CN201259544Y - Millimeter-wave random code PM AM anti-collision radar for ship - Google Patents
Millimeter-wave random code PM AM anti-collision radar for ship Download PDFInfo
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- CN201259544Y CN201259544Y CNU2008201630836U CN200820163083U CN201259544Y CN 201259544 Y CN201259544 Y CN 201259544Y CN U2008201630836 U CNU2008201630836 U CN U2008201630836U CN 200820163083 U CN200820163083 U CN 200820163083U CN 201259544 Y CN201259544 Y CN 201259544Y
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Abstract
The utility model relates to radio positioning technical field, in particular to a millimeter wave random code phase-modulation amplitude-modulation ship anti-collision radar, which is provided with a quasi-optical medium lens antenna annular array; DSP scan-round beam is adopted to warn targets which probably cause collision omni-directionally on the water surface; a broadband noise source accesses to two random code generators; the random code generator A code element is used for phase modulation distance measurement/speed measurement; the random code generator B code element is used for amplitude modulation, receiving/transmitting conversion and back edge detection; double random code RF is transmitted through up-conversion, R/T<3>, frequency doubling and a power amplifier, R/T<2>, an isolator and an antenna; and the echo wave is transmitted to a DSP and a MCU to be processed and controlled through the antenna array, a beam switch, the isolator, R/T<1>, a high frequency amplifier, down-conversion, an intermediate frequency amplifier, a random array asynchronous strobing gate, a digital intermediate frequency quadrature detector I/Q and a digital pulse pressure correlator; a plurality of adjacent ships can sail independently without interference due to the ship anti-collision radar; the ship anti-collision radar has high electromagnetic compatibility (EMC); the DSP restrains false alarms and determines the azimuth, distance and relative speed of the target; a CRT is used for displaying three-dimensional images, and identifying the target closest to the local ship; when distance between the local ship and the closest target is less than the safety distance, sound and light alarm is started up; the intelligent obstacle avoidance and speed reduction are carried out when closing to danger distance, so the navigation safety is greatly improved.
Description
Technical field
The utility model relates to radio wave transmission and the technical field that receives detection of a target orientation, distance and speed, specifically is a kind of millimeter-wave random code phase-modulation and amplitude-modulation shipborne collision-proof radar.
Background technology
Current, ocean shipping and landlocked rivers and lakes shipping, fishery develop rapidly, ship increases in a large number, and harbour, navigation channel are more and more crowded, and ship overload, hypervelocity are often arranged, its inertial force impacted and starts big wave when especially two ships or many ships crossed, influence the course, be difficult for correct the manipulation, cause ship to collide mutually or clash into bridge pier, shipwreck when serious, even bridge subsides.Accidents caused probability is bigger when inclement weathers such as chance storm.Therefore, ocean shipping, fish production, rivers and lakes shipping are used radar collision and are ensured that navigation safety is developing rapidly, press for the collision avoidance radar of advanced technology, perfect in shape and function.Analyze FM-CW Continuous Wave with frequency modulation collision avoidance radar from technical elements and be confined to detect simple target, modulation signal only indicates to have fuzzy distance and the speed measured simultaneously to all targets in the viewing area as detecting with the periodic signal of single-frequency.The mutual intermodulation of adjacent a plurality of target echo, crosstalk feasible be difficult to differentiate its detection data, influence judgement.Pulse PD radar emission pulsewidth, block the reception of echoed signal, it is crashproof that existence can not up-close inspection apart from the blind area, lack and to collide target detection and tracking power a plurality of, the waters that ship is intensive is used the anti-mutual interference problem of collision avoidance radar and certainly will be solved, though the random signal continuous wave radar has very high antijamming capability, be expected to high performance environments electromagnetic compatibility EMC, but because of continuous wave radar antenna emitted energy radiation leakage blocks, influence the detection of echoes received signal, especially the Weak target signal is difficult to detect.Collision-warning radar operating distance is nearer, requires the residing water surface of hull to have the crashproof function of comprehensive safe navigation.In addition, the simple displaying device is difficult to differentiate to adjacent target, can not show a plurality of target panoramic pictures, relative position, apart from distance and the early warning of translational speed shortcoming.Existing collision avoidance radar lacks the function that constitutes closed-loop control with sensor signal, lacks the control of water environment antenna self-adaptive, the Based Intelligent Control that lacks automatic obstacle-avoiding, slows down and stop ship, and poor visibility or navigation run into dangerous situation and can not in time help the driver to separate danger to avoid accident.
Summary of the invention
The purpose of this utility model provides in same waters adjacent many ships navigation operation of not disturbing mutually, coexist, may the bump millimeter-wave random code phase-modulation and amplitude-modulation shipborne collision-proof radar of target of comprehensive detection waters of living in.
Technical solutions of the utility model are provided with: circulator, in put, memory RAM, digital signal processor DSP, double port memory RAM, microcontroller MCU, interface I/O, water surface image sensor, this ship's speed sensor, satnav sensor GPS, audible-visual annunciator, image display CRT, yaw rudder controller, speed reduction unit, igniting/extinguish controller, keyboard, also be provided with receipts/send out dual-purpose quasi-optical integrated dielectric lens antenna array, beam switch, frequency synthesizer, receipts/send out switch T/R
1, T/R
2, T/R
3Wideband noise generator, random code generator A, phase converter, frequency multiplication and power amplifier, random code generator B, amplitude modulator, the low noise sound pitch is put, sub-harmonic mixer, the asynchronous storbing gate of random series, the digital intermediate frequency quadrature detector, the digital pulse compression correlator, antenna is installed in ship top high level, be set as the horizontal annular battle array or become ring array around mast, dsp code pulse distribution sequence inserts beam switch, CRT, the target that the water surface may collide is surveyed in comprehensive scan round, the frequency synthesizer programmable frequency divider presets end, digital controlled oscillator numerical control end, digital pulse compression correlator vairable delay line numerical control end joins through interface I/O and MCU respectively, frequency synthesizer output f
C3Access DSP is a clock signal, and the wideband noise generator noise spectrum inserts random code generator A, random code generator B, frequency synthesizer output f
C1Inserting random code generator A is sampled clock signal, f
C2Inserting random code generator B is sampled clock signal, generate separate two random codes, random code generator A output inserts phase converter, digital pulse compression correlator, and random code generator B output random series inserts amplitude modulator, and random series high level logic " 1 " inserts T/R
2, T/R
3, low-level logic " 0 " inserts T/R
1, the asynchronous storbing gate of random series, receive/send out switch T/R
2, T/R
3Be connected on the I/O end of frequency multiplication and power amplifier respectively, amplitude modulator is serially connected in frequency multiplication and power amplifier dc power supply terminal, T/R
1Be connected on circulator and export the low noise sound pitch to and put between the input, put during the asynchronous storbing gate of random series is connected on and export between the input of digital intermediate frequency quadrature detector frequency synthesizer output f to
NInsert phase converter and be carrier frequency half or 1/4th frequencies, the phase modulation radio frequency is radar carrier frequency f through frequency multiplication and power amplifier two or quadruple, power amplifier
0Be connected to T/R
2, circulator feed antenna array emission, frequency synthesizer output f
NInserting sub-harmonic mixer is two or four inherent frequency multiplication local oscillation signal f
L, frequency synthesizer output f
iInserting the digital intermediate frequency quadrature detector is the coherent reference signal, f
C7Be digital intermediate frequency quadrature detector modulus converter A/D sampled clock signal, f
C8Be digital intermediate frequency quadrature detector wave digital lowpass filter LPF clock signal, f
C9Be digital intermediate frequency quadrature detector withdrawal device clock signal, the echo radio frequency is through aerial array, beam switch, circulator, T/R
1The low noise sound pitch is put, sub-harmonic mixer, in put, choose again through digital intermediate frequency quadrature detector demodulation access digital pulse compression correlator in the asynchronous storbing gate of random series, relevant output data inserts the DSP data bus after depositing memory RAM in, DSP and MCU data bus, address bus, control line is through double port memory RAM tandem and arbitrating signals is provided, the MCU I/O connects water surface image sensor through interface I/O, this ship's speed sensor, satnav sensor GPS, audible-visual annunciator, CRT, the yaw rudder controller, speed reduction unit, the controller of lighting a fire/extinguish, keyboard, the grouping time multiplexing date is reset in the dsp software design sheet, moving-target shows MTI, Fast Fourier Transform (FFT) FFT, distance side lobe suppresses, CFAR is handled CFAR, the programming of MCU system software comprises master routine and data acquisition, data processing, the object control subprogram, in put and detect AGC (automatic gain control) voltage through filtering, amplifying access low noise sound pitch puts, in put automatic gain AGC control end, frequency synthesizer, wideband noise generator, random code generator A, random code generator B, beam switch, circulator, receive/send out switch T/R
1, T/R
2, T/R
3, phase converter, amplitude modulator, frequency multiplication and power amplifier, low noise sound pitch are put, sub-harmonic mixer, in put integrated, the shielding;
Wherein, frequency synthesizer is by constant-temperature crystal oscillator, the crystal oscillator frequency divider, the high order frequency amplifier chain, frequency mixer, bandpass filter, amplifier, voltage controlled oscillator VCO, phase detector, loop filter, loop divider, inject the harmonic wave frequency divider, digital controlled oscillator NCO forms, VCO is by gallium arsenide High Electron Mobility Transistor GaAsHEMT device, the dielectric resonator feedback oscillation, varactor is voltage-controlled tuning, loop divider is by prescalar and programmable frequency divider combination, constant-temperature crystal oscillator output first via signal inserts frequency mixer through high order frequency amplifier chain and VCO output signal, mixing is after bandpass filter, amplifier, insert phase detector through loop divider again, the second road signal inserts phase detector through the crystal oscillator frequency divider, phase demodulation output is synthetic through the voltage-controlled VCO frequency of phase locking of loop filter, and VCO exports f
NBe radar phase converter carrier frequency half or 1/4th frequencies, f
NObtain sub-harmonic mixer two or four inherent frequency multiplication local oscillator f through directional coupler
L, programmable frequency divider output f
C1Be random code generator A sampled clock signal, f
C2Be random code generator B sampled clock signal, f
C3Be DSP clock signal, f
C4Be MCU clock signal, f
C5Be digital pulse compression correlator clock signal, f
C6Be echo data memory RAM clock signal, f
C7Be digital intermediate frequency quadrature detector modulus converter A/D sampled clock signal, f
C8Be wave digital lowpass filter LPF clock signal, f
C9Be the withdrawal device clock signal, Third Road connects and injects the digital controlled oscillator NCO that the harmonic wave frequency divider forms to DDS phase place stepping register, N position phase accumulator, ROM sine lookup table storer, output f
Icos ω ot
n, f
I-sin ω ot
nBe digital intermediate frequency quadrature detector coherent reference signal, programmable frequency divider presets end, digital controlled oscillator NCO numerical control end and inserts MCU through interface I/O respectively;
Receive/send out the quasi-optical integrated dielectric lens antenna array dual-purpose, antenna integrated by the little band quadripole of dielectric substrate oscillator, di-lens, the array pedestal, protective cover constitutes, di-lens is that an end face is a hemisphere, the other end is the right cylinder cross section, the antenna integrated cylindrical cross-section that closely is placed on di-lens of the little band quadripole of dielectric substrate oscillator is a feed, di-lens hemisphere end face is the aerial radiation face, rise the position at ship and be set as the horizontal annular array or around the mast circle ring array, dsp code pulse train inserts the switched-beam switch, raster-scanned image display CRT coordinate converter;
Beam switch be receive antenna feeder integrated PIN diode or GaAs field effect transistor GaAsFET string, also, the single-pole single-throw switch (SPST) SPST that connects of polyphone, the control antenna array is combined into single pole multiple throw by a plurality of SPST, the control bias voltage is inserted through low-pass network by digital signal processor DSP coded pulse assigned sequence, receives/send out switch T/R
1, T/R
2, T/R
3Form string, also by PIN diode or GaAs field effect transistor GaAsFET, string array type single single-pole single-throw spst switch, T/R
1Being connected on circulator exports the low noise sound pitch to and puts between the input T/R
2, T/R
3Be connected on the I/O end of frequency multiplication and power amplifier respectively, the control bias voltage inserts T/R by random code generator B output random series high level logic " 1 " through low-pass network
2, T/R
3, low-level logic " 0 " inserts T/R through low-pass network
1, the asynchronous storbing gate of random series;
Random code generator A, random code generator B is by same broadband noise source, the output of microwave broadband amplifier, random code generator A is by SAW sound watchband bandpass filter, high speed or hypervelocity voltage comparator, high speed or hypervelocity sampling holder, active integrator, high-speed flip-flop is formed, random code generator B is by SAW sound watchband bandpass filter, voltage comparator, sampling holder, active integrator, trigger flip-flop is formed, the broadband noise source is by establishing a P or N diffusion restrictor ring on the PN junction diode chip for backlight unit, series connection temperature compensation diode, the constant current reverse bias is an avalanche condition, place coaxial cavity or waveguide cavity to insert random code generator A through microwave broadband amplifier and the output of Broadband Matching transition network, random code generator B, frequency synthesizer output f
C1Inserting random code generator A is sampled clock signal, f
C2Inserting random code generator B is sampled clock signal, random code generator A is by SAW sound watchband bandpass filter, high speed or hypervelocity voltage comparator are to high speed or hypervelocity sampling holder, taking back high speed voltage comparator through the active integrator feedback is comparison threshold, again through high-speed flip-flop, low-pass network inserts phase converter, digital pulse compression correlator vairable delay line, random code generator B is by SAW sound watchband bandpass filter, voltage comparator is to sampling holder, taking back voltage comparator through the active integrator feedback is comparison threshold, again through trigger flip-flop, low-pass network inserts amplitude modulator, and its high level logic " 1 " inserts and receives/a switch T/R
2, T/R
3, low-level logic " 0 " inserts and receives/a switch T/R
1, the asynchronous storbing gate of random series;
Phase converter by substrate not undoped gallium arsenide GaAs form on the substrate of interface with the aluminium base gallium arsenide AlGaAs that do not mix, integrated two groups of high electron mobility transistor (HEMT) devices are to pipe, four 3dBLange directional couplers and six resistance constitute the reflective electric bridge modulator of two-way, two groups of HEMT go here and there a resistance respectively to tube grid and insert modulation signal, source ground, two 3dBLange directional couplers are connected on two groups of HEMT devices respectively to the pipe drain electrode, cross-couplings is to all the other two 3dBLange directional couplers, matched load resistance, but the reciprocity of phase converter input/output end port, frequency synthesizer VCO exports f
NFor radar carrier frequency half or 1/4th frequencies connect phase converter, random code generator A output inserts two-way modulator HEMT to the complementary control of tube grid through low-pass network, generates 0, π scale-of-two BPSK phase-modulated signal;
Frequency multiplication and power amplifier doubler are that substrate gallium arsenide high electron mobility InPGaAsHEMT transistor gate connects λ/4 impedance conversion microstrip line and biasing circuits by indium phosphide, source electrode is connected in parallel on the ground connection capacitance-resistance, drain electrode microstrip line inhibition first-harmonic and third harmonic are tuned at secondary or four harmonics are radar carrier frequency f
0, the power amplifier level inserts little band impedance conversion and the biasing of C class by the InPGaAsHEMT device grids, source ground, and the drain electrode microstrip line is tuned at f
0, and and Antenna Impedance Matching, frequency multiplication is connected in series amplitude modulator with the power amplifier dc power supply terminal through low-pass network;
It is that substrate gallium arsenide High Electron Mobility Transistor InPGaAsHEMT, microstrip network constitute that the low noise sound pitch is put by a double grid indium phosphide, first grid connects antenna echo carrier frequency matching network, second grid is an AGC automatic gain control end, put AGC in connecing and detect voltage, source electrode capacitance-resistance ground connection, the drain electrode output matching network inserts sub-harmonic mixer SHP, and two schottky diodes oppositely are attempted by local oscillation signal f
LMatching network and echo CF signal f
0Between the matching network, local oscillation signal f
LBy frequency synthesizer output f
NConnect through directional coupler, medium-frequency IF through bandpass network at local oscillation signal f
LOne side-draw of matching network goes out;
The digital intermediate frequency quadrature detector is made up of modulus converter A/D, homophase I, quadrature Q two-way digital multiplier, wave digital lowpass filter LPF, withdrawal device, frequency synthesizer output f
C7Be A/D sampled clock signal, f
C8Be LPF clock signal, f
C9Be the withdrawal device clock signal, in put bandpass filter and choose through the asynchronous storbing gate of random series and insert A/D, its output meets an end of I, the input of Q branch road two-way digital multiplier, frequency synthesizer digital controlled oscillator NCO output signal f respectively
Icos ω ot
n, f
I-sin ω ot
nCorresponding connection I, another input end of Q branch road two-way multiplier, I, Q two-way digital multiplier output series connection wave digital lowpass filter LPF, withdrawal device insert the digital pulse compression correlator, the digital pulse compression correlator is made up of I, Q branch road shift register, lag line, related operation array, summation summitor, lag line is formed vairable delay line by tap shift register and on-off circuit, the on-off circuit control end inserts microcontroller MCU through interface I/O, frequency synthesizer output f
C5Access delay line shift register, I, Q branch road shift register are clock signal, random code generator A output inserts digital pulse compression correlator vairable delay line and produces the time-delay sign indicating number, the digital intermediate frequency quadrature detector through the withdrawal device output signal in I, Q branch road shift register ring shift, with the corresponding access related operation array of vairable delay line time-delay sign indicating number to the summitor of suing for peace, relevant output data deposits incoming digital signal processor DSP data bus after the memory RAM in.
Technical solution of the present invention is produced the random code generator of two separate code elements by a broadband noise source, random code generator A phase modulation is found range/is tested the speed, the secondary modulation of random code generator B amplitude keying phase modulation carrier frequency, switch, T/R during high level logic " 1 " forward position are received/send out in the asynchronous control of random series
2, T/R
3Connect the emission of frequency multiplication and power amplifier level, T/R
1Turn-off to receive, the back along the time enter low-level logic " 0 " T/R
2, T/R
3Turn-off frequency multiplication and power amplifier, T/R
1Connect reception, the asynchronous storbing gate of random series is chosen target; Phase modulation/amplitude modulation dual random coding asynchronous detection, greatly strengthen the randomness that constantly changes, adjacent many ship relative directions navigation in same waters, the irradiation mutually that transmits is scanned, although undesired signal must enter the other side's receiving cable, its random signal is that the time course of stochastic variable changes already, do not rise target echo relevant treatment interference effect, do not disturb the coexistence operation mutually, it is normally crashproof not influence the other side's radar, have the compatible EMC of very strong anti-interference environment electromagnetics, the blind area that pulsewidth is blocked is avoided launching along detecting in the back, and the inhibition emitted energy leaks and improves receiving sensitivity; The little gain of quasi-optical integrated dielectric lens antenna array transmission millimeter wave loss is high, strong, the dustproof corrosion protection of the firm anti-vibration of mechanical property, and cost is low; The reflective electric bridge phase converter phase width of cloth error that parasitic parameter causes of cancelling out each other, the precision height; The digital intermediate frequency quadrature detector is finished the relevant sampling of intermediate frequency with an A/D, and its digital controlled oscillator NCO exports f
iThe coherent reference signal guarantees 90 ° of phase differential; A plurality of high frequency stabilization reference frequencies of frequency synthesis and clock signal, ensure that the radar carrier frequency is received/sent out, the arteries and veins bit synchronization, carrier frequency is got 1/2nd or 1/4th frequencies, the inherent frequency multiplication combination of its harmonics and subharmonic mixing local oscillator, and small number of devices obtains the high-end carrier frequency ranging and range rate of millimeter wave high resolution; DSP suppresses the target of false-alarm identification and this ship minimum distance, do not have ship when the place ahead and establish the speed navigation by the driver, radar is surveyed its signal when ship occurring, track to nearest ship, controlling this ship's speed keeps a safe distance, depart from the safe distance sound and light alarm, approach risk distance MCU command direction rudder controller automatic obstacle-avoiding or start the speed reduction unit Based Intelligent Control.Dangerous situation as head-on collision, its time is two ship's speed degree sums, safe distance sharply shortens, require driving quality, experience higher, correspondingly intelligent anticollision radar self-adaption control system response speed is the ms level, reflects fasterly than the mankind, and people control is irreplaceable under no mechanical fault condition, play the barrier avoiding function that poor visibility navigation driver is difficult for seeing clearly, greatly improve crashworthiness.
Description of drawings
Fig. 1 the utility model Radar Technology scheme schematic diagram
Fig. 2 radar receipts/signalling sequential chart
Fig. 3 frequency synthesizer
The two random biphase code generators of Fig. 4
Fig. 5 phase modulation/modulation circuit
Fig. 6 echoed signal is extracted circuit
Specific implementation method
With reference to Fig. 1, the utility model specific implementation method and embodiment are provided with: circulator 3, in put 6, memory RAM 19, digital signal processor DSP 20, double port memory RAM21, microcontroller MCU22, interface I/O24, water surface image sensor 16, this ship's speed sensor 17, satnav sensor GPS23, audible-visual annunciator 26, image display CRT30, yaw rudder controller 27, speed reduction unit 28, the controller 29 of lighting a fire/extinguish, keyboard 25 also is provided with receipts/send out dual-purpose quasi-optical integrated dielectric lens antenna array 1, beam switch 2, frequency synthesizer 9, receive/send out switch T/R
1, T/R
2, T/R
3 Wideband noise generator 13, random code generator A14, phase converter 11, frequency multiplication and power amplifier 10, random code generator B15, amplitude modulator 12, the low noise sound pitch puts 4, sub-harmonic mixer 5, the asynchronous storbing gate 7 of random series, digital intermediate frequency quadrature detector 8, digital pulse compression correlator 18, aerial array 1 is installed in ship top high level, be set as the horizontal annular battle array or become ring array around mast, DSP20 coded pulse assigned sequence inserts beam switch 2, CRT30, the target that the water surface may collide is surveyed in comprehensive scan round, frequency synthesizer 9 programmable frequency dividers preset end, digital controlled oscillator numerical control end, digital pulse compression correlator 18 vairable delay line numerical control ends join through interface I/O24 and MCU22 respectively, frequency synthesizer 9 output f
C3Access DSP20 is a clock signal, and wideband noise generator 13 noise spectrums insert random code generator A14, random code generator B15, frequency synthesizer 9 output f
C1Inserting random code generator A14 is sampled clock signal, f
C2Inserting random code generator B15 is sampled clock signal, generate separate two random codes, random code generator A14 output inserts phase converter 11, digital pulse compression correlator 18, and random code generator B15 output random series inserts amplitude modulator 12, and random series high level logic " 1 " inserts T/R
2, T/R
3, low-level logic " 0 " inserts T/R
1, the asynchronous storbing gate 7 of random series, receive/send out switch T/R
2, T/R
3Be connected on the I/O end of frequency multiplication and power amplifier 10 respectively, amplitude modulator 12 is serially connected in frequency multiplication and power amplifier 10 dc power supply terminals, T/R
1Be connected on circulator 3 and export the low noise sound pitch to and put between 4 inputs, put 6 during the asynchronous storbing gate 7 of random series is connected on and export between digital intermediate frequency quadrature detector 8 input, frequency synthesizer 9 output f
N Insert phase converter 11 and be carrier frequency half or 1/4th frequencies, the phase modulation radio frequency is radar carrier frequency f through frequency multiplication and power amplifier 10 2 or quadruple, power amplifier
0Be connected to T/R
2, the emission of circulator 3 feed antenna arrays 1, frequency synthesizer 9 output f
NInserting sub-harmonic mixer 5 is two or four inherent frequency multiplication local oscillation signal f
L, frequency synthesizer 9 output f
iInserting digital intermediate frequency quadrature detector 8 is the coherent reference signal, f
C7Be digital intermediate frequency quadrature detector 8 modulus converter A/D sampled clock signals, f
C8Be digital intermediate frequency quadrature detector 8 wave digital lowpass filter LPF clock signals, f
C9Be digital intermediate frequency quadrature detector 8 withdrawal device clock signals, the echo radio frequency is through aerial array 1, beam switch 2, circulator 3, T/R
1The low noise sound pitch puts 4, sub-harmonic mixer 5, in put 6, choose again through digital intermediate frequency quadrature detector 8 demodulation access digital pulse compression correlator 18 in the asynchronous storbing gate 7 of random series, relevant output data deposits memory RAM 19 backs in and inserts the DSP20 data bus, DSP20 and MCU22 data bus, address bus, control line is through double port memory RAM21 tandem and arbitrating signals is provided, the MCU22 I/O connects water surface image sensor 16 through interface I/O24, this ship's speed sensor 17, satnav sensor GPS23, audible-visual annunciator 26, CRT30, yaw rudder controller 27, speed reduction unit 28, the controller 29 of lighting a fire/extinguish, keyboard 25, the grouping time multiplexing date is reset in the DSP20 software design sheet, moving-target shows MTI, Fast Fourier Transform (FFT) FFT, distance side lobe suppresses, CFAR is handled CFAR, the programming of MCU22 system software comprises master routine and data acquisition, data processing, the object control subprogram, in put 6 and detect AGC (automatic gain control) voltage through filtering, amplify access low noise sound pitch and put 4, in put 6 automatic gain AGC control ends, frequency synthesizer 9, wideband noise generator 13, random code generator A14, random code generator B15, beam switch 2, circulator 3, receive/send out switch T/R
1, T/R
2, T/R
3, phase converter 11, amplitude modulator 12, frequency multiplication and power amplifier 9, low noise sound pitch put 4, sub-harmonic mixer 5, in put 6 integrated, shielding.
Receive/send out the quasi-optical integrated dielectric lens antenna array dual-purpose, rise the position at ship and be set as the horizontal annular array or around the mast circle ring array, by the comprehensive scan round one by one of dsp code pulse train control wave beam switch level emission, early warning collision target, dsp code pulse train derives the recognition objective present position at the corresponding time raster-scanned image display CRT coordinate converter of institute.Its di-lens hemisphere is a radiating surface, the short cylinder xsect closely place dielectric substrate little be with antenna integrated for feed, simulate antenna integrated infinite thick dielectric substrate and eliminate surface wave, the change cylinder length can obtain the quasi-optical Gaussian beam radiation height of suitable beam angle and distinguish force direction, establishes object lens and can further obtain suitable directivity.The quasi-optical integrated dielectric lens antenna loss is little, gain is high, receive/reciprocity is strong, because firm antivibration of di-lens mechanical property and dustproof, anti-water smoke corrode good.
Receive/send out switch T/R
1, T/R
2, T/R
3Be single-pole single-throw switch (SPST) SPST, wherein T/R
2, T/R
3Be the doubly-linked synchro switch, switching device adopts PIN diode or GaAs field effect transistor GaAsFET, positively biased is conducting state during random code generator B output random series logical one forward position, connect frequency multiplication and power amplifier, amplitude modulator keying phase modulation carrier frequency, through circulator, beam switch, aerial array emission, T/R simultaneously
1Its PIN pipe or GaAsFET pipe are in instead and end partially, cut off the echo input signal, turn-off to receive, and work as T/R
1Its PIN pipe or GaAsFET pipe after the random series along the time to enter logical zero positively biased be conducting state, receive echoed signal, T/R
2, T/R
3PIN pipe or GaAsFET pipe be in anti-partially by cutting off frequency multiplication and power amplifier input/output signal.Single tube switch isolation degree and frequency band are less, the multitube string, also, string structure and obtain desired properties with sending and receiving isolator combination.If T/R
2, T/R
3Control frequency multiplication and power amplifier I/O, and at dc power supply terminal serial connection amplitude modulator, degree of depth amplitude modulation keying and isolation.
It is substrate gallium arsenide High Electron Mobility Transistor InPGaAsHEMT that frequency multiplication and power amplifier adopt indium phosphide, the working band of broad and higher power gain are arranged, the device power consumption hear rate is little, doubler source electrode capacitance-resistance ground connection autobias, the drain electrode microstrip network suppresses first-harmonic and odd harmonic, and the power amplifier level has higher efficient by the biasing of C class.Get radar carrier frequency half or 1/4th frequencies and insert phase converter, two or quadruple and power amplifier be radar carrier frequency f
0, with the inherent frequency multiplication combination of subharmonic mixing local oscillator, reducing the requirement that frequency synthesizer is exported high-end millimeter-wave frequency, small number of devices promptly reaches the radar carrier frequency and receives/send out.
Overcome The noise, improve the radar dim targets detection and establish the low noise sound pitch and put.Collision avoidance radar operating distance is near, and gain 10dB gets final product, because the strong and weak fluctuating of echoed signal is very big, prevent mixing input large-signal saturation jamming, height puts, in put and all establish automatic gain control AGC, keep receiving enough big dynamic range arranged, to adapt to detection different distance target.The double-gated devices second grid-control system I
STo g
mVariation characteristic, source resistance autobias, I
SMake grid produce negative bias at its resistance drop, choose suitable I
bAnd g
m, add that AGC voltage can obtain good control characteristic, selecting indium phosphide for use is that substrate gallium arsenide high electron mobility double-gated devices InPGaAsHEMT has low-noise characteristic in the high-end frequency of millimeter wave, the AGC range of control is bigger.
Sub-harmonic mixer SPH is at fin line or microstrip line circuit by two oppositely and connect schottky diode; protection is not burnt when too high back-pressure mutually; echo CF signal and local oscillation signal differ greatly; isolation is greater than 30dB; circuit is simple, and need not be coupled electric bridge and direct supply utilize local oscillation signal to produce the non-linear harmonic wave frequency multiplication; with the phase modulation carrier frequency with getting half or 1/4th frequencies, only a small amount of millimetric wave device can obtain high-end carrier frequency f
0
The utility model radar receipts/Power Generation Road is integrated, simplifies circuit and connects, and omits waveguide and coaxial fitting, improves radar self engineering Electro Magnetic Compatibility and reliability.
Fig. 2 radar is received/a pulse sequence figure, (a) is a waveform T of dsp code pulse distribution sequence control antenna beam scanning
S, (b) be the waveform of random code generator B output random series, T/R during high level logic " 1 " forward position
2, T/R
3Connect emission, T/R
1Turn-off to receive, the back along the time enter low-level logic " 0 " T/R
2, T/R
3Turn-off emission, T/R
1Connect and receive the water surface may bump around surveying ship or other floating thing.(c) be radar emission phase modulation/amplitude modulation random series waveform, among the figure (d), (e), (f), (g) light waveform is emission random code phase modulation/amplitude-modulated signal, dark waveform is the asynchronous target echo that receives of random series, floating target, dark waveform is an asynchronous receiving target echo-pulse of time-division, wherein (d) receipts/sending out pulse overlap coincide, echo time-delay Δ t=0, not having echo when target range is zero produces, (g) echo time-delay Δ t=max is the operating distance of detections of radar target maximum, (e), (f) receive/send out the time-delay Δ t of pulse〉0, Δ t＜max, can see the different time-delay of different distance target Δ t.Target range produces time-delay, and the near more pulsewidth of distance is narrow more, and power diminishes, and the near field radiation is strong, and signal to noise ratio (S/N ratio) descends and still can detect target echo when little.Radar is received/is sent out asynchronous working and isolates the transmit signal energy leakage on the time fully, greatly improves the ability that detects the Weak target signal.The present invention adopts same broadband noise source to produce two separate random codes, radar carrier frequency dual random coding phase modulation/amplitude modulation motor boat collision avoidance radar, at the extremely low code element dependent probability of the adjacent ship of same water environment, the intensive navigation of ship does not disturb high-performance Electro Magnetic Compatibility EMC to reach the advantage that random code continuous wave radar, pulsed radar do not possess mutually.
Fig. 3 frequency synthesizer, by constant-temperature crystal oscillator 9a is reference source, output first via signal is formed high order frequency chain 9b, 9c, 9d, 9e by step pipe frequency multiplication, amplifier, insert frequency mixer 9n with voltage controlled oscillator VCO 9i, mixing is after bandpass filter, amplifier 9m, and the loop divider via prescalar 9l, programmable frequency divider 9k combination inserts phase detector 9g again; The second road signal inserts phase detector 9g through crystal oscillator frequency divider 9f, and output is synthetic through the voltage-controlled VCO9i frequency of phase locking of loop filter 9h, and VCO9i exports f
NMillimetre-wave radar carrier frequency f
0Half or 1/4th frequency phase modulation, be sub-harmonic mixer 6 local oscillator f through directional coupler 9j
LEncourage inherent frequency multiplication mixing, programmable frequency divider 9k exports f
C1Be random code generator A sampled clock signal, f
C2Be random code generator B sampled clock signal, f
C3Be DSP clock signal, f
C4Be MCU clock signal, f
C5Be digital pulse compression correlator clock signal, f
C6Be echo data ram clock signal, f
C7Be A/D sampled clock signal, f
C8Be wave digital lowpass filter LPF clock signal, f
C9Be the withdrawal device clock signal; It is clock signal that Third Road is connected to DDS digital controlled oscillator NCO9p by injection harmonic wave frequency divider 9o, the data of the temporary frequency control word of phase place stepping register, N position phase accumulator constantly carries out frequency control word and adds up under the clock effect, to frequency 2 π phase sample in the cycle, the sine storer ROM that tables look-up has the sinusoidal wave data of one-period, the corresponding output f that forms in the address of tabling look-up
iCosine
Cos ω ot
n, sine
-sin ω ot
nBe digital intermediate frequency quadrature detector homophase I branch road, quadrature Q branch road reference signal, numerical control is tabled look-up and is exported f
iThe coherent reference signal phase difference accurately is 90 °, and phase-locked output of VCO9i and the mixing of crystal oscillator frequency multiplication amplifier chain are carried out frequency feedback and moved down, and reduce loop prescalar 9l frequency dividing ratio, improves the characteristic of making an uproar mutually.Adopt constant-temperature crystal oscillator 9a frequency synthesis frequency stability very high, guarantee that a plurality of clock signals such as a receipts/carrier frequency start-phase, the demodulation of digital intermediate frequency orthogonal detection, A/D sampling become the integral multiple relation with it, correct.
The two random biphase code generators of Fig. 4, broadband noise source 13 generates even, smooth noise in extremely wide frequency range, bandwidth reaches several to the dozens of octave, it is most important to suppress the uncontrollable generating noise of flicker, so P or N diffusion restrictor ring are set at its tube core of noise device PN junction diode, make voltage breakdown than its height, the restriction breakdown region is located immediately at P district or N district, eliminate uncontrollable microplasma zone, edge, interface and puncture, obtain PN junction and evenly puncture the generation that suppresses uncontrollable flicker noise.The tube core substrate substrate is put heat sink, reduces junction temperature and produces stable noise spectrum.Constant current source is instead partially in the avalanche breakdown zone, and stable charge carrier avalanche multiplication electrical current fluctuations produces Johnson noise at random, and amplitude-frequency is normal distribution.Because noise produces temperature influence code element positive-negative polarity probability, series connection temperature compensation diode reduces its influence.The interference fringe limit that noise tube and temperature compensation pipe and biasing, microwave broadband amplifier place coaxial cavity or waveguide cavity to isolate external electromagnetic field is amplified noise spectrum, and coupling broadband network transition transmission line inserts random code generator A14, random code generator B15 respectively.Be example now with random code generator B14, SAW sound watchband bandpass filter a chooses suitable sign indicating number frequency and bandwidth, the centre frequency scope that SAW sound watchband bandpass filter a can Gong select for use is wide, band-pass filtering property is very precipitous on frequency domain, the insertion loss is little, select the noise positive-negative polarity through voltage comparator b, frequency synthesizer output sampled clock signal f
C1, f
C2Control sampling holder c carries out periodic sampling, maintenance, active integrator d feeds back to voltage comparator b and compares for the average thresholding, the random biphase code unit that output keeps positive negative level probability, random series dutycycle to equate substantially connects external circuit by trigger flip-flop e output.Random code generator A14 is used for emission of phase converter 11 radar carrier frequency and echo digital pulse compression correlator 18 processing target distance/velocity informations, it is frequently relatively large with the bandwidth value to reach range finding high resolution sign indicating number, the sampling time value is fast, so corresponding choosing high speed of device operating rate or hypervelocity.Random code generator B15 is used for amplitude modulator 12 amplitude keying phase modulation carrier frequency, receives/send out switch T/R during random series high level logic " 1 " forward position
2, T/R
3Connect frequency multiplication and power amplifier I/O and transmit T/R
1Turn-off and receive; The back along the time enter low-level logic " 0 " T/R
2, T/R
3Turn-off frequency multiplication and power amplifier I/O, T/R
1Connect reception, the asynchronous storbing gate 7 of random series is chosen echo signal.
Two groups of random code generator sign indicating numbers are different with bandwidth, sampled clock signal value frequently, produce separate two random codes.Based on random signal is the time course of stochastic variable, aperiodicity repeats, phase modulation/amplitude modulation dual random coding asynchronous detection strengthens the randomness that constantly changes greatly, and environment adjacent many ship relative directions in same waters are travelled, allow to use broad beam antenna, the irradiation mutually that transmits is scanned, although undesired signal must enter the other side's receiving cable, the two random code receipts/signallings variations of radar are exceedingly fast, do not rise target echo relevant treatment interference effect, therefore do not disturb the coexistence operation mutually.
Fig. 5 phase modulation/modulation circuit, random code phase converter 11 is that integrated two groups of high electron mobility transistor (HEMT)s constitute the two-way reflective modulator to pipe, four 3dBLange directional couplers and six resistance on the gallium arsenide substrate, it is a kind of cold HEMT balance push-pull mode modulator, the complementary control of its modulation voltage, the two-way modulator is output as plural addition, synthetic 0, the π scale-of-two BPSK phase-modulated signal of vector, but input/output end port reciprocity.When one group is positive bias-voltage to the tube grid modulation signal, the pipe conducting is short circuit, make its 3dBLange directional coupler radio-frequency voltage reflection coefficient for negative, when grid modulation signal is pinch-off voltage, pipe raceway groove pinch off is open circuit, the radio-frequency voltage reflection coefficient is for just, reflection wave is 0 to π to change through corresponding its phase differential of pipe switching of 3dBLange directional coupler stack output, the two-way reflective modulator parasitic parameter of cancelling out each other causes the error of amplitude and phase place, obtain good BPSK phase modulation, guarantee the radar high Precision Detection.Frequency synthesizer 9 output fN are phase converter 11 carrier frequency, and random code generator A14 chooses the suitable sign indicating number frequency and the bandwidth of wideband noise generator 13 outputs, and corresponding sampled clock signal triggers and generates the random code pulse, and two groups of HEMT of control phase converter are to tube grid.Grid road resistance in series current limliting, bias voltage stops carrier frequency to enter through low-pass network.Random code generator A14 output also inserts digital pulse compression correlator 18 relevant treatment target echo signals simultaneously.Choose wideband noise generator 13 suitable sign indicating number frequency and bandwidth, corresponding sampled clock signal triggering generates the pulse of random code generator B15 random series, drives amplitude modulator 12 keying frequencys multiplication and power amplifier 10, and a control receipts/switch T/R
2, T/R
3
Fig. 6 echoed signal is extracted circuit, digital intermediate frequency quadrature detector 8 is before the echoed signal digitized processing, its intermediate frequency is removed, make echoed signal carry out the digital inphase/orthogonal coherent detection of zero intermediate frequency (or claiming the mixing of zero intermediate frequency coherent) output zero intermediate frequency baseband signal, echo signal of intermediate frequency is sampled its sampled clock signal f with an A-D converter A/D81
C7By frequency synthesizer output, sampling rate should satisfy Nyquist's theorem.I, Q two-way multiplier 82 carry out the complex digital down coversion, and frequency synthesizer NCO exports f
Icos ω ot
n, f
I-sin ω ot
nInsert I, Q two-way multiplier respectively, the coherent reference signal phase difference accurately is 90 °, wave digital lowpass filter LPF83 clock signal f
C8, withdrawal device 84 clock signal f
C9Export by frequency synthesizer.Echoed signal is imported the conversion that withdrawal device 84 sampling rates reduce into through wave digital lowpass filter LPF83 filtering, digital pulse compression correlator 18 is with withdrawal device 84 output signals of digital intermediate frequency quadrature detector 8, with random code generator A14, lag line 182 be reference signal, in I, Q branch road shift register 181, related operation array 183, summation summitor 184 relevant treatment, maximal value appears in relevant output symbol, is the detection that digital pulse compression correlator 18 main peaks coupling is obtained the sharp-pointed drawing pin function information of high s/n ratio.Frequency synthesizer clock signal f
C5Trigger I, Q branch road shift register 181, vairable delay line 182, MCU interface I/O33 and vairable delay line 182 numerical control ends join, vairable delay line MCU gauge tap stepping in radar detection target maximum operating range scope changes the shock response of pulse pressure coefficient and can obtain different distance, objective speed data.
Target echo I/Q orthogonal coherent detection and pulse pressure relevant treatment complex modulated signal are broken down into real part and imaginary part, two information of signal amplitude and phase place all preserve, this signal is delivered to digital signal processor DSP 20 and is carried out grouping time multiplexing date rearrangement in the sheet, Fast Fourier Transform (FFT) FFT analysis of spectrum, distance side lobe inhibition, moving-target demonstration MTI and CFAR processing CFAR after echo data memory RAM 19 is kept in.FFT is equivalent to a large amount of range gate and Doppler filter group, to the inhibition of distance and the speed spectrum analysis and the distance side lobe of target relative motion beat.Finishing the FFT computing is handled by constant false alarm circuit CFAR, intensity according to residual spur is regulated detection threshold automatically, false-alarm probability is remained in the permissible value, the signal that surpasses thresholding is made the relevant information processing, to determine whether target, if then the data such as distance, speed and orientation angles of target are delivered to image display.Not having ship when the place ahead is navigated by water by driver's setting speed, radar is surveyed its signal trace to nearest ship when ship occurring, controlling this ship's speed keeps a safe distance, sound and light alarm in the time of departing from safe distance, MCU command direction rudder controller intelligent barrier avoiding or startup speed reduction unit slow down when approaching risk distance, even extinguish engine control.This control is to provide the current present position of this ship information data processing and control topworks that makes one's choice with reference to the rare density of water surface shooting ship and this ship's speed satnav sensor GPS.Dangerous situation as head-on collision, its time is two ship's speed degree sums, safe distance sharply shortens, require driving quality, experience higher, correspondingly intelligent anticollision radar self-adaption control system response speed is the ms level, more faster than human reflection, people's control is irreplaceable under no mechanical fault condition, greatly improves crashworthiness.
Data are put into the outer echo memory RAM of digital signal processor DSP sheet, DSP carries out arithmetic speed and greatly improves, double port memory RAM makes DSP and microcontroller MCU swap data both sides handshake operation, each data takies from low to high by byte in dual port RAM, and dual port RAM provides arbitrating signals to avoid DSP and MCU that the data processing competition takes place.
Present embodiment is provided with perimeter antenna array at the ship place of rising, 5.5 ° of dielectric lens antenna wave beam horizontal azimuths, 5.2 ° at vertical orientations angle, antenna gain 34.6dB, secondary lobe-23.7dB, the target that the comprehensive scan round warning of digital signal processor DSP coded pulse assigned sequence may be collided.Phase modulation code element bandwidth is 1.2GHz, amplitude modulation pulsewidth 10ns, frequency synthesizer output f
NFrequency 38.250GHz phase modulation, 2 frequencys multiplication and power amplifier are 76.500GHz radar emission carrier frequency f
0, output peak power 2.5W, inherent 2 frequencys multiplication of subharmonic mixing local oscillator receive echo.Beam switch sweep speed 50ms/Hz, guarantee that wave beam scans distance and upgrades for the wide water surface of the 100m of 500m place, DSP suppresses the target of false-alarm identification and this ship minimum distance, sound and light alarm in the time of departing from safe distance, approach risk distance MCU instruction keep away barrier device automatic obstacle-avoiding or start speed reduction unit, the ship device Based Intelligent Control of stopping, greatly improve crashworthiness.Radar noise coefficient Fn17dB, millimeter wave carrier frequency propagation in atmosphere loss La and system loss Ls16dB, maximum radar range is 1500m, minimum range 15m, nearest Target Recognition time＜560 μ s, angular resolution≤3 °, range resolution≤1m, speed resoluting force＜1.2km/h, this ship time speed 70km/h can gradual braking.
Claims (9)
1, a kind of millimeter-wave random code phase-modulation and amplitude-modulation shipborne collision-proof radar, be provided with circulator, in put, memory RAM, digital signal processor DSP, double port memory RAM, microcontroller MCU, interface I/O, water surface image sensor, this ship's speed sensor, satnav sensor GPS, audible-visual annunciator, image display CRT, yaw rudder controller, speed reduction unit, igniting/extinguish controller, keyboard, it is characterized in that: also be provided with receipts/send out dual-purpose quasi-optical integrated dielectric lens antenna array, beam switch, frequency synthesizer, receipts/send out switch T/R
1, T/R
2, T/R
3Wideband noise generator, random code generator A, phase converter, frequency multiplication and power amplifier, random code generator B, amplitude modulator, the low noise sound pitch is put, sub-harmonic mixer, the asynchronous storbing gate of random series, the digital intermediate frequency quadrature detector, the digital pulse compression correlator, antenna is installed in ship top high level, be set as the horizontal annular battle array or become ring array around mast, dsp code pulse distribution sequence inserts beam switch, CRT, the target that the water surface may collide is surveyed in comprehensive scan round, the frequency synthesizer programmable frequency divider presets end, digital controlled oscillator numerical control end, digital pulse compression correlator vairable delay line numerical control end joins through interface I/O and MCU respectively, frequency synthesizer output f
C3Access DSP is a clock signal, and the wideband noise generator noise spectrum inserts random code generator A, random code generator B, frequency synthesizer output f
C1Inserting random code generator A is sampled clock signal, f
C2Inserting random code generator B is sampled clock signal, generate separate two random codes, random code generator A output inserts phase converter, digital pulse compression correlator, and random code generator B output random series inserts amplitude modulator, and random series high level logic " 1 " inserts T/R
2, T/R
3, low-level logic " 0 " inserts T/R
1, the asynchronous storbing gate of random series, receive/send out switch T/R
2, T/R
3Be connected on the I/O end of frequency multiplication and power amplifier respectively, amplitude modulator is serially connected in frequency multiplication and power amplifier dc power supply terminal, T/R
1Be connected on circulator and export the low noise sound pitch to and put between the input, put during the asynchronous storbing gate of random series is connected on and export between the input of digital intermediate frequency quadrature detector frequency synthesizer output f to
NInsert phase converter and be carrier frequency half or 1/4th frequencies, the phase modulation radio frequency is radar carrier frequency f through frequency multiplication and power amplifier two or quadruple, power amplifier
0Be connected to T/R
2, circulator feed antenna array emission, frequency synthesizer output f
NInserting sub-harmonic mixer is two or four inherent frequency multiplication local oscillation signal f
L, frequency synthesizer output f
iInserting the digital intermediate frequency quadrature detector is the coherent reference signal, f
C7Be digital intermediate frequency quadrature detector modulus converter A/D sampled clock signal, f
C8Be digital intermediate frequency quadrature detector wave digital lowpass filter LPF clock signal, f
C9Be digital intermediate frequency quadrature detector withdrawal device clock signal, the echo radio frequency is through aerial array, beam switch, circulator, T/R
1The low noise sound pitch is put, sub-harmonic mixer, in put, choose again through digital intermediate frequency quadrature detector demodulation access digital pulse compression correlator in the asynchronous storbing gate of random series, relevant output data inserts the DSP data bus after depositing memory RAM in, DSP and MCU data bus, address bus, control line is through double port memory RAM tandem and arbitrating signals is provided, the MCU I/O connects water surface image sensor through interface I/O, this ship's speed sensor, satnav sensor GPS, audible-visual annunciator, CRT, the yaw rudder controller, speed reduction unit, the controller of lighting a fire/extinguish, keyboard, the grouping time multiplexing date is reset in the dsp software design sheet, moving-target shows MTI, Fast Fourier Transform (FFT) FFT, distance side lobe suppresses, CFAR is handled CFAR, the programming of MCU system software comprises master routine and data acquisition, data processing, the object control subprogram, in put and detect AGC (automatic gain control) voltage through filtering, amplifying access low noise sound pitch puts, in put automatic gain AGC control end, frequency synthesizer, wideband noise generator, random code generator A, random code generator B, beam switch, circulator, receive/send out switch T/R
1, T/R
2, T/R
3, phase converter, amplitude modulator, frequency multiplication and power amplifier, low noise sound pitch are put, sub-harmonic mixer, in put integrated, the shielding.
2, millimeter-wave random code phase-modulation and amplitude-modulation shipborne collision-proof radar according to claim 1, it is characterized in that: frequency synthesizer is by constant-temperature crystal oscillator, the crystal oscillator frequency divider, the high order frequency amplifier chain, frequency mixer, bandpass filter, amplifier, voltage controlled oscillator VCO, phase detector, loop filter, loop divider, inject the harmonic wave frequency divider, digital controlled oscillator NCO forms, VCO is by gallium arsenide High Electron Mobility Transistor GaAsHEMT device, the dielectric resonator feedback oscillation, varactor is voltage-controlled tuning, loop divider is by prescalar and programmable frequency divider combination, constant-temperature crystal oscillator output first via signal inserts frequency mixer through high order frequency amplifier chain and VCO output signal, mixing is after bandpass filter, amplifier, insert phase detector through loop divider again, the second road signal inserts phase detector through the crystal oscillator frequency divider, phase demodulation output is synthetic through the voltage-controlled VCO frequency of phase locking of loop filter, and VCO exports f
NFor radar phase converter carrier frequency half or 1/4th, f
NObtain sub-harmonic mixer two or four inherent frequency multiplication local oscillator f through directional coupler
L, programmable frequency divider output f
C1Be random code generator A sampled clock signal, f
C2Be random code generator B sampled clock signal, f
C3Be DSP clock signal, f
C4Be MCU clock signal, f
C5Be digital pulse compression correlator clock signal, f
C6Be echo data memory RAM clock signal, f
C7Be digital intermediate frequency quadrature detector modulus converter A/D sampled clock signal, f
C8Be wave digital lowpass filter LPF clock signal, f
C9Be the withdrawal device clock signal, Third Road connects and injects the digital controlled oscillator NCO that the harmonic wave frequency divider forms to DDS phase place stepping register, N position phase accumulator, ROM sine lookup table storer, output f
Icos ω ot
n, f
I-sin ω ot
nBe digital intermediate frequency quadrature detector coherent reference signal, programmable frequency divider presets end, digital controlled oscillator NCO numerical control end and inserts MCU through interface I/O respectively.
3, millimeter-wave random code phase-modulation and amplitude-modulation shipborne collision-proof radar according to claim 1, it is characterized in that: receive/send out the quasi-optical integrated dielectric lens antenna array dual-purpose, antenna integrated by the little band quadripole of dielectric substrate oscillator, di-lens, the array pedestal, protective cover constitutes, di-lens is that an end face is a hemisphere, the other end is the right cylinder cross section, the antenna integrated cylindrical cross-section that closely is placed on di-lens of the little band quadripole of dielectric substrate oscillator is a feed, di-lens hemisphere end face is the aerial radiation face, rise the position at ship and be set as the horizontal annular array or around the mast circle ring array, dsp code pulse train inserts the switched-beam switch, raster-scanned image display CRT coordinate converter.
4, millimeter-wave random code phase-modulation and amplitude-modulation shipborne collision-proof radar according to claim 1, it is characterized in that: beam switch be receive antenna feeder integrated PIN diode or GaAs field effect transistor GaAsFET string, also, the single-pole single-throw switch (SPST) SPST that connects of polyphone, the control antenna array is combined into single pole multiple throw by a plurality of SPST, the control bias voltage is inserted through low-pass network by digital signal processor DSP coded pulse assigned sequence, receives/send out switch T/R
1, T/R
2, T/R
3Form string, also by PIN diode or GaAs field effect transistor GaAsFET, string array type single single-pole single-throw spst switch, T/R
1Being connected on circulator exports the low noise sound pitch to and puts between the input T/R
2, T/R
3Be connected on the I/O end of frequency multiplication and power amplifier respectively, the control bias voltage inserts T/R by random code generator B output random series high level logic " 1 " through low-pass network
2, T/R
3, low-level logic " 0 " inserts T/R through low-pass network
1, the asynchronous storbing gate of random series.
5, millimeter-wave random code phase-modulation and amplitude-modulation shipborne collision-proof radar according to claim 1, it is characterized in that: random code generator A, random code generator B is by same broadband noise source, the output of microwave broadband amplifier, random code generator A is by SAW sound watchband bandpass filter, high speed or hypervelocity voltage comparator, high speed or hypervelocity sampling holder, active integrator, high-speed flip-flop is formed, random code generator B is by SAW sound watchband bandpass filter, voltage comparator, sampling holder, active integrator, trigger flip-flop is formed, the broadband noise source is by establishing a P or N diffusion restrictor ring on the PN junction diode chip for backlight unit, series connection temperature compensation diode, the constant current reverse bias is an avalanche condition, place coaxial cavity or waveguide cavity to insert random code generator A through microwave broadband amplifier and the output of Broadband Matching transition network, random code generator B, frequency synthesizer output f
C1Inserting random code generator A is sampled clock signal, f
C2Inserting random code generator B is sampled clock signal, random code generator A is by SAW sound watchband bandpass filter, high speed or hypervelocity voltage comparator are to high speed or hypervelocity sampling holder, taking back high speed voltage comparator through the active integrator feedback is comparison threshold, again through high-speed flip-flop, low-pass network inserts phase converter, digital pulse compression correlator vairable delay line, random code generator B is by SAW sound watchband bandpass filter, voltage comparator is to sampling holder, taking back voltage comparator through the active integrator feedback is comparison threshold, again through trigger flip-flop, low-pass network inserts amplitude modulator, and its high level logic " 1 " inserts and receives/a switch T/R
2, T/R
3, low-level logic " 0 " inserts and receives/a switch T/R
1, the asynchronous storbing gate of random series.
6, millimeter-wave random code phase-modulation and amplitude-modulation shipborne collision-proof radar according to claim 1, it is characterized in that: phase converter by substrate not undoped gallium arsenide GaAs form on the substrate of interface with the aluminium base gallium arsenide AlGaAs that do not mix, integrated two groups of high electron mobility transistor (HEMT) devices are to pipe, four 3dBLange directional couplers and six resistance constitute the reflective electric bridge modulator of two-way, two groups of HEMT go here and there a resistance respectively to tube grid and insert modulation signal, source ground, two 3dBLange directional couplers are connected on two groups of HEMT devices respectively to the pipe drain electrode, cross-couplings is to all the other two 3dBLange directional couplers, matched load resistance, but the reciprocity of phase converter input/output end port, frequency synthesizer VCO exports f
NFor radar carrier frequency half or 1/4th frequencies connect phase converter, random code generator A output inserts two-way modulator HEMT to the complementary control of tube grid through low-pass network, generates 0, π scale-of-two BPSK phase-modulated signal.
7, millimeter-wave random code phase-modulation and amplitude-modulation shipborne collision-proof radar according to claim 1, it is characterized in that: frequency multiplication and power amplifier doubler are that substrate gallium arsenide high electron mobility InPGaAsHEMT transistor gate connects λ/4 impedance conversion microstrip line and biasing circuits by indium phosphide, source electrode is connected in parallel on the ground connection capacitance-resistance, drain electrode microstrip line inhibition first-harmonic and third harmonic are tuned at secondary or four harmonics are radar carrier frequency f
0, the power amplifier level inserts little band impedance conversion and the biasing of C class by the InPGaAsHEMT device grids, source ground, and the drain electrode microstrip line is tuned at f
0, and and Antenna Impedance Matching, frequency multiplication is connected in series amplitude modulator with the power amplifier dc power supply terminal through low-pass network.
8, millimeter-wave random code phase-modulation and amplitude-modulation shipborne collision-proof radar according to claim 1, it is characterized in that: it is that substrate gallium arsenide High Electron Mobility Transistor InPGaAsHEMT, microstrip network constitute that the low noise sound pitch is put by a double grid indium phosphide, first grid connects antenna echo carrier frequency matching network, second grid is an AGC automatic gain control end, put AGC in connecing and detect voltage, source electrode capacitance-resistance ground connection, the drain electrode output matching network inserts sub-harmonic mixer SHP, and two schottky diodes oppositely are attempted by local oscillation signal fL matching network and echo CF signal f
0Between the matching network, local oscillation signal fL exports f by frequency synthesizer
NConnect through directional coupler, medium-frequency IF through bandpass network at local oscillation signal f
LOne side-draw of matching network goes out.
9, millimeter-wave random code phase-modulation and amplitude-modulation shipborne collision-proof radar according to claim 1, it is characterized in that: the digital intermediate frequency quadrature detector is made up of modulus converter A/D, homophase I, quadrature Q two-way digital multiplier, wave digital lowpass filter LPF, withdrawal device, frequency synthesizer output f
C7Be A/D sampled clock signal, f
C8Be LPF clock signal, f
C9Be the withdrawal device clock signal, in put bandpass filter and choose through the asynchronous storbing gate of random series and insert A/D, its output meets an end of I, the input of Q branch road two-way digital multiplier, frequency synthesizer digital controlled oscillator NCO output signal f respectively
Icos ω ot
n, f
I-sin ω ot
nCorresponding connection I, another input end of Q branch road two-way multiplier, I, Q two-way digital multiplier output series connection wave digital lowpass filter LPF, withdrawal device insert the digital pulse compression correlator, the digital pulse compression correlator is made up of I, Q branch road shift register, lag line, related operation array, summation summitor, lag line is formed vairable delay line by tap shift register and on-off circuit, the on-off circuit control end inserts microcontroller MCU through interface I/O, frequency synthesizer output f
C5Access delay line shift register, I, Q branch road shift register are clock signal, random code generator A output inserts digital pulse compression correlator vairable delay line and produces the time-delay sign indicating number, the digital intermediate frequency quadrature detector through the withdrawal device output signal in I, Q branch road shift register ring shift, with the corresponding access related operation array of vairable delay line time-delay sign indicating number to the summitor of suing for peace, relevant output data deposits incoming digital signal processor DSP data bus after the memory RAM in.
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