) | High-precision remote-measuring-range laser spot tracker | |
| CN107102337B (en) | Visual field compensation measuring method of follow-up laser semi-active azimuth measuring device |
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 |