CN103116034A - Goal direction-finding velocity-measuring system based on orthogonality static detecting arrays - Google Patents

Abstract

The invention relates to a goal direction-finding velocity-measuring system based on orthogonality static electric detecting arrays and belongs to the technical field of transducers. The goal direction-finding velocity-measuring system based on the orthogonality static electric detecting arrays particularly comprises an electrode detecting array, a system static state input circuit, a small-signal amplification circuit module, a differential amplification circuit, an advertisement (AD) collecting system and a microprocessor. A signal inducting array relevant to a location and a speed of movements of a goal is inducted and produced in a static electric field which is produced in the goal by six detecting electrodes of an orthogonality static electric detecting array. Inducting signals output by the six detecting electrodes are correspondingly magnified through the small-signal amplification circuit and the differential amplification circuit and converted through the AD collecting circuit module, and the signals are turned into figure signals which can be disposed by the microprocessor. The figure signals received can be disposed by the microprocessor according to a detecting equation, thus a goal location and precise recognition of speeds can be achieved. The goal direction-finding velocity-measuring system based on the orthogonality static electric detecting arrays is provided with good application prospect. In addition, the goal direction-finding velocity-measuring system based on the orthogonality static electric detecting arrays is capable of improving accurate hitting power and low altitude goal warning capacity of a weapon system.

Description

Bearing velocity-measuring system based on quadrature electrostatic detection array

Technical field

The present invention relates to a kind of Bearing velocity-measuring system based on quadrature electrostatic detection array, belong to sensor technical field.

Background technology

The electrostatic field that produces in target travel is a kind of available information source, and this detectable electrostatic field is generally to be difficult to eliminate.In day by day complicated battlefield surroundings, for the target of low-latitude flying, be that radio, sound or the detection system of the system such as infrared all are difficult to fully play its fighting efficiency.And in numerous ECM (Electronic Countermeasures), the electrostatic detection technology can satisfy day by day complicated Battle Field Electromagnetic requirement.With respect to active Detecting Systems such as radio, the electrostatic detection system has good concealment, resists the characteristics such as stealthy, anti-electronic interferences ability is strong; And have the strong characteristics of anti-environmental interference ability for sound, the Detecting System such as infrared.Cylindrical Electrostatic probe can obtain target information by the electrostatic field that detects target, and this Detecting System can resist stealthy and existing all multi-form electronic interferences, and this is very effective to surveying low flying target.Good anti-interference of Cylindrical Electrostatic probe and self hidden performance make it have higher researching value and good application prospect.At present, in prior art, there is the problem that precision is low, the Project Realization difficulty is large in the speed-measuring method based on the static system.

Summary of the invention

The objective of the invention is provides a kind of Bearing velocity-measuring system based on quadrature electrostatic detection array for solving the existing problem that the speed-measuring method precision is low, the Project Realization difficulty is large based on the static system, the accurate identification of energy realize target orientation and velocity.

The objective of the invention is to realize by following proposal.

A kind of Bearing velocity-measuring system based on quadrature electrostatic detection array comprises exploring electrode array, static system input circuit, feeble signal amplifying circuit module, differential amplifier circuit, AD Acquisition Circuit and microprocessor.

Wherein, the exploring electrode array is comprised of the square electrode of 6 omnidirectional distribution; That 6 exploring electrodes become in the three-dimensional coordinate space is symmetrical, quadrature is laid, and forms quadrature electrostatic detection array, and the electrostatic signal of charged target is surveyed, and obtains containing the induced signal sequence of target azimuth and velocity information.

Feeble signal amplifying circuit module comprises six tunnel separate low input impedance feeble signal amplifying circuits.

The static system input circuit produces six tunnel de-noised signal; The output of one tunnel de-noised signal and an exploring electrode is connected to one tunnel low input impedance feeble signal amplifying circuit jointly, through the faint amplification with gain.

Six tunnel outputs of feeble signal amplifying circuit module are carried out respectively differential amplification through the input difference amplifying circuit, filtering appts noise, the signal to noise ratio (S/N ratio) of raising signal.

A plurality of outputs of differential amplifier circuit are connected to respectively the AD Acquisition Circuit, carry out analog to digital conversion; Result after analog to digital conversion inputs to microprocessor and processes, and according to detection equation, obtains position angle and the movement velocity of target travel.

The workflow of Bearing velocity-measuring system of the present invention is: in the electrostatic field that target produces, induction produces the induced signal sequence relevant with the target travel orientation and velocity by 6 exploring electrodes of quadrature electrostatic detection array; The induced signal of 6 exploring electrode outputs amplifies through corresponding feeble signal amplifying circuit and differential amplifier circuit, through AD Acquisition Circuit analog to digital conversion, changes signal into digital signal that microprocessor module can be processed; Microprocessor is processed the digital signal that receives according to detection equation, finally calculates target travel position angle and movement velocity.

A kind of Bearing speed-measuring method based on quadrature electrostatic detection array in described Bearing velocity-measuring system microprocessor comprises the steps:

Step 1 is set up the object space movement locus and is measured coordinate system, is defined as (X _i, Y _i, Z _i).Target trajectory (hypothetical target is linear uniform motion) is angle of pitch β with the angle on XY plane, track on the XY plane projection and the angle of X-axis be azimuth angle alpha.

Step 2 is measured the initial point of coordinate system as the geometric center of detection array take the object space movement locus, lays quadrature electrostatic detection array.Described quadrature electrostatic detection array comprises 6 exploring electrodes.6 exploring electrodes are square electrode, the distribution that is orthogonal, and perpendicular to the positive negative direction of X, Y, Z axis, its geometrical center to center true origin distance is d/2 to each electrode respectively, wherein d is the spacing of exploring electrode.

Step 3, after completing the laying of exploring electrode, each exploring electrode works alone, the electrostatic signal of receiving target, and produce output electrostatic induction signal.There is phase differential in the induced signal of described 6 exploring electrodes output.

Step 4, the electrostatic induction signal that each exploring electrode is exported carries out differential amplification, filtering is processed.Systematic microprocessor gathers 6 tunnel electrostatic induction signals of exploring electrode output simultaneously, and is placed in same time reference sequence, and because the space distribution of 6 exploring electrodes is different, the moment that zero crossing appears in the induced signal of its output is respectively t ₁, t ₂, t ₃, t ₄, t ₅And t ₆

Step 5 is used the angle of pitch β, azimuth angle alpha and the movement velocity V that obtain target travel based on the charged Bearing of quadrature electrostatic detection array, the equation that tests the speed.The form of direction finding, the equation that tests the speed is:

$\left\{\begin{array}{c}\mathrm{\&alpha;}=\mathrm{arctg}\frac{t_3-t_4}{t_1-{\mathrm{<figure-callout\; id="2"\; label="t"\; filenames="HSA00000821367100023.png"\; state="\{\{state\}\}">t</figure-callout>}}_2}\\ \mathrm{\&beta;}=\mathrm{arctg}\left(\frac{t_5-t_6}{\sqrt{{(t_3-t_4)}^2+{(t_1-t_2)}^2}}\right)\\ V=\frac{d}{\sqrt{{(t_3-t_4)}^2+{(t_1-t_2)}^2+{(t_5-t_6)}^2}}\end{array}\right.---\left(1\right)$

In formula, β (angle of pitch) is the angle on movement locus and XY plane, the projection that α (position angle) is track on the XY plane and the angle of X-axis, and V is target speed, t ₁, t ₂, t ₃, t ₄, t ₅And t ₆The moment of zero crossing appears in the induced signal that is respectively the output of 6 exploring electrodes, and d is the distance between symmetrical two exploring electrodes.

So far, the Bearing of completing based on quadrature electrostatic detection array tests the speed.

The another kind of implementation of described method is:

The coordinate system at the quadrature electrostatic detection array place that will lay according to the rule of described step 2 rotates the γ angle around Z axis, rotates around X-axis

The angle obtains the coordinate figure (X of quadrature electrostatic detection array in postrotational coordinate system _i, Y _i, Z _i) ' be:

${(X_i,Y_i,Z_i)}^{\&prime;}=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}& \sin \mathrm{\&gamma;}& 0\\ -\sin \mathrm{\&gamma;}& \cos \mathrm{\&gamma;}& 0\\ 0& 0& 1\end{array}\right]\&CenterDot;\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\&phi;}& \sin \mathrm{\&phi;}\\ 0& -\sin \mathrm{\&phi;}& \cos \mathrm{\&phi;}\end{array}\right]\&CenterDot;(X_j,Y_j,Z_j)---\left(2\right)$

Wherein, (X _j, Y _j, Z _j) be the coordinate figure in former coordinate system, i, j=1,2 ..., 6.

In postrotational coordinate system, the azimuth angle alpha of target travel ', β ' can be tried to achieve by step 3 to the method for step 5 equally.

Due to coordinate system conversion, the following equation of real α, β formation in α ', β ' and former coordinate system:

And with α, the β final output as detection system.

Beneficial effect

The present invention to charged target standalone probe, analyzes the phase difference of each exploring electrode output signal by different exploring electrodes, and the accurate identification of realize target orientation and velocity has a good application prospect.In addition, the present invention can improve precision strike capability and the low target pre-alerting ability of armament systems.

Description of drawings

Fig. 1 is the Bearing speed-measuring method process flow diagram based on quadrature electrostatic detection array of the present invention;

Fig. 2 is electrostatic signal direction finding measuring principle figure in embodiment;

Fig. 3 is quadrature electrostatic detection array df measuring principle schematic diagram in embodiment;

Fig. 4 is Bearing velocity-measuring system structural representation of the present invention;

Fig. 5 is one road static system input circuit and the circuit theory diagrams of low input impedance feeble signal amplifying circuit and differential amplifier circuit accordingly thereof in embodiment;

Fig. 6 is the direction finding experiment schematic diagram that tests the speed in embodiment.

Embodiment

For objects and advantages of the present invention are described better, the present invention will be further described below in conjunction with drawings and Examples.

Each exploring electrode of quadrature electrostatic detection array adopts the current type Cylindrical Electrostatic probe, and when charged target was arranged through exploring electrode, the output signal of electrode as shown in Figure 2.When exploring electrode there are differences on space distribution, can formation and target velocity, burst that azimuth information is relevant, utilize the difference of burst can obtain speed and the azimuth information of target.

The space motion path of the present embodiment is measured coordinate system as shown in Figure 3.Adopt 6 exploring electrodes, the geometric center point of each exploring electrode is O ₁, O ₂, O ₃, O ₄, O ₅And O ₆, the spacing of exploring electrode is d.A(x ₀, y ₀, z ₀) point and B (x ₁, y ₁, z ₁) point is 2 points on the track of target travel, target is along by uniform motion on A, 2 definite straight lines of B, and speed is V.At this moment, the electrified body movement locus no longer is parallel to coordinate plane, and is all angled with each coordinate plane.The angle of this movement locus and XY face is β, track on the XY plane projection and the angle of X-axis be α.Obtain α, β and can determine that charged target is in the orientation of spatial movement.

The form of direction finding, the equation that tests the speed is:

$\left\{\begin{array}{c}\mathrm{\&alpha;}=\mathrm{arctg}\frac{t_3-t_4}{t_1-{\mathrm{<figure-callout\; id="2"\; label="t"\; filenames="HSA00000821367100023.png"\; state="\{\{state\}\}">t</figure-callout>}}_2}\\ \mathrm{\&beta;}=\mathrm{arctg}\left(\frac{t_5-t_6}{\sqrt{{(t_3-t_4)}^2+{(t_1-t_2)}^2}}\right)\\ V=\frac{d}{\sqrt{{(t_2-t_4)}^2+{(t_1-t_2)}^2+{(t_5-t_6)}^2}}\end{array}\right.$

In formula, t ₁, t ₂, t ₃, t ₄, t ₅And t ₆The moment of zero crossing appears in the induced signal that is respectively 6 exploring electrode outputs.

The exploring electrode of the present embodiment adopts square electrode, length of side 100mm, and its geometrical center to center coordinate origin distance is 50mm.

The output signal of exploring electrode carries out to target the foundation that direction finding is tested the speed as quadrature electrostatic detection array by feeble signal treatment circuit discharge output.Wherein one road circuit theory of feeble signal treatment circuit as shown in Figure 5.Consist of the low faint amplifying circuit of input impedance by resistance R 1, R3, R5, R7 and amplifier in figure, adjustment R1, R3, R5, R7 parameter can obtain the high signal amplification effect of sensitivity, the resistance of the R1 that adjustment obtains is that the resistance of 100K Ω, R3 is that the resistance of 51K Ω, R5 is that the resistance of 39K Ω, R7 is 50K Ω, and amplifier adopts OP2277.R2, R4, R6, R8 and amplifier form the static system input circuit, and the resistance of R2 is that the resistance of 100K Ω, R4 is that the resistance of 51K Ω, R6 is that the resistance of 39K Ω, R8 is 50K Ω.Capacitor C 1, C2 are power filtering capacitor, and to improve the system works reliability, capacitance is 0.1uF.Signal differential circuit is by resistance R 9, R10, R11, R12, and capacitor C 5, C6 form and amplifier forms, and the output signal of faint amplifying circuit output signal and exploring electrode is carried out difference, can reduce background signal to the impact of system, improves the signal to noise ratio (S/N ratio) of output signal.The resistance of R9 is that the resistance of 20K Ω, R10 is that the resistance of 20K Ω, R11 is that the resistance of 1M Ω, R12 is 1M Ω, and the appearance value of C5, C6 is 56pF, and operational amplifier is OP4277.

In this embodiment, the detection performance of Bearing velocity-measuring system has been carried out experimental verification.Experiment forms as shown in Figure 6.The object movement simulation system is freely falling body, and charged spheroid is done the movement of falling object with the height of 3m, plane of movement and detection array place plane parallel.In experiment, detection array is rotated an angle around geometric center at every turn, and do not change the motion state of electric globule, the movement locus of bead and detection array just have an angle like this.In experiment, constantly change the angle of detection array and bead, use the Bearing velocity-measuring system that this angle and bead speed are measured.Detection array be spaced apart d=0.23m.Table 1, table 2 are test the speed 4 groups of experimental measurements of direction finding of quadrature electrostatic detection array.Experimental result shows that the method direction finding precision is no more than ± 10 degree, the error that tests the speed is no more than ± and 5%.

The table 1 direction finding experimental data that tests the speed

Table 2 experimental data that tests the speed

Claims (3)

1. based on the Bearing velocity-measuring system of quadrature electrostatic detection array, it is characterized in that: comprise exploring electrode array, static system input circuit, feeble signal amplifying circuit module, differential amplifier circuit, AD Acquisition Circuit and microprocessor;

Wherein, the exploring electrode array comprises the exploring electrode of 6 symmetries, omnidirectional distribution, forms quadrature electrostatic detection array, and the electrostatic signal of charged target is surveyed, and obtains containing the induced signal sequence of target azimuth and velocity information;

Feeble signal amplifying circuit module comprises six tunnel separate low input impedance feeble signal amplifying circuits;

The static system input circuit produces six tunnel de-noised signal; The output of one tunnel de-noised signal and an exploring electrode is connected to one tunnel low input impedance feeble signal amplifying circuit jointly, through the faint amplification with gain;

Six tunnel outputs of feeble signal amplifying circuit module are carried out respectively differential amplification, filtering appts noise through the input difference amplifying circuit;

A plurality of outputs of differential amplifier circuit are connected to respectively the AD Acquisition Circuit, carry out analog to digital conversion; Result after analog to digital conversion inputs to microprocessor and processes, and according to detection equation, obtains position angle and the movement velocity of target travel.

2. the Bearing velocity-measuring system based on quadrature electrostatic detection array according to claim 1, is characterized in that: exploring electrode employing square electrode.

3. the Bearing velocity-measuring system based on quadrature electrostatic detection array according to claim 1, it is characterized in that: described detection equation is

$\left\{\begin{array}{c}\mathrm{\&alpha;}=\mathrm{arctg}\frac{t_3-t_4}{t_1-t_2}\\ \mathrm{\&beta;}=\mathrm{arctg}\left(\frac{t_5-t_6}{\sqrt{{(t_3-t_4)}^2+{(t_1-t_2)}^2}}\right)\\ V=\frac{d}{\sqrt{{(t_3-t_4)}^2+{(t_1-t_2)}^2+{(t_5-t_6)}^2}}\end{array}\right.$

In formula, angle of pitch β is the angle on movement locus and XY plane, the projection that azimuth angle alpha is track on the XY plane and the angle of X-axis, and V is target speed, t ₁, t ₂, t ₃, t ₄, t ₅And t ₆The moment of zero crossing appears in the induced signal that is respectively the output of 6 exploring electrodes, and d is the distance between symmetrical two exploring electrodes.

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