CN104237882B - A kind of scanning system realizing the multiple scan mode of marine radar and control method - Google Patents
A kind of scanning system realizing the multiple scan mode of marine radar and control method Download PDFInfo
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- CN104237882B CN104237882B CN201410056962.9A CN201410056962A CN104237882B CN 104237882 B CN104237882 B CN 104237882B CN 201410056962 A CN201410056962 A CN 201410056962A CN 104237882 B CN104237882 B CN 104237882B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
- G01S7/298—Scan converters
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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Abstract
The invention discloses a kind of scanning system realizing the multiple scan mode of marine radar and control method, including scanning system, scanning system includes that FPGA control module, simulation control and drive system, motor, reductor high-precision servo turn table, high-resolution absolute value encoder, antenna and terminal computer；FPGA control module, simulation control and drive system, motor, reductor, high-precision servo turn table and high-resolution absolute value encoder are sequentially connected, and FPGA control module is connected with terminal computer also by gigabit Ethernet.The method is applied to Ocean Surveying radar system and marine environment detection system based on marine navigation radar.The present invention is that the research of the synthetic marine environmental informations such as naval target environment, wave of the sea, ocean current, sea ice, oil spilling and hydrometeorology provides brand-new hardware platform.
Description
Technical field
The invention belongs to targets in ocean and marine environment field of detecting, be specifically related to a kind of scanning system realizing the multiple scan mode of marine radar and control method.
Background technology
The scan mode essentially single-rate ring of existing Ocean Surveying radar and marine environment detection system based on marine navigation radar is swept.The ring mode of sweeping of a kind of fixed rate cannot meet the detection demand of different situations Ocean target and marine environment, from the function of detection, function singleness, subject range is limited, and wherein part main reasons is that different situations Ocean target is different to the rate of data acquisition demand of radar with marine environment detection.nullOcean target detection is higher to radar data acquisition rate demand，Need quickly to determine target bearing angle and movement locus thereof，And marine environment detection is due to marine environment such as sea ice within a certain period of time、Ocean current、Waves etc. are in stable state，Higher radar data is the most scarcely needed to obtain speed，For sea ice border、Oil spilling border and high sea situation are measured，The radar data needing single radial direction constantly accumulates，This just requires that Ocean Surveying radar must have direct scan function，In order to improve radar invisible performance，The ring mode of sweeping is easy to monitored，Compact district is produced plus inevitably there is human lives around radar，Electromagenetic wave radiation should not be suffered，The radar data needing designated sector obtains，In current Ocean Surveying radar system and marine environment detection system based on Ocean Surveying radar，The radar scanning mode of single-rate can not take into account the application of above-mentioned multiple situation，The Ocean Surveying radar with multiple scan mode then substantially increases targets in ocean and the general-purpose capability of marine environment field of detecting.
Summary of the invention
The present invention is directed to the defect of prior art, a kind of scanning system realizing the multiple scan mode of marine radar and control method are proposed, solve conventional radar scanning and may be only available for the working method of single Ocean target detection, the present invention can use multi tate ring to sweep, fan sweeping and direct scan various ways, improves Ocean Surveying radar at targets in ocean and the general-purpose capability of marine environment field of detecting.
The present invention is by the following technical solutions:
A kind of scanning system realizing the multiple scan mode of marine radar, controls and drive system, motor, reductor, high-precision servo turn table, high-resolution absolute value encoder, antenna and terminal computer including FPGA control module, simulation；Antenna is arranged on high-precision servo turn table, during scanning, being rotated by turntable and drive the rotation FPGA control module of antenna, simulation control and drive system, motor, reductor, high-precision servo turn table and high-resolution absolute value encoder to be sequentially connected and constitute a loop, FPGA control module is connected with terminal computer also by gigabit Ethernet；
Terminal computer sends servo-control system order to FPGA control module by gigabit Ethernet, after FPGA control module carries out encoding and decoding to servo-control system order, it is sent to the system command after encoding and decoding simulate control and drive system, simulate control and drive system drive stepping motor and reductor, thus control the rotation of high-precision servo turn table, high-resolution absolute value encoder sends FPGA control module to after the target data of high-precision servo turn table being encoded, target data after coding is sent back terminal computer by FPGA control module, terminal computer will receive coding after target data and servo-control system order in specified rate compare after, again send corrective command.
A kind of control method of the scanning system realizing the multiple scan mode of marine radar:
Step one: first determine and need the target of scanning；
Step 2: according to the target of the scanning determined, selects scan mode, when needing the target measurement data to marine high-speed motion, selects the ring of two-forty to sweep mode；Need, to when being in the ocean dynamical environment of stable state, oil spilling and sea ice measurement data, to select the ring of slow rate to sweep mode；The radar data needing single radial direction accumulates, and selects direct scan mode；The situation of radiation is forbidden in radar invisible and partial sector, needs the radar data of designated sector to obtain, and selects fan sweeping mode.
As present invention further optimization scheme, described FPGA control module uses XC6VLX240T chip.
As present invention further optimization scheme, described motor uses direct current four phase step motor.
This utility model uses above technical scheme compared with prior art, has following technical effect that
The first, the present invention uses motor, and noise is little, precision is high, and reliability is stable；
The second, the present invention uses addition high-precision servo turn table, preferably controls the anglec of rotation of antenna so that it is more accurate to position；
3rd, the scan control software scans mode of the present invention is more diversified, scans more convenient, accurate.
Accompanying drawing explanation
Fig. 1 is the control software chart of the present invention；
Fig. 2 is the master-plan block diagram of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings technical scheme is described in detail:
The present invention provides a kind of scanning system realizing the multiple scan mode of marine radar, controls and drive system, motor, reductor, high-precision servo turn table, high-resolution absolute value encoder and terminal computer including FPGA control module, simulation；FPGA control module, simulation control and drive system, motor, reductor, high-precision servo turn table and high-resolution absolute value encoder are sequentially connected, and FPGA control module is connected with terminal computer also by gigabit Ethernet.
Such as Fig. 1, for realizing the Ocean Surveying radar with multiple scan mode, to meet the detection demand of different situations Ocean target and marine environment, the terminal software that in terminal computer, preprogramming sets, terminal software devises detailed scan control module, and software model, when controlling servosystem, passes through WinpCap, communicate with udp broadcast pattern, specifically comprise the functions such as scan mode, sweep limits, scanning speed, positioning precision, control accuracy and control mode.
Scan control software module it is provided with in terminal computer, scan control software module can generate servo-control system order, servo-control system order is sent to FPGA control module by gigabit Ethernet by terminal computer, servo-control system order includes that rotation time, rotation direction and rotating speed etc. control parameter, terminal computer realize by rotation time, rotation direction and rotating speed etc. being controlled the setting of parameter the multi tate ring of two coordinate Ocean Surveying radars sweep, fan sweeping and direct scan mode.
nullIn the present invention, FPGA control module uses Xilinx V6 series of X C6VLX240T chip，Wherein and in advance comprise DDS servo algorithm and control command coding and decoding，Realize servo-drive and observing and controlling，FPGA control module automatically generates the frequency pulse signal corresponding with this rotating speed and rotation direction signal according to the rotating speed in servo-control system order，FPGA control module is sent to after encoding frequency pulse signal and rotation direction signal simulate control and drive system，Simulation controls and drive system includes stepper motor driver，When stepper motor driver receives the pulse signal sent from FPGA control module，It rotates a fixing angle (stepping angle) with regard to drive stepping motor by the direction set，Its rotation is to run step by step with fixing angle，Such that it is able to carry out pilot angle displacement by controlling the pulse number in the cycle，Thus reach the purpose being accurately positioned，And then achieve location scanning and fan sweeping；Simultaneously can also control motor velocity of rotation and acceleration by controlling pulse frequency, thus reach the purpose of speed governing, and then realize variable bit rate ring and sweep；Thus control the rotation of high-precision servo turn table, and turntable is mounted with antenna, turntable drives antenna to rotate while rotating.
The motor of the present invention uses direct current four phase step motor and the driver matched thereof, motor includes control system and simulation control part, in order to obtain zero tracking error, the digit position ring of control system uses the PD control mode of tape speed and feed forward of acceleration, and simulation control part uses electric current loop to realize the control to motor torque.
The angle-data that high-resolution absolute value encoder detection turntable rotates, and angle-data is sent back FPGA control module, the angle-data that high-resolution absolute value encoder is detected by FPGA control module retains significance bit and carries out pretreatment, then terminal computer is sent back, by terminal computer, angle-data carries out being converted into the angle-data that precision is 0.01 degree, and the position angle of two coordinate Ocean Surveying radars is shown in real time in the software interface of terminal computer.nullSuch as Fig. 2，Servo-control system order is sent to FPGA control module by terminal computer by gigabit Ethernet，FPGA control module comprises DDS servo algorithm and control command coding and decoding，DDS servo algorithm is by designing different acceleration-deceleration modes and impulse modulation，And then generation different frequency，The control pulse of distinct pulse widths，For controlling velocity of rotation and the acceleration of motor，Realize servo-drive and observing and controlling，FPGA control module simulates control and drive system by being sent to after terminal computer command code，And use direct current four phase step motor and driver，Four phase step motor have employed has the more number of phases than two-phase stepping motor，Decrease the angle that rotor turns over when Phase-Sequence Transformation，And then reduce the velocity shock and inertia caused due to phase sequence conversion，Improve running precision，Greatly reduce noise simultaneously.
Motor of the present invention controls with simulation and drive system directly exists current feedback, be equivalent to opened loop control, there is position feedback circuit between high-precision servo turn table and FPGA control module, form closed loop control, thus the present invention is compound servo-control system；When being oriented scanning, high-resolution absolute value encoder constantly measures the actual amount of angle-data, and it is sent to FPGA control module by feedback circuit, the actual amount of angle-data is sent back terminal computer by FPGA control module again, the actual amount received is compared by terminal computer with the specified rate of the angle-data sent before, then it is controlled by its difference, servo-control system is revised in real time, it is ensured that antenna is in correct position.
In order to obtain zero tracking error, the digit position ring of control system uses the PD control mode of tape speed and feed forward of acceleration, and simulation control part uses electric current loop to realize the control to motor torque, motor is connected in the machine driven system of high-precision servo turn table through the reductor of speed reducing ratio R=10；The present invention uses high-precision servo turn table, and use the FORJ2 type dual pathways light hinge of general woods photoelectricity to carry out the transmission of fiber data, in high-precision servo turn table motor process, high-resolution absolute value encoder constantly measures the actual amount of angle, terminal computer compares with the specified rate of terminal computer after obtaining actual amount, is then controlled by its difference.Being integrated with increment type line grating RLD10 in high-resolution absolute value encoder, its output signal, through 100 segmentations, becomes the standardized digital signal that pulse equivalency is 0.2 second.Owing to control system has a closed-loop architectural characteristic, thus determine turntable positioning precision is displacement detecting precision and the control system control accuracy of line grating, the driving error of mechanical driving device, affects the speed stability of turntable.
By the design of system above, scan control software module in terminal computer is according to the requirement of the data acquisition rate of different measuring environment and different measuring function, by DDS servo algorithm in FPGA module, motor drive pulses is modulated, change the pulse signal that the driver within motor receives, thus control the rotation of high-precision servo turn table, and then drive antenna to rotate, finally realize Ocean Surveying radar rate-compatible ring sweep, fan sweeping and three kinds of scan modes of direct scan.
The control method of a kind of scanning system realizing the multiple scan mode of marine radar: first have to determine the target being scanned measuring, secondly the naval target for high-speed motion is measured, the radar data needing two-forty obtains, the variable loop setting two-forty sweeps mode, for the ocean dynamical environment being relatively in stable state in the short time, oil spilling and sea ice measurement demand, the radar data needing slow rate obtains, the variable loop setting slow rate sweeps mode, for sea ice border, oil spilling border and high sea situation are measured, the radar data needing single radial direction accumulates, set direct scan mode, the situation of radiation is forbidden for radar invisible and partial sector, the radar data needing designated sector obtains, set fan sweeping mode.
The method applies software radio, the technology such as automatically controls, and is digitization system based on ultra large scale FPGA chip hardware platform.The method is applied to Ocean Surveying radar system and marine environment detection system based on marine navigation radar, and rate-compatible ring is swept, fan sweeping and direct scan can meet the scanning requirement under different measuring environment and different measuring function.The present invention is that the research of the synthetic marine environmental informations such as naval target environment, wave of the sea, ocean current, floating ice, oil spilling and hydrometeorology provides brand-new hardware platform.
Claims (4)
1. the scanning system realizing the multiple scan mode of marine radar, it is characterised in that: include that FPGA control module, simulation control and drive system, motor, reductor, high-precision servo turn table, high-resolution absolute value encoder, antenna and terminal computer；Antenna is arranged on high-precision servo turn table, during scanning, the rotation driving antenna is rotated by turntable, FPGA control module, simulation control and drive system, motor, reductor, high-precision servo turn table and high-resolution absolute value encoder are sequentially connected one loop of composition, and FPGA control module is connected with terminal computer also by gigabit Ethernet；
Terminal computer sends servo-control system order to FPGA control module by gigabit Ethernet, after FPGA control module carries out encoding and decoding to servo-control system order, it is sent to the system command after encoding and decoding simulate control and drive system, simulate control and drive system drive stepping motor and reductor, thus control the rotation of high-precision servo turn table, high-resolution absolute value encoder sends FPGA control module to after the target data of high-precision servo turn table being encoded, target data after coding is sent back terminal computer by FPGA control module, terminal computer will receive coding after target data and servo-control system order in specified rate compare after, again send corrective command.
2. a kind of scanning system realizing the multiple scan mode of marine radar as described in claim 1, it is characterised in that: described FPGA control module uses Xilinx V6 series of X C6VLX240T chip.
3. a kind of scanning system realizing the multiple scan mode of marine radar as described in claim 1, it is characterised in that: described motor uses direct current four phase step motor.
4. the control method of the scanning system realizing the multiple scan mode of marine radar based on claim 1, it is characterised in that:
Step one: first determine and need the target of scanning；
Step 2: according to the target of the scanning determined, selects scan mode, when needing the target measurement data to marine high-speed motion, selects the ring of two-forty to sweep mode；Need, to when being in the ocean dynamical environment of stable state, oil spilling and sea ice measurement data, to select the ring of slow rate to sweep mode；The radar data needing single radial direction accumulates, and selects direct scan mode；The situation of radiation is forbidden in radar invisible and partial sector, needs the radar data of designated sector to obtain, and selects fan sweeping mode.
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| CN104678374B (en) * | 2015-03-02 | 2017-10-10 | 吉林大学 | The active control device of laser radar |
| CN108415000B (en) * | 2018-02-09 | 2021-10-12 | 山东国耀量子雷达科技有限公司 | Laser radar based on multi-joint mechanical arm |
| CN108680919A (en) * | 2018-03-23 | 2018-10-19 | 海华电子企业(中国)有限公司 | A kind of integrated navigation and wave detecting system based on X-band radar |
| CN111123235B (en) * | 2019-12-20 | 2021-11-09 | 北京海兰信数据科技股份有限公司 | Method and device for determining stationary target of navigation radar |
| CN111289962B (en) * | 2020-02-28 | 2022-02-11 | 中船重工鹏力（南京）大气海洋信息系统有限公司 | Multi-factor ship target radar echo simulation method |
| CN114265016B (en) * | 2021-12-28 | 2023-04-14 | 河北德冠隆电子科技有限公司 | Multi-angle adjustment wide area radar sensor system and method |
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| JP3612288B2 (en) * | 2001-04-27 | 2005-01-19 | 三菱電機株式会社 | Marine radar |
| CN101241154B (en) * | 2007-02-06 | 2011-05-18 | 中国科学院空间科学与应用研究中心 | Scanner device for interference type image-forming microwave radiometer |
| CN101866006A (en) * | 2010-06-04 | 2010-10-20 | 西安天和防务技术股份有限公司 | Rotary multi-sensor photoelectric radar |
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Address after: No. 32, Changqing Street, Shuige Road, Jiangning District, Nanjing, Jiangsu 210003 Patentee after: China Shipbuilding Pengli (Nanjing) Atmospheric and Ocean Information System Co.,Ltd. Patentee after: CSIC PRIDE(Nanjing)Intelligent Equipment System Co.,Ltd Patentee after: CSSC Pengli (Nanjing) Technology Group Co.,Ltd. Address before: No. 32, Changqing Street, Shuige Road, Jiangning District, Nanjing, Jiangsu 210003 Patentee before: CSIC PRIDE (NANJING) ATMOSPHERE MARINE INFORMATION SYSTEM Co.,Ltd. Patentee before: NANJING PRIDE TECHNOLOGY Co.,Ltd. Patentee before: NANJING PRIDE SYSTEMS ENGINEERING INSTITUTE |
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Effective date of registration: 20230725 Address after: 211106 No. 32, Changqing street, Jiangning Development Zone, Nanjing, Jiangsu Patentee after: China Shipbuilding Pengli (Nanjing) Atmospheric and Ocean Information System Co.,Ltd. Patentee after: CSSC Pengli (Nanjing) Technology Group Co.,Ltd. Address before: No. 32, Changqing Street, Shuige Road, Jiangning District, Nanjing, Jiangsu 210003 Patentee before: China Shipbuilding Pengli (Nanjing) Atmospheric and Ocean Information System Co.,Ltd. Patentee before: CSIC PRIDE(Nanjing)Intelligent Equipment System Co.,Ltd Patentee before: CSSC Pengli (Nanjing) Technology Group Co.,Ltd. |