CN108845312A - The high method of survey based on pulse regime radio altimeter - Google Patents
The high method of survey based on pulse regime radio altimeter Download PDFInfo
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- CN108845312A CN108845312A CN201810564185.7A CN201810564185A CN108845312A CN 108845312 A CN108845312 A CN 108845312A CN 201810564185 A CN201810564185 A CN 201810564185A CN 108845312 A CN108845312 A CN 108845312A
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
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Abstract
The invention discloses a kind of high methods of survey of pulse regime radio altimeter, mainly solve the problems, such as that the prior art co-channel interference easily occurs in formation flight.Its implementation is：Emit random pulses clock signal, processing first is carried out to echo-signal when reception and generates two-path video signal, and first via signal amplitude and noise are greater than second road signal；Correlation accumulation is carried out to first via signal by multiple nanosecond range gates, when the umber of pulse of accumulation is greater than tracking gate limit value, is overlapped according to range gate and video pulse and generates stop pulse；Height is calculated using the method for mathematical statistics according to the delay time of trigger pulse and stop pulse；The sensitivity that machine is controlled and received by second road signal, the amplitude control of second road signal is in sampling near threshold under so that different circuit is decayed, so that the amplitude of first via signal is greater than sampling thresholding and holding is stablized.The invention can avoid the signal interferences with his machine, improve the altimetry precision of multiple aircraft formation, can be used for aerospace flight vehicle.
Description
Technical field
The invention belongs to radar range finding technical field, in particular to a kind of radio altimeter can be used for aerospace and fly
The high precision tracking of flying height is measured under multiple aircraft formation or complex environment in row device.
The prior art
Measurement for aircraft apart from ground and water surface true altitude mainly passes through radio altimeter realization, radio
There are mainly three types of working systems at present for altimeter:Pulse regime, CW with frequency modulation system and pseudo-code continuous wave survey high system,
In：
Pulse regime altimeter working principle is：Transmitting pulse is generated by pulse-generating circuit, is set by Microwave emission
It is standby by pulse signal modulation to radio frequency, emitted aerial radiation to ground, the radiofrequency signal of ground return pass through receiving antenna into
Enter microwave receiving system, generate intermediate-freuqncy signal after low noise and mixing, tracks circuit output through gain control and analog signal
Video echo pulse signal, is handled through altitude information and counting circuit, interface circuit output height and status information give flight
Other equipment on device.
It is existing based on impulse radio altimeter carry out surveying high method mainly include the search to echo-signal, capture and
Automatically track three parts interknited.After echo-signal is exported by receiver, is made by processing and meet amplitude
It is required that video pulse signal, which is compared in time with trace pulse, is compared between the time between them
Every.If trace pulse is completely coincident with echo impulse in time, i.e. output error voltage if the delay time of the two is identical
It is zero.Otherwise by output error voltage, error voltage size is directly proportional to the difference of time, indicates tracking arteries and veins by its positive and negative values
The front and back correlation of punching and echo impulse.A control signal, the control are generated according to the size of the positive and negative values of error voltage
The effect of signal is to control trace pulse mobile time and mobile direction, and the purpose is to make trace pulse relative to benchmark arteries and veins
The delay time of punching towards the delay time identical direction change with video pulse relative to reference pulse, make trace pulse and
Video pulse is completely coincident, and calculates current height by the time delay of measurement transmitting pulse and trace pulse.
It is applied to radio altimeter with the above-mentioned existing high method of survey to carry out surveying height, can has the following disadvantages:
As the equipment equipped on aircraft is more and more, electromagnetic environment is increasingly complicated, and most aircraft need to form into columns
It flies, an at least radio altimeter is equipped on every frame aircraft, there is interference between equipment inside and equipment, also deposit
In the co-channel interference of other airborne radars, when carrying out surveying high with the high method of above-mentioned survey, since tracking circuit returns the machine, his machine
Wave signal or noise signal cannot effectively identify that, especially when multiple aircraft formation is in flight, the carry-on radio of a frame is high
Spend table may error tracking other radars echo-signal or tracking noise signal, the tracking of this mistake will will lead to output
The survey of mistake is high as a result, influencing air formation flight safety and normal tracking.
Normal tracking problem is that pulse regime radio altimeter is badly in need of solving when therefore how to solve multiple aircraft formation flight
A problem.
Summary of the invention
It is an object of the invention to be directed to the deficiency of above-mentioned prior art, a kind of survey based on pulse regime altimeter is proposed
High method guarantees the flight safety and normal tracking of air formation, improves multiple aircraft formation to avoid the signal interference with his machine
Altimetry precision and stability.
Technical thought of the invention is：Emit random pulses clock signal, when reception first carries out processing production to echo-signal
Raw two-path video signal, first via signal amplitude and noise are greater than second road signal；By multiple nanosecond range gates to first
Road signal carries out correlation accumulation, when the umber of pulse of accumulation is greater than tracking gate limit value, is overlapped and is produced according to range gate and video pulse
Raw stop pulse；Height is calculated using the method for mathematical statistics according to the delay time of trigger pulse and stop pulse；Pass through
Second road signal controls and receives the sensitivity of machine, so that different circuit is decayed, the amplitude control of lower second road signal is in sampling thresholding
Near so that the amplitude of first via signal be greater than sampling thresholding and keep stablize, guarantee pulse front edge tracking with it is difference strong
Altimetry precision under weak echo-signal.
According to above-mentioned technical thought, realization step of the invention includes as follows：
(1) it initializes, reads the residual altitude H of pulse regime altimeterAParameter, preset binary sampled accumulation thresholding
Detected value K0, height gain control AGC curve voltage and inceptive impulse repetition period Ti, by the tracking gate relative transmission of search
The delay time T of trigger pulseGIt is initialized as zero, control tracking gate is searched for since zero elevation；Simultaneously according to height gain control
AGC curve voltage parameter processed, output gain control AGC voltage, control the receiving sensitivity of pulse regime altimeter, by the height
The operating mode of table is transferred to search pattern；
(2) according to inceptive impulse repetition period TiGenerate new pulse repetition period TF, according to new pulse repetition period TF
Generate the trigger pulse T of radio-frequency modulations0, control pulse regime altimeter generation RF pulse signal and simultaneously emit to the ground；
(3) first via video arteries and veins is generated after the echo pulse signal of pulse regime altimeter output being filtered, amplified
Rush signal P1Output, and by the denoising and blocking processing to first via video pulse signal, generate the second road video pulse letter
Number P2Output；
(4) the pure noise time ordered interval without echo-signal is chosen, to first via video pulse signal P1It is sampled, and is led to
Cross accumulation, be averaging obtain the average noise size of echo signal sample circuit, according to average noise size and preset two into
System sampling accumulation Threshold detection value K0Determine tracking gate limit value K；
(5) tracking gate relative transmission start pulse signal T is read0Delay time digital quantity, according to the delay time number
Word amount generates a relative transmission trigger pulse and postpones tracking gate, and tracking gate width is 10ns, which is input to width
Clock frequency for 30 range gate shift registers, range gate shift register is 100MHz, generates height distance respectively
Successively increase 30 neighbor distance door R that width is 10nsN；
(6) in range gate RNPosition is to first via video pulse signal P10/1 quantization is carried out, and is moved by the accumulation of M digit pulse
Bit register SRMNQuantized result is read out, then to pulse accumulation shift register SRMNValue SRQNFor " 1 " digit into
Row statistics, obtains M pulse repetition period in range gate RNThe first via video pulse signal P that position samples1Number；
If range gate RNThe first via video pulse P that the M repetition period of position samples1When number is greater than tracking threshold K,
Then range gate RNPosition tracking status signal STN=1, it indicates in range gate RNPosition samples effective echo-signal；
Otherwise, STN=0, it indicates in range gate RNPosition does not sample echo-signal；
(7) according to tracking mode signal STNJudge range gate RNAnd range gate RNM digit pulse accumulation displacement at position is posted
Storage SRMNThe moving direction of value；
If tracking mode signal STNMeet：STN=0,1<=N<=11, then adjust the distance a RNAnd range gate RNAt position
M digit pulse accumulates shift register SRMNValue is moved to right；
If tracking mode signal STNMeet：STN=1, N=1,2 ... 10, then adjust the distance a RNAnd range gate RNAt position
M digit pulse accumulate shift register SRMNValue is moved to left；
(8) according to range gate RNBe overlapped with first via video pulse P1 and generates stop pulse T1；
(9) emit trigger pulse T according to (2)0Forward position and stop pulse T1It delay time between forward position, is united using mathematics
The method of meter carries out height calculating, calculates 512 average height H2, according to residual altitude HAParameter carries out average height
Amendment obtains true altitude HR, and it is output to pulse regime altimeter；
(10) working condition for determining altimeter controls voltage according to altimeter working condition output gain：
If whole tracking mode signal STNIt is zero, that is, meets：STN=0,1<=N<=30, then altimeter work is being searched
Strand state, otherwise, altimeter work in tracking mode；
If altimeter work controls AGC voltage in search condition, according to height gain control AGC curve output gain,
Control the sensitivity of the altimeter, return step 2；
If altimeter works in tracing mode, in range gate RNTo the second road video pulse P in range2Carry out (0/1)
Quantization, to M repetition period, the pulse of quantization is counted, and generates signal gain control according to M repetition period statistics umber of pulse
AGC voltage processed controls the second road video pulse P2Output amplitude is equal with sampling threshold value；
Signal gain control AGC voltage is compared with height gain control AGC curve voltage, if signal gain control
The voltage-controlled gain of AGC processed is less than height gain and controls the voltage-controlled gain of AGC curve, then output gain signal controls
AGC voltage controls the sensitivity of altimeter, otherwise exports height gain control AGC curve voltage and controls the sensitive of the altimeter
Degree, return step 2.
The present invention has the following advantages that compared with prior art：
It, can be to local signal and his machine signal or noise when reception 1. the present invention is by transmitting random pulses clock signal
Effectively identification will not track his machine signal or interference signal, realize impulse radio altimeter high stable, high reliability ranging,
It is high cannot to stablize survey for altimeter when solving the problems, such as multiple aircraft formation and more bullets while emit；
2. the present invention carries out the detection and tracking of signal by multi-threshold and AGC is controlled, even if in complicated landform ring
It still is able to realize the tenacious tracking of signal under border and under low signal-to-noise ratio, guarantees the reliability of height output；
3. present invention use is binary sampled, the detection and tracking of signal is carried out by multi-threshold and AGC is controlled, effectively
Solves the Amplitude quantization error of binary sampled processing, when signal trace is capable of the amplitude of stationary echo signal, guarantees to survey high
Precision；
4. the present invention is overlapped by double fronting and the high mode of survey of mathematical statistics, solve in digital processing method due to adopting
Sample frequency limit causes altimeter resolution ratio lower and the not high problem of precision.
Detailed description of the invention
Fig. 1 is the pulse regime altimeter functional block diagram that the present invention uses；
Fig. 2 is realization general flow chart of the invention；
Specific embodiment
Below in conjunction with attached drawing, the present invention will be described in detail.
Referring to Fig.1, the pulse regime height that the present invention uses includes receiving antenna, transmitting antenna, receiving antenna high-frequency electrical
Cable, transmitting antenna high frequency cable, Microwave emission unit, microwave receiving unit, signal processing unit, interface unit and power supply list
Member.Microwave emission unit generates the high-frequency impulse letter of 4300MHz under the random trigger pulse control that signal processing unit generates
Number, transmitting antenna is transferred to by high frequency cable by transmitting antenna and is radiated to the ground.The echo-signal that receiving antenna will receive
Microwave receiving unit, the AGC that microwave receiving unit is generated in signal processing unit are transferred to by high frequency cable by receiving antenna
It controls and echo-signal gain is controlled under the control of voltage, export video pulse signal to signal processing unit.At signal
It manages unit and tracking and positioning is carried out to the video pulse signal, calculate height, and height and status information are converted to and are met
The signal of 6096 bus standard of EIA-RS-422A bus standard and HB.The HB that interface unit exports signal processing unit
The signal modulation of 6096 bus standards and EIA-RS-422A bus standard is at meeting 6096 bus level signal of HB and EIA-RS-
422A bus level signal is transferred to the equipment on external machine.Power supply unit carries out the 28V DC power supply inputted on external machine
Filtering, is converted into+5V and ± 12V DC power supply by DC/DC power module, and+5V DC power supply is supplied respectively to signal
Processing unit and interface unit, general ± 12V DC power supply are supplied respectively to Microwave emission unit, microwave receiving unit and interface list
Member.
Referring to Fig. 2, the present invention is based on the pulse regime altimeters to carry out surveying high method, and implementation step is as follows：
Step 1. initialization pulse system altimeter, is transferred to search pattern for the altimeter.
Read the residual altitude H of altimeterA, preset binary sampled accumulation Threshold detection value K0, height gain control
AGC curve voltage and inceptive impulse repetition period Ti；
By the tracking gate relative transmission trigger pulse T of search0Delay time TGIt is initialized as zero, i.e. TG=0, control with
Track door is searched for since zero elevation, controls AGC curve voltage according to the gain of height, output gain controls AGC voltage, and passes through
The gain controls the receiving sensitivity of AGC voltage control altimeter.
Step 2. generates radio-frequency modulations trigger pulse.
According to inceptive impulse repetition period Ti, generate random offset TS, wherein 0<TS<Ti* 30%；
Generate new pulse repetition period TF：TF=Ti+TS；
According to new pulsed reset cycle TFGenerate the trigger pulse T of radio-frequency modulations0, control pulse regime altimeter, which generates, to be penetrated
Frequency pulse signal simultaneously emits to the ground.
Step 3. generates first via video pulse signal and the second road video pulse signal.
Receiving antenna receives ground echo signal, becomes video echo signal by receiving unit, and to the video echo
Signal generates first via video pulse signal P after being filtered, amplifying1；
To first via video pulse signal P1Denoising and blocking processing are carried out, the second road video pulse signal P is generated2。
Step 4. generates tracking gate limit value K.
The pure noise time ordered interval without echo-signal 4a) is chosen, to first via video pulse signal P1Binary system is carried out to adopt
Sample, and by M pulse repetition period accumulation, acquire first via video pulse signal P1Average noise sampled value KN：
It 4a1) chooses and generates trigger pulse T0In preceding pure noise time ordered interval, 8 different noise samples in position are generated
Door is detected, the width of each detection door is 10ns；
4a2) respectively on the position of above 8 noise samples detection door to the first via video pulse signal P of input1Into
Row 0/1 quantifies；
4a3) to the first via video pulse signal of each noise samples detection door Location quantization, pass through M digit pulse product respectively
Tired shift register is read out, and is counted to the digit that pulse accumulation shift register is " 1 ", and each noise samples inspection is obtained
The amount of noise that the survey M pulse repetition period of door position is arrived by binary integration detection；
4a4) amount of noise detected to above 8 noise samples detection door is averaging, and obtains average noise sampled value
KN；
4b) in average noise sampled value KNIn addition preset binary sampled accumulation Threshold detection value K0, obtain tracking threshold
Value K.
Step 5. generates 30 adjacent range gate RN。
Read tracking gate relative transmission start pulse signal T0Delay time TG, according to delay time TGGenerate one
The tracking gate of relative transmission trigger pulse delay, the width of tracking gate are 10ns；
Tracking gate is input to 30 grades of range gate shift register, by the clock frequency of 100MHz, so that range gate
The shift register height distances at different levels that generate respectively successively increase 30 neighbor distance door R that width is 10nsN, 1<=N<=
30。
Step 6. is adjusted the distance a RNThe first via video pulse signal P of position1Carry out pulse accumulation detection.
6a) in range gate RNPosition is to first via video pulse signal P10/1 quantization is carried out, and is moved by the accumulation of M digit pulse
Bit register SRMNQuantized result is read out, then to pulse accumulation shift register SRMNDigit for " 1 " is counted,
M pulse repetition period is obtained in range gate RNThe first via video pulse signal P that position samples1Number；
6b) adjust the distance a RNThe first via video pulse P that the M repetition period of position samples1Number and tracking gate limit value
K is compared, and exports range gate RNPosition tracking status signal STN：
If range gate RNThe first via video pulse P that the M repetition period of position samples1When number is greater than K, then STN=1,
It indicates in range gate RNPosition samples effective echo-signal；
Otherwise, STN=0, it indicates in range gate RNPosition does not sample echo-signal.
Step 7. command range door RNAnd range gate RNM digit pulse at position accumulates shift register SRMNValue movement.
Range gate R 7a) is judged according to tracking mode signalNMoving direction：
If tracking mode signal STNMeet：STN=0,1<=N<=11, then range gate RNIt moves to right, executes step 7b；
If tracking mode signal STNMeet：STN=1, N=1,2 ... 10, then range gate RNIt moves to left, executes step 7c；
7b) adjust the distance a RNAnd range gate RNM digit pulse at position accumulates shift register SRMNValue is moved to right：
7b1) the delay time T by tracking gate with respect to trigger pulseGIncrease a clock cycle Δ T, realizes tracking gate
It moves to right, i.e.,：
TG=TG+ Δ T, TG<TiIf TG=Ti, then no longer moved to right；
Wherein TiThe inceptive impulse repetition period defined for step 1；
Due to range gate RNIt is to be generated by the way that tracking gate is synchronous, therefore when tracking gate moves to right realizes range gate RNMove to right；
7b2) by range gate RNM digit pulse accumulates shift register SRM at positionNValue SRQNMoved to right, i.e., will after
One M digit pulse accumulates shift register SRMN+1Value SRQN+1It is assigned to previous M digit pulse accumulation shift LD
Device
SRMN, obtain each range gate RNM digit pulse accumulates shift register SRM at positionNValue：
SRQ1=SRQ2,
SRQ2=SRQ3,
……
SRQN=SRQN+1,
……
SRQ29=SRQ30；
SRQ30=0,
Wherein, 1<=N<=30；
7c) adjust the distance a RNAnd range gate RNM digit pulse at position accumulates shift register SRMNValue is moved to left.
7c1) the delay time T by tracking gate with respect to trigger pulseGIt reduces by a clock cycle Δ T, realizes tracking gate
It moves to left, i.e.,：TG=TGΔ T, TG>0；If TG=0, then it is no longer moved to left；
Due to range gate RNIt is to be generated by the way that tracking gate is synchronous, therefore when tracking gate moves to left realizes range gate RNMove to left；
7c2) by range gate RNM digit pulse accumulates shift register SRM at positionNValue moved to left, i.e., by previous M
Digit pulse accumulates shift register SRMN-1Value SRQN-1It is assigned to the latter M digit pulse accumulation shift register SRMN, obtain each
Range gate RNM digit pulse accumulates shift register SRM at positionNValue：
SRQ30=SRQ29；
SRQ29=SRQ28；
……
SRQN=SRQN-1；
……
SRQ2=SRQ1；
SRQ1=0；
Wherein, 1<=N<=30.
Step 8. generates stop pulse T1
By the 11st range gate R11With the 12nd range gate R12Mutually or after again with first via video pulse P1It is overlapped；
By the result and the 13rd range gate R after coincidence13It carries out again mutually or, obtaining stop pulse T1：
T1=P1&(R11or R12)or R13,
Wherein, P1For first via video pulse signal, R11For the 11st range gate, R12For the 12nd range gate, R13It is
13 range gates, T1For stop pulse, & is " with door ", and or is disjunction gate.
Step 9. is according to transmitting trigger pulse T0With stop pulse T1Between delay time, calculate average height, according to
Residual altitude parameter is modified average height to obtain true altitude, and is output to pulse regime altimeter.
Height calculating 9a) is carried out using the method for mathematical statistics, calculates 512 average height H2：
9a1) generating transmitting trigger pulse T0When start to counter count, until generate stop pulse T1When stop meter
Number records the counting pulse number n in this time period counter1, calculated according to the clock cycle for counting pulse number and counter
Stop pulse T out1Relative to transmitting pulse T0Delay time tH：
tH=n1* T=n1/ f,
Wherein T is the clock cycle of counter, and f is the clock frequency of counter；
9a2) according to delay time tHWith electromagnetic wave propagation speed c, single measurement height H is calculated1:
H1=(c*tH)/2=(c*n1)/(2f)；
9a3) to stop pulse T1Carry out 512 frequency dividings, the pulse T after generating frequency dividingA, pass through divided pulse TARead 512
The pulse number n of the counter of subpulse repetition period2, while counter is zeroed out, the repetition of 512 subpulses is calculated
The average height H in period2：
H2=(c*n2)/(2*f*512)。
9b) according to residual altitude HAParameter is modified 512 average heights, calculates true altitude：
9b1) calculate residual altitude HA:
HA=(c*tA)/2,
Wherein, tARefer to the time delay that the signal of altimeter transmitting is generated by device and cable；
9b2) calculate true altitude HR：
HR=H2-HA
Wherein, H2It is the average height of 512 subpulse repetition periods.
Step 10. determines the working condition of altimeter, controls voltage according to altimeter working condition output gain.
The working condition of altimeter 10a) is determined according to tracking mode signal：
If whole tracking mode signal STNIt is zero, that is, meets：STN=0,1<=N<=30, then altimeter work is being searched
Strand state, otherwise, altimeter work in tracking mode；
Voltage 10b) is controlled according to the working condition output gain of altimeter：
If altimeter work controls AGC voltage in search condition, according to height gain control AGC curve output gain,
Control the sensitivity of the altimeter, return step 2；
If altimeter works in tracing mode, in range gate RNTo the second road video pulse P in range2Carry out (0/1)
Quantization, to M repetition period, the pulse of quantization is counted, and generates signal gain control according to M repetition period statistics umber of pulse
AGC voltage processed controls the second road video pulse P2Output amplitude is equal with sampling threshold value；
Signal gain control AGC voltage is compared with height gain control AGC curve voltage, if signal gain control
The voltage-controlled gain of AGC processed is less than height gain and controls the voltage-controlled gain of AGC curve, then output gain signal controls
AGC voltage controls the sensitivity of altimeter, otherwise exports height gain control AGC curve voltage and controls the sensitive of the altimeter
Degree, return step 2.
Above description is only example of the present invention, does not constitute any limitation of the invention, it is clear that for
It, all may be without departing substantially from the principle of the invention, structure after having understood the content of present invention and principle for one of skill in the art
In the case where, carry out various modifications and change in form and details, but these are amendments based on inventive concept and change
Become still within the scope of the claims of the present invention.
Claims (6)
1. a kind of high method of survey based on pulse regime radio altimeter, it is characterised in that including：
(1) it initializes, reads the residual altitude H of pulse regime altimeterAParameter, preset binary sampled accumulation Threshold detection
Value K0, height gain control AGC curve voltage and inceptive impulse repetition period Ti, the tracking gate relative transmission of search is triggered
The delay time T of pulseGIt is initialized as zero, control tracking gate is searched for since zero elevation；AGC is controlled according to height gain simultaneously
Curve voltage parameter, output gain control AGC voltage, the receiving sensitivity of pulse regime altimeter are controlled, by the altimeter
Operating mode is transferred to search pattern；
(2) according to inceptive impulse repetition period TiGenerate new pulse repetition period TF, according to new pulse repetition period TFIt generates
The trigger pulse T of radio-frequency modulations0, control pulse regime altimeter generation RF pulse signal and simultaneously emit to the ground；
(3) first via video pulse letter is generated after the echo pulse signal of pulse regime altimeter output being filtered, amplified
Number P1Output, and by the denoising and blocking processing to first via video pulse signal, generate the second road video pulse signal P2It is defeated
Out；
(4) the pure noise time ordered interval without echo-signal is chosen, to first via video pulse signal P1It is sampled, and passes through product
Tired, averaging obtains the average noise size of echo signal sample circuit, is adopted according to average noise size and preset binary system
Sample accumulates Threshold detection value K0Determine tracking gate limit value K；
(5) tracking gate relative transmission start pulse signal T is read0Delay time digital quantity, according to the delay time number volume production
A raw relative transmission trigger pulse postpones tracking gate, and tracking gate width is 10ns, and it is 30 which, which is input to width,
Range gate shift register, the clock frequency of range gate shift register is 100MHz, generates height distance respectively and successively increases
Degree of widening is 30 neighbor distance door R of 10nsN；
(6) in range gate RNPosition is to first via video pulse signal P10/1 quantization is carried out, and is posted by the accumulation displacement of M digit pulse
Storage SRMNQuantized result is read out, then to pulse accumulation shift register SRMNValue SRQNDigit for " 1 " is united
Meter, obtains M pulse repetition period in range gate RNThe first via video pulse signal P that position samples1Number；
(7) according to first via video pulse signal P1Judge in range gate RNWhether position samples echo-signal：
If range gate RNThe first via video pulse P that the M repetition period of position samples1Number be greater than tracking threshold K when, then away from
From door RNPosition tracking status signal STN=1, it indicates in range gate RNPosition samples effective echo-signal；
Otherwise, STN=0, it indicates in range gate RNPosition does not sample echo-signal；
(8) according to tracking mode signal STNJudge range gate RNAnd range gate RNM digit pulse at position accumulates shift register
SRMNThe moving direction of value；
If tracking mode signal STNMeet：STN=0,1<=N<=11, then adjust the distance a RNAnd range gate RNThe position M arteries and veins at position
Shift register SRM is tired out in alluviationNValue is moved to right；
If tracking mode signal STNMeet：STN=1, N=1,2 ... 10, then adjust the distance a RNAnd range gate RNThe position M at position
Pulse accumulation shift register SRMNValue is moved to left；
(9) by range gate RNBe overlapped with first via video pulse P1 and generates stop pulse T1；
(10) emit trigger pulse T according to (2)0Forward position and stop pulse T1Delay time between forward position, using mathematical statistics
Method carries out height calculating, calculates 512 average height H2, according to residual altitude HAParameter is modified average height
Obtain true altitude HR, and it is output to pulse regime altimeter；
(11) working condition for determining altimeter controls voltage according to altimeter working condition output gain：
If whole tracking mode signal STNIt is zero, that is, meets：STN=0,1<=N<=30, then altimeter work is in search shape
State, otherwise, altimeter work in tracking mode；
If altimeter work controls AGC voltage, control in search condition, according to height gain control AGC curve output gain
The sensitivity of the altimeter, return step 2；
If altimeter works in tracing mode, in range gate RNTo the second road video pulse P in range2Carry out the amount of (0/1)
Change, to M repetition period, the pulse of quantization is counted, and generates signal gain control according to M repetition period statistics umber of pulse
AGC voltage controls the second road video pulse P2Output amplitude is equal with sampling threshold value；
Signal gain control AGC voltage is compared with height gain control AGC curve voltage, if signal gain controls
The voltage-controlled gain of AGC is less than height gain and controls the voltage-controlled gain of AGC curve, then output gain signal controls AGC
Voltage controls the sensitivity of altimeter, otherwise exports the sensitivity that height gain control AGC curve voltage controls the altimeter, returns
Return step 2.
2. method according to claim 1, wherein adjust the distance in step (8) RNAnd range gate RNM digit pulse product at position
Tired shift register SRMNValue is moved to right, and is carried out as follows：
(8.1) the delay time T by tracking gate with respect to trigger pulseGIncrease a clock cycle Δ T, realize moving to right for tracking gate,
I.e.：
TG=TG+ Δ T, TG<TiIf TG=Ti, then no longer moved to right；
Wherein TiThe inceptive impulse repetition period defined for step 1；
Due to range gate RNIt is to be generated by the way that tracking gate is synchronous, therefore i.e. realization range gate R when tracking gate moves to rightNMove to right；
(8.2) by range gate RNM digit pulse accumulates shift register SRM at positionNValue SRQNIt is moved to right, i.e., by the latter M
Digit pulse accumulates shift register SRMN+1Value SRQN+1It is assigned to previous M digit pulse accumulation shift register SRMN, obtain each
Range gate RNM digit pulse accumulates shift register SRM at positionNValue：
SRQ1=SRQ2,
SRQ2=SRQ3,
……
SRQN=SRQN+1,
……
SRQ29=SRQ30；
SRQ30=0,
Wherein, 1<=N<=30.
3. method according to claim 1, wherein adjust the distance in step (8) RNAnd range gate RNM digit pulse product at position
Tired shift register SRMNValue is moved to left, and is carried out as follows：
(8.3) the delay time T by tracking gate with respect to trigger pulseGIt reduces by a clock cycle Δ T, realizes moving to left for tracking gate,
I.e.：TG=TGΔ T, TG>0；If TG=0, then it is no longer moved to left；
Due to range gate RNIt is to be generated by the way that tracking gate is synchronous, therefore when tracking gate moves to left realizes range gate RNMove to left；
(8.4) by range gate RNM digit pulse accumulates shift register SRM at positionNValue moved to left, i.e., by previous M arteries and veins
Shift register SRM is tired out in alluviationN-1Value SRQN-1It is assigned to the latter M digit pulse accumulation shift register SRMN, obtain each distance
Door RNM digit pulse accumulates shift register SRM at positionNValue：
SRQ30=SRQ29；
SRQ29=SRQ28；
……
SRQN=SRQN-1；
……
SRQ2=SRQ1；
SRQ1=0；
Wherein, 1<=N<=30.
4. method according to claim 1, wherein in step (9) according to range gate RNIt is overlapped with first via video pulse
Stop pulse is generated, is carried out as follows：
(9.1) by the 11st range gate R11With the 12nd range gate R12Mutually or after again with first via video pulse P1It is overlapped；
(9.2) by the result and the 13rd range gate R after coincidence13It carries out again mutually or, obtaining stop pulse T1：
T1=P1&(R11 or R12)or R13,
Wherein, P1For first via video pulse signal, R11For the 11st range gate, R12For the 12nd range gate, R13It is the 13rd
Range gate, T1For stop pulse, & is " with door ", and or is disjunction gate.
5. method according to claim 1, wherein carrying out height calculating using the method for mathematical statistics in step (10), calculate
512 average heights out carry out as follows：
(10.1) trigger pulse T is being generated0When start to counter count, until generate stop pulse T1When stop count, record
The counting pulse number n of counter during this period1, the clock cycle of counter is T, and it is opposite to calculate echo impulse by frequency f
In exomonental delay time tH：
tH=n1* T,
(10.2) according to delay time tHWith electromagnetic wave propagation speed c, the object height H of single pulse is obtained1:
H1=(c*tH)/2=(c*n1)/(2f)；
(10.3) to stop pulse T1Carry out 512 frequency dividings, the pulse T after generating frequency dividingA, pass through divided pulse TAIt reads 512 times
The pulse number n of the counter of pulse repetition period2, while counter is zeroed out, 512 subpulses are calculated and repeat week
The average height H of phase2：
H2=(c*n2)/(2*f*512)。
6. method according to claim 1, wherein in step (10) according to residual altitude HAParameter, to 512 average heights into
Row amendment, carries out as follows：
(10.4) residual altitude H is calculatedA:
HA=(c*tA)/2
Wherein, tARefer to the time delay that the signal of altimeter transmitting is generated by device and cable, c is electromagnetic wave propagation speed
Degree；
(10.5) true altitude H is calculatedR：
HR=H2-HA
Wherein, H2It is the average height of 512 subpulse repetition periods.
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