CN110207713A - A kind of micro-nano navigational guidance and control system and method - Google Patents
A kind of micro-nano navigational guidance and control system and method Download PDFInfo
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Abstract
The invention discloses a kind of micro-nano navigational guidance and control system and method, which includes the laser detector module for the laser signal of sensitive target reflection；The AD conversion module of microprocessor is transmitted to after digital signal for acquiring the voltage signal of laser detector module and being converted to；For obtaining the satellite navigation module and Inertial Measurement Unit of navigation information；For providing accurate navigation information for system, seeking target relative rotational angular position, control instruction is obtained by Guidance and control operation, and be sent to the microprocessor module of power mechanism；For realizing the wireless communication module of microprocessor module and the telecommunication at ground monitoring station；For storing by the data recordin module of the microprocessor navigation information obtained and control instruction, for receiving the power mechanism of control instruction and drive system movement.System structure of the invention is simple, it is convenient, versatile to realize, has a wide range of application, and has a extensive future on navigational guidance and control system and method design application field.
Description
Technical field
The invention belongs to navigational guidance and Control System Design field, especially a kind of micro-nano navigational guidance and control system
And method.
Background technique
In the latest 20 years, with the rapid development of electronic technology, computing technique, MEMS technology, for grinding for precise guidance
Study carefully and using universal attention is worldwide received, becomes one of the research hotspot of current aerospace space industry.It is existing
Guidance control system generallys use separation design, comprising flight control computer, inertial measurement cluster, satellite navigation receiver, moves
The components such as Force system；Information exchange is carried out using external bus between component, using cable connection；This system architecture causes to produce
Product are at high cost, volume is big, cannot dock the huge application demand of inexpensive guided munition well.
Compared with conventional system, micro-nano system has the advantages of it be can not ignore, for example, system is miniaturized, manufacture material
Can stablize etc., however its disadvantage is also it will be apparent that such as sticking problem, electrostatic force problem, friction problem etc., this is just
Design of system integration brings challenge, also becomes a problem for needing to solve instantly.Ground experiment platform is in Guidance and control system
It is of great significance during system product development, for example the feasibility of technical indicator can be proved, examine various interference protection measures
Validity, optimisation technique index system etc..However based on most ground experiment platform under existing analogue system framework at
This height, volume are big, and system building is complex.System is larger with the differentiation of product, it is difficult to shorten the R&D cycle of product, while again
Improve research and development cost.This is also the problem that current techniques personnel need to solve.
Summary of the invention
That the purpose of the present invention is to provide a kind of structures is simple, realize guidance that is convenient, versatile, having a wide range of application and
Control system and method.
The technical solution for realizing the aim of the invention is as follows: a kind of micro-nano navigational guidance and control system, including laser are visited
Survey device module, AD conversion module, satellite navigation module, Inertial Measurement Unit, microprocessor module, wireless communication module, data
Logging modle, power mechanism；
The laser detector module, the laser signal for sensitive target reflection；
The AD conversion module, after acquiring the voltage signal of laser detector module and being converted into digital signal
It is transmitted to microprocessor module；
The satellite navigation module and Inertial Measurement Unit, be provided commonly for the current latitude of measuring system, longitude, height,
Eastern speed, north speed and day speed, and the acceleration, angular velocity information in three directions in three dimensions, and it is transmitted to microprocessor
Module；
The microprocessor module provides accurate navigation letter for running inertia-combinations of satellites navigation algorithm for system
Breath, while target relative rotational angular position is sought according to the laser signal that laser detector module receives, believed according to the system of acquisition
Breath and target information obtain control instruction by Guidance and control operation, and are sent to power mechanism；
The wireless communication module, for realizing the telecommunication of microprocessor module and ground monitoring station, micro process
Device module is by navigation information, laser signal and system information transmissions to ground monitoring station；
The data recordin module, for storing by the navigation information and control instruction of microprocessor acquisition；
The power mechanism, for receiving control instruction and drive system movement.
A kind of micro-nano navigational guidance and control method, comprising the following steps:
Step 1, laser detector module receive the laser signal reflected by target, and wherein laser detector is specially four-quadrant
Limit detector；
Step 2, AD conversion module acquire the voltage signal of laser detector module and pass after being converted into digital signal
Transport to microprocessor module；
Step 3, satellite navigation module, Inertial Measurement Unit obtain navigation information and the information are transmitted to microprocessor mould
Block, wherein the current longitude of satellite navigation module measuring system, latitude, height, east speed, north speed and day are fast；Inertial Measurement Unit
The angular speed, acceleration in measuring system three directions in three dimensions；
Step 4, microprocessor module seek target relative to system in four-quadrant according to the voltage value of the four-quadrant received
Limit the angle on imaging plane, including pitch angle and yaw angle；
Step 5, system information and target information in conjunction with above-mentioned acquisition obtain control by Guidance and control operation and refer to
It enables, and is sent to power mechanism, moved by power mechanism control system.
Compared with prior art, the present invention its remarkable advantage are as follows: 1) each component part design that system included is integrated,
It simplified component, alleviated quality, reduced the volume of whole system, and solved conventional micro-nano system process design complexity
Problem, thereby reduces cost, furthermore reduces the connecting cable between component, improves the reliability and anti high overload energy of system
Power；2) under the small restraint condition of system bulk, laser acquisition, integrated navigation, the resolving of Guidance and control rule, task are still able to achieve
Comprehensive and wireless communication function etc. is multi-functional and low in energy consumption；3) the system processing speed is fast, can be (5ms weeks in the short time
Phase) in realize navigational guidance and control calculate, furthermore generate control instruction be used to examine micro-nano aerocraft system design can
By property, support is provided for the improvement and more in depth research of later period micro-nano system；4) system development difficulty is small, versatility
By force；5) system can be used as test platform use, can also use directly as product.
The present invention is described in further detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is micro-nano navigational guidance of the present invention and control system schematic diagram.
Fig. 2 is micro-nano navigational guidance of the present invention and control system hardware structural diagram.
Fig. 3 is 4 quadrant detector schematic diagram.
Fig. 4 micro-nano navigational guidance of the present invention and control system operation principle schematic diagram.
Fig. 5 is two-shipper joint debugging semi-matter simulating system schematic diagram in the embodiment of the present invention.
Fig. 6 is two-shipper joint debugging semi-matter simulating system structural schematic diagram in the embodiment of the present invention.
Fig. 7 is ground monitoring interface schematic diagram in the embodiment of the present invention.
Fig. 8 is that the three-dimensional animation in the embodiment of the present invention in ground monitoring interface shows figure.
Fig. 9 is the laser acquisition surface chart in the embodiment of the present invention in ground monitoring interface.
Figure 10 is micro-nano navigational guidance and control system position Three-dimensional Display schematic diagram in the embodiment of the present invention.
Figure 11 is micro-nano navigational guidance and control system X-Y location relationship simulation curve figure in the embodiment of the present invention.
Figure 12 is micro-nano navigational guidance and control system Z-X positional relationship simulation curve figure in the embodiment of the present invention.
Figure 13 is micro-nano navigational guidance and control system Y-Z positional relationship simulation curve figure in the embodiment of the present invention.
Specific embodiment
In conjunction with Fig. 1, micro-nano navigational guidance of the present invention and control system, including laser detector module, AD conversion module, defend
Star navigation module, Inertial Measurement Unit, microprocessor module, wireless communication module, data recordin module, power mechanism；
Laser detector module, the laser signal for sensitive target reflection；
AD conversion module, for acquiring the voltage signal of laser detector module and transmitting after being converted into digital signal
To microprocessor module；
Satellite navigation module and Inertial Measurement Unit, be provided commonly for the current latitude of measuring system, longitude, height, east speed,
Northern speed and day speed, and the acceleration, angular velocity information in three directions in three dimensions, and it is transmitted to microprocessor module；
Microprocessor module provides accurate navigation information for running inertia-combinations of satellites navigation algorithm for system, together
When target relative rotational angular position sought according to the laser signal that laser detector module receives, according to the system information of acquisition and
Target information obtains control instruction by Guidance and control operation, and is sent to power mechanism；
Wireless communication module, for realizing the telecommunication of microprocessor module and ground monitoring station, microprocessor mould
Block is by navigation information, laser signal and system information transmissions to ground monitoring station；
Data recordin module, for storing by the navigation information and control instruction of microprocessor acquisition；
The power mechanism, for receiving control instruction and drive system movement.
Further, laser detector module includes the optical imaging system coaxially set gradually, 4 quadrant detector, light
It learns imaging system the target reflection laser received is imaged to 4 quadrant detector.
Exemplary preferably satellite navigation module specifically uses the MAX-M8Q-O-01 chip of UBLOX series, and size is big
Small is 10.1mm (length) × 9.7mm (width) × 2.5mm (height), satellite can be searched within 20s, and can receive simultaneously
GPS, GLONASS, Big Dipper satellite signal provide accurate position and speed and temporal information.
It is exemplary that preferably Inertial Measurement Unit specifically uses MPU9250 chip, size be 3mm × 3mm ×
1mm consists of two parts, and one group is that there are also 3 axis accelerometers for 3 axis gyroscopes, for obtaining acceleration, angular velocity information, separately
A part is that 3 axis magnetometers can be used to obtain Geomagnetism Information.
Exemplary preferably microprocessor module, data recordin module are all made of STM32F4 family chip, specific to use
STM32F429HII.STM32F4 series monolithic (MCU) based on ARM Cortex-M4, using the NVM of STMicw Electronics
Technique and ART accelerator TM generate control instruction as data processing core part.
It is exemplary preferably, wireless communication module includes DL-20 wireless serial module and mini RS232MAX3232 level
Turn Transistor-Transistor Logic level change-over panel.DL-20 wireless serial module is that serial ports turns 2.4G wireless module, with a or multiple by will wirelessly connect
Serial ports links together.Module data loss rate during point-to-point transmission is 0.00%, serial ports is supported uninterruptedly to send.
It is exemplary preferably, the A/D chip that A/D module specifically uses is AD7689.
It is exemplary preferably, A/D module transmits a signal to microprocessor by SPI mode.
It is exemplary preferably, navigation information is transmitted to micro process by RS232 serial port by satellite navigation module
Device module.
Micro-nano navigational guidance of the present invention and the hardware configuration of control system are as shown in Fig. 2, its component part is (suitable from top to bottom
Sequence) function is as follows:
(1) interface adapter board is mainly used for welding micro-nano system external connection cables, including for giving the confession of system power supply
Electrical cables realize the communication cable of correspondence with foreign country, the interface cable that is connect with emulator and with acquisition laser detector signal
Input cable；
(2) secondary power supply is passed to mainly by the electric signal being passed to from interface adapter board by processing to corresponding module；
(3) data logger mainly welds one piece of STM32F429HII chip, for store from microprocessor be passed to
Data are used for ex-post analysis；
(4) the 4th layers of four pieces of MPU9250 chip of welding and navigational computer, Inertial Measurement Unit is for acquisition angle speed
Degree, acceleration and Geomagnetism Information, while four pieces of chip data collected are pocessed, it can be improved measurement accuracy, lead
Boat computer is used to handle used group and realizes navigational guidance and the control operation of system with satellite information, and issues control instruction；
(5) layer 5 welds one piece of MAX-M8Q-O-01 chip, for acquiring satellite information, realizes satellite navigation, and lead to
RS232 serial ports all the way is crossed to be passed to GPS information is surveyed into navigational computer.
A kind of micro-nano navigational guidance and control method, comprising the following steps:
Step 1, laser detector module receive the laser signal reflected by target, and wherein laser detector is specially four-quadrant
Limit detector；
Step 2, AD conversion module acquire the voltage signal of laser detector module and pass after being converted into digital signal
Transport to microprocessor module；
Step 3, satellite navigation module, Inertial Measurement Unit obtain navigation information and the information are transmitted to microprocessor mould
Block, wherein the current longitude of satellite navigation module measuring system, latitude, height, east speed, north speed and day are fast；Inertial Measurement Unit
The angular speed, acceleration in measuring system three directions in three dimensions；
Step 4, microprocessor module seek target relative to system in four-quadrant according to the voltage value of the four-quadrant received
Limit angle, that is, target relative rotational angular position on imaging plane, including pitch angle and yaw angle；
Step 5, system information and target information in conjunction with above-mentioned acquisition obtain control by Guidance and control operation and refer to
It enables, and is sent to power mechanism, moved by power mechanism control system.
It is exemplary preferably, in step 2 AD conversion module and microprocessor module transmission period be 5ms；Step 3 centre halfback
The renewal rate of star navigation module metrical information is 100ms, and the renewal rate of Inertial Measurement Unit metrical information is 5ms.
Further, it is opposite relative to angle i.e. target of the system on four-quadrant imaging plane that target is sought in step 4
Angle Position, including the following contents:
Total voltage on the left of 4 quadrant detector are as follows: SUM (left)=V (D00)+V (D10)
Total voltage on the right side of 4 quadrant detector are as follows: SUM (right)=V (D01)+V (D11)
Total voltage on the upside of 4 quadrant detector are as follows: SUM (up)=V (D00)+V (D01)
Total voltage on the downside of 4 quadrant detector are as follows: SUM (down)=V (D10)+V (D11)
In formula, V (D00), V (D01), V (D10), V (D11) respectively indicate 4 quadrant detector first as shown in Figure 3,
Voltage in second, third and fourth quadrant；
It is indicated in the relative position of X-direction are as follows: x=100*SUM (right)/SUM (total)
Relative position in the Y direction indicates are as follows: y=100*SUM (up)/SUM (total)
Then pitch angle are as follows:
In formula, H is distance of the field stop to photosurface；
Deflection angle φ are as follows:
To sum up, micro-nano navigational guidance of the present invention and control system working principle process, as shown in Figure 4:
(1) when micro-nano navigational guidance is with control system flight in the sky, the satellite navigation module in system provides accurate
Satellite information can obtain longitude, latitude, height and east speed, north speed, the day speed of present position；Inertial Measurement Unit
Can be with the angular speed and acceleration in three current directions of measuring system, and the navigation information of acquisition is sent to micro process
Device obtains the accurate position of micro-nano system, speed, posture information by processing；
(2) laser detector module receives from the AD conversion module on the reflected light of target, system and collects light
Signal is sent to microprocessor, obtains target information by processing；
(3) microprocessor calculates the deviation obtained between system flight direction and target, forms guidance signal or control refers to
It enables, and guides micro-nano system target.
Below with reference to embodiment, the present invention is described in further detail.
Embodiment
For verifying micro-nano navigational guidance and control system performance, two-shipper joint debugging semi-matter simulating system has been built on ground,
Using trajectory simulation GPS and IMU information, and by its IMU information (system in three dimensions the angular speed in three directions, accelerate
Degree) with 5ms beat, GPS information (longitude, latitude, height, east speed, north speed and the day speed of system) is sent to micro- with 100ms beat
Receive navigational guidance and control system, micro-nano navigational guidance receives the navigation information from Ballistic Simulation of Underwater machine with control system and finally counts
Control instruction is calculated, and feeds back to Ballistic Simulation of Underwater machine, thus Ballistic Simulation of Underwater machine calculates the ballistic trajectory of next beat, then again
It is sent to micro-nano system, it is as shown in Figure 5, Figure 6 to form a closed-loop simulation system, in which:
1) Ballistic Simulation of Underwater machine
The functions of modules mainly includes calculating position of aircraft under the inertial coodinate system of equator, and be converted into GPS, IMU signal,
It is sent to micro-nano computer by serial ports, and receives the control instruction from microprocessor, carries out the ballistic computation of next step.
2) microprocessor
The module, which receives, comes from Ballistic Simulation of Underwater machine GPS, IMU information, calculates power command by navigational guidance control, leads to
It crosses serial ports and is sent to Ballistic Simulation of Underwater machine.IMU, GPS and body attitude information are sent to monitoring computer simultaneously, and shown extremely
Interface.
3) computer is monitored
Computer is monitored as shown in fig. 7, mainly including following functions:
● serial port setting area: it can choose serial port setting baud rate in the module, save data；
● inertial navigation viewing area: in the inertial guidance data of module real-time display transmission；
● the viewing area GPS: the module shows time, longitude, latitude, height, speed etc.；
● laser detector viewing area: the module shows the coordinate of hot spot, and the real-time position on four-quadrant coordinate system
It sets；
● three-dimensional animation viewing area；The flight path of simulated flight device, as shown in Figure 8.
Application method: serial ports is opened, determines serial port and baud rate.System electrification is given as required, it will on interface
The data that display micro-nano computer is transmitted.
Optical detector module detects the laser signal being reflected back by target using laser 4 quadrant detector, passes through four-quadrant
Voltage difference calculates target bearing, and shows into interface as shown in Fig. 7, Fig. 9.The principle is as follows:
Four independent pixels of detector experience laser facula, root after light beam irradiates or is reflected into 4 quadrant detector
According to hot spot, voltage difference caused by photoelectric effect converses the relative position of hot spot on the detector on four pixels.
Above-mentioned emulation platform is relied on, simulates the true trajectory of aircraft, attack movement using Three Degree Of Freedom trajectory
Target (target point motion information is what digital simulation obtained in ground experiment), carries out emulation experiment.Micro-nano navigational guidance with
Control system flight path result is as shown in Figure 10, Figure 11, Figure 12, Figure 13.As can be seen from the figure micro-nano navigational guidance and control
System can fly to predeterminated target according to Guidance and control scheme, reach target.
System structure of the invention is simple, it is convenient, versatile to realize, has a wide range of application, and is in navigational guidance and control
It has a extensive future in system and method design application field.
Claims (6)
1. a kind of micro-nano navigational guidance and control system, which is characterized in that including laser detector module, AD conversion module, defend
Star navigation module, Inertial Measurement Unit, microprocessor module, wireless communication module, data recordin module, power mechanism；
The laser detector module, the laser signal for sensitive target reflection；
The AD conversion module, for acquiring the voltage signal of laser detector module and transmitting after being converted into digital signal
To microprocessor module；
The satellite navigation module and Inertial Measurement Unit, be provided commonly for the current latitude of measuring system, longitude, height, east speed,
Northern speed and day speed, and the acceleration, angular velocity information in three directions in three dimensions, and it is transmitted to microprocessor module；
The microprocessor module provides accurate navigation information for running inertia-combinations of satellites navigation algorithm for system, together
When target relative rotational angular position sought according to the laser signal that laser detector module receives, according to the system information of acquisition and
Target information obtains control instruction by Guidance and control operation, and is sent to power mechanism；
The wireless communication module, for realizing the telecommunication of microprocessor module and ground monitoring station, microprocessor mould
Block is by navigation information, laser signal and system information transmissions to ground monitoring station；
The data recordin module, for storing by the navigation information and control instruction of microprocessor acquisition；
The power mechanism, for receiving control instruction and drive system movement.
2. micro-nano navigational guidance according to claim 1 and control system, which is characterized in that the laser detector module
Including optical imaging system, the 4 quadrant detector coaxially set gradually, optical imaging system, which reflects the target received, to swash
Light is imaged to 4 quadrant detector.
3. micro-nano navigational guidance according to claim 1 or 2 and control system, which is characterized in that the AD conversion module
The A/D chip specifically used is AD7689；
The satellite navigation module specifically uses the MAX-M8Q-O-01 chip of UBLOX series；
The Inertial Measurement Unit specifically uses MPU9250 chip；
The microprocessor module, data recordin module are all made of STM32F4 family chip, specifically use STM32F429HII；
The wireless communication module includes that DL-20 wireless serial module and mini RS232 MAX3232 level turn Transistor-Transistor Logic level and turn
Change plate.
4. a kind of method of micro-nano navigational guidance and control system, which comprises the following steps:
Step 1, laser detector module receive the laser signal reflected by target, and wherein laser detector is specially that four-quadrant is visited
Survey device；
Step 2, AD conversion module acquire the voltage signal of laser detector module and are transmitted to after being converted into digital signal
Microprocessor module；
Step 3, satellite navigation module, Inertial Measurement Unit obtain navigation information and the information are transmitted to microprocessor module,
The wherein current longitude of satellite navigation module measuring system, latitude, height, east speed, north speed and day speed；Inertial Measurement Unit measurement
The angular speed, acceleration in system three directions in three dimensions；
Step 4, microprocessor module according to the voltage value of the four-quadrant received seek target relative to system four-quadrant at
As the angle in plane, that is, target relative rotational angular position, including pitch angle and yaw angle；
Step 5, system information and target information in conjunction with above-mentioned acquisition obtain control instruction by Guidance and control operation, and
It is sent to power mechanism, is moved by power mechanism control system.
5. the method for micro-nano navigational guidance and control system according to claim 4, which is characterized in that AD turns in step 2
The period for changing the mold block and microprocessor module transmission is 5ms；The renewal rate of step 3 Satellite navigation module metrical information is
100ms, the renewal rate of Inertial Measurement Unit metrical information are 5ms.
6. the method for micro-nano navigational guidance and control system according to claim 5, which is characterized in that asked described in step 4
Take angle i.e. target relative rotational angular position, including the following contents of the target relative to system on four-quadrant imaging plane:
Total voltage on the left of 4 quadrant detector are as follows: SUM (left)=V (D00)+V (D10)
Total voltage on the right side of 4 quadrant detector are as follows: SUM (right)=V (D01)+V (D11)
Total voltage on the upside of 4 quadrant detector are as follows: SUM (up)=V (D00)+V (D01)
Total voltage on the downside of 4 quadrant detector are as follows: SUM (down)=V (D10)+V (D11)
In formula, V (D00), V (D01), V (D10), V (D11) respectively indicate 4 quadrant detector first, second, third and fourth
Voltage on quadrant；
It is indicated in the relative position of X-direction are as follows: x=100*SUM (right)/SUM (total)
Relative position in the Y direction indicates are as follows: y=100*SUM (up)/SUM (total)
Then pitch angle are as follows:
In formula, H is distance of the field stop to photosurface；
Deflection angle φ are as follows:
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| CN110739990A (en) * | 2019-10-08 | 2020-01-31 | 北京航天飞腾装备技术有限责任公司 | Tester and testing method for coordinates of target point of satellite guided weapon |
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| CN110739990A (en) * | 2019-10-08 | 2020-01-31 | 北京航天飞腾装备技术有限责任公司 | Tester and testing method for coordinates of target point of satellite guided weapon |
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