CN109508024B - Rapid high-precision attitude compensation method for shipborne electronic reconnaissance equipment - Google Patents
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Abstract
The invention provides a rapid high-precision attitude compensation method for shipborne electronic reconnaissance equipment. By disassembling the attitude compensation equation, dividing the attitude compensation equation into two parts, wherein one part is operated in a DSP (digital signal processor), and the other part is operated in an FPGA (field programmable gate array); aiming at the defect that the precision of signals is reduced greatly in the coordinate transformation process in the existing electronic reconnaissance field, the problem that the direction-finding result can be correctly converted to the geographic coordinate from the array surface coordinate under the influence of parameters such as the installation angle, the pitch, the roll, the course and the like of a ship-based platform is solved. The method can obviously improve the attitude compensation transformation precision of the reconnaissance signal of the ship-borne phased array, and is simple and easy to operate.
Description
Technical Field
The invention belongs to an electronic reconnaissance signal processing technology in the field of electronic countermeasure, and particularly relates to a shipborne accurate and quick attitude compensation method.
Background
When the shipborne electronic reconnaissance equipment is used for reconnaissance of external signals, the direction finding precision and the measurement delay of the signals are two key indexes. Because the electronic reconnaissance equipment is influenced by the changes of rolling, pitching and heading at sea and the installation angle factors of the array surface of the electronic reconnaissance equipment, the changes of the parameters can influence the change of the beam direction of the reconnaissance equipment at any time, thereby influencing the direction-finding performance. Therefore, the direction of the digital beam needs to be corrected in real time to reduce the influence of parameters such as ship swing on the direction finding precision. In the field of electronic reconnaissance, because the requirement on the delay performance of receiving is high, the operation of attitude compensation is generally completed in an FPGA (field programmable gate array) in a broadband digital receiver. The attitude compensation operation is generally performed in three parts: firstly, coordinate transformation from a wavefront to ship deck coordinates is carried out on azimuth pitching parameters (relative to the wavefront coordinates) obtained by direction finding, then transformation from the deck to geodetic coordinates is carried out, finally transformation from heading is considered to be converted into real geographic coordinates, and a schematic diagram of attitude compensation calculation of a general receiver is given in figure 1. The DSP receives the main control data through the parameter receiving and forwarding module, and sends the data including attitude parameters such as course, longitudinal and transverse swing, installation angle and the like, and then sends the parameters to the FPGA through a transmission channel. In the FPGA, array fixed-point operation is required, and the result is truncated after each fixed-point operation, so that the precision is reduced to a greater extent.
The document (Wu Yonggang, a method for stabilizing and compensating a servo system for a ship [ J ]. Torashike and ship protection, 2016, Vol 24, No.2:23-27) introduces a method for compensating a transmitting angle by combining longitudinal and transverse rolling and course data, and deduces and establishes an attitude change equation. The method can also provide a theoretical basis for realizing attitude compensation of the vehicle-mounted weapon servo system. A ship longitudinal and transverse rolling comprehensive vector coordinate transformation antenna beam pointing correction method (201410704439.2) aims at the problem that ship swinging and antenna attitude influence antenna beam pointing, and can quickly correct the beam pointing under an antenna coordinate system to the beam pointing in a geodetic coordinate system by establishing a mathematical model of the relation between the antenna beam pointing and the antenna attitude and ship longitudinal and transverse rolling. The electronic stability compensation formula of the ship is deduced from the literature (CaoCan. carrier-borne radar common stable mode coordinate transformation [ J ]. radar and countermeasure, 2010, 30 (1): 47-52). Through reference to documents, researchers mostly pay attention to theoretical derivation of ship-based coordinate transformation, and how to implement the derived formula and what kind of computing platform is implemented are not described.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a coordinate transformation compensation method which is used in the field of ship electronic reconnaissance and has the characteristics of low time delay, high conversion precision and the like, solves the problem that a direction finding result is converted from a front surface coordinate to a geographic coordinate under the influence of pitching and rolling of a ship-based platform, and improves the attitude compensation conversion precision of a ship-based electronic reconnaissance signal compared with the prior art.
The technical solution for realizing the purpose of the invention is as follows: a quick high-precision attitude compensation method for shipborne electronic reconnaissance equipment comprises the following steps:
the method comprises the following steps: determining parameters required by transformation from a front plane coordinate system to a ship geographical coordinate system:
(1) the pitch Eoa and azimuth Aoa of the signal obtained from the direction finding module with respect to the wavefront;
(2) an installation azimuth angle A _ pos and an installation pitch angle A _ pit of the array surface;
(3) a pitch angle B _ pit and a roll angle B _ pos of the ship;
(4) the ship course H.
Step two: calculating a middle coefficient coef0 converted from the front surface coordinate to the deck coordinate in a Mult0 module in the DSP, and executing the following floating point operation during calculation;
step three: calculating a middle coefficient coef1 converted from deck coordinates to geographic coordinates in a Mult1 module in the DSP, and executing the following floating point operation during calculation;
step four: the coefficient coef2 of the heading is obtained by operation in a Mult2 module in the DSP, and the following floating point operation is executed during the operation:
step five: in Mult3, coef0, coef1, and coef2 obtained in step four are merged, the merged operation is floating-point multiplication, and the result is denoted as coef 3:
step six: performing floating point to fixed point operation on the 9 coefficients in the intermediate coef3 generated in the step five, then sending the coefficients to the FPGA through a transmission channel, and completing subsequent required operation in the FPGA;
step seven: in the FPGA, the following fixed point operations are performed on the pitch angle Eoa and the azimuth angle Aoa to obtain an intermediate quantity xcoef:
step eight: in the FPGA, the fixed-point multiplication operation of the matrix and the vector is performed on the intermediate quantity coef3 and the intermediate quantity xcoef to obtain the intermediate quantity coef:
wherein y0, y1 and y2 are three vectors obtained after fixed-point multiplication.
Step nine: and according to the intermediate quantity coef obtained in the step eight, the attitude-compensated signal azimuth Aoa _ real and the attitude angle Eoa _ real relative to the geographic coordinates can be obtained, wherein atan is an arctangent function obtained by a table look-up, and asin is an arctangent function obtained by the table look-up.
Compared with the prior art, the method has the following advantages that:
(1) according to the invention, the problem that the signal orientation and the pitching relative to the array surface coordinate are converted into the geographic coordinate is solved by researching the coordinate transformation commonly used for shipborne electronic reconnaissance and disassembling the attitude compensation equation to divide the shipborne electronic reconnaissance into two parts, wherein one part is operated in a DSP (digital signal processor) and the other part is operated in an FPGA (field programmable gate array).
(2) The invention calculates part of left transformation process of attitude compensation operation in DSP, and ensures that the DSP still has extremely high data precision and extremely large dynamic range after four groups of matrix multiplication because the DSP can use the characteristic of floating point number operation.
(3) The coordinate signals of the array surface are converted into the geographic coordinates in the FPGA, 4 times of table look-up operation, 9 times of multiplication operation and 13 times of bit truncation operation are needed in total, and compared with the prior art (14 times of table look-up operation, 71 times of multiplication operation and 85 times of bit truncation operation), the method has the advantage that the calculation precision is greatly improved.
(4) The method is simple and easy to implement, is simple to operate, and has the characteristics of low time delay, high conversion precision and the like on the basis of solving the problem of converting the signal position and the pitching relative to the array plane coordinate into the geographic coordinate.
Drawings
Fig. 1 is a schematic diagram of a general receiver attitude compensation calculation in the prior art.
FIG. 2 is a flow chart of a fast high-precision attitude compensation method of the shipboard electronic reconnaissance device of the present invention
Detailed Description
It is easily understood that various embodiments of the present invention can be conceived by those skilled in the art according to the technical solution of the present invention without changing the essential spirit of the present invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as all of the present invention or as limitations or limitations on the technical aspects of the present invention.
The invention relates to a rapid high-precision attitude compensation method for shipborne electronic reconnaissance equipment, which comprises the following steps:
the method comprises the following steps: determining parameters required by transformation from a front plane coordinate system to a ship geographical coordinate system:
(1) pitch Eoa and azimuth Aoa of the signal obtained from the direction finding module with respect to the wavefront;
(2) an installation azimuth angle A _ pos and an installation pitch angle A _ pit of the array surface;
(3) a pitch angle B _ pit and a roll angle B _ pos of the ship;
(4) the ship course H.
Step two: calculating an intermediate coefficient coef0 converted from the front coordinates to deck coordinates in a Mult0 module in the DSP, and executing the following floating point operation during calculation;
step three: calculating a middle coefficient coef1 converted from deck coordinates into geographic coordinates in a Mult1 module in the DSP, and executing the following floating point operation during calculation;
step four: the coefficient coef2 of the heading is obtained by operation in a Mult2 module in the DSP, and the following floating point operation is executed during the operation:
step five: in Mult3, coef0, coef1, and coef2 obtained in step four are merged, the merged operation is floating-point multiplication, and the result is denoted as coef 3:
step six: performing floating point to fixed point conversion operation on the 9 coefficients in the intermediate coef3 generated in the step five, then sending the coefficients to the FPGA through a transmission channel, and completing subsequent required operation in the FPGA;
step seven: in the FPGA, the following fixed point operations are performed on the pitch angle Eoa and the azimuth angle Aoa to obtain an intermediate value xcoef:
step eight: in the FPGA, the fixed-point multiplication operation of the matrix and the vector is performed on the intermediate vector coef3 and the intermediate vector xcoef to obtain the intermediate vector coef:
wherein, y0, y1 and y2 are three vectors obtained by fixed-point multiplication.
Step nine: and according to the intermediate quantity coef obtained in the step eight, the attitude-compensated signal azimuth Aoa _ real and the attitude angle Eoa _ real relative to the geographic coordinates can be obtained, wherein atan is an arctangent function obtained by a table look-up, and asin is an arctangent function obtained by the table look-up.
Examples
In order to make the aforementioned features, objects and advantages of the present invention more comprehensible, a more detailed description is given below in conjunction with fig. 2 and the detailed embodiments, and comparison is made with simulation results.
The method comprises the following steps: establishing a definition of transformation from a front plane coordinate system to a ship geographical coordinate system;
(1) the pitch Eoa and azimuth Aoa relative to the wavefront are 30 and-15, respectively
(2) The mounting azimuth angle a _ pos and the mounting pitch angle a _ pit of the wavefront are 10 ° and 5 °, respectively.
(3) The pitch angle B _ pit and the roll angle B _ pos of the ship are respectively-13 degrees and 25 degrees.
(4) The ship heading H is 17 degrees.
Step two: the intermediate coefficient converted from the front surface to the deck coordinate transformation is operated, and the following floating point operation is executed in a Mult0 module in the DSP;
can obtain
Step three: operating the intermediate coefficient converted into the geographic coordinate from the deck, and executing the following floating point operation in a Mult1 module in the DSP;
can obtain
Step four: calculating a heading coefficient, and executing the following floating point operation in a Mult2 module in the DSP;
can obtain
Step five: in Mult3, coef0, coef1 and coef2 obtained in the step four are combined, the combination operation is floating-point multiplication, and the result is marked as coef3
Can obtain
Step six: and (4) performing floating point to fixed point conversion operation on the 9 coefficients in coef3 generated in the step five, and then sending the coefficients to the FPGA through a transmission channel. The set fixed point length is set to 16 bits, then
Step seven: the following fixed point calculations are made for the pitch angle Eoa and the azimuth angle Aoa:
step eight: coef3 and xcoef are multiplied with fixed point of matrix and vector to obtain coef
Can obtain
Step nine: and e, obtaining the attitude compensated signal azimuth Aoa _ real and the elevation angle Eoa _ real relative to the geographic coordinates according to coef obtained in the step eight, wherein atan is an arctangent function obtained by a table look-up, and asin is an arctangent function obtained by the table look-up.
Can find out
In order to verify the correctness of the method, parameters such as a pitch angle Eoa, an azimuth angle Aoa, an installation azimuth angle A _ pos of a front surface, an installation pitch angle A _ pit, a pitching angle B _ pit of a ship, a rolling angle B _ pos of the ship, a ship course H and the like are all set according to the step 1 in the specific implementation mode, floating point simulation is carried out by utilizing matlab to obtain a true azimuth angle-5.2676 degrees, a pitch angle is 56.3360 degrees after left side transformation, and errors of the azimuth angle and the pitch angle are 0.0484 and 0.0770 respectively. If the original scheme is adopted, namely all coordinate transformation is operated in a fixed-point mode in the FPGA, the results of the azimuth angle and the pitch angle are-5.410 degrees and 56.138 degrees respectively, and the errors are 0.1424 degrees and 0.198 degrees respectively. As can be seen from the verification process, the precision performance of the method is improved compared with that of the original method in the coordinate transformation.
Claims (1)
1. A quick high-precision attitude compensation method for ship-borne electronic reconnaissance equipment is characterized in that an attitude compensation equation is disassembled and divided into two parts, wherein one part is operated in a DSP (digital signal processor), and the other part is operated in an FPGA (field programmable gate array);
parameters required for the conversion of the wavefront coordinate system to the ship geographic coordinate system are as follows:
pitch Eoa and azimuth Aoa of the signal obtained from the direction finding module with respect to the wavefront;
an installation azimuth angle A _ pos and an installation pitch angle A _ pit of the array surface;
a pitch angle B _ pit and a roll angle B _ pos of the ship;
the ship course H;
the attitude compensation method comprises the following steps:
the method comprises the following steps: the first computing module of the DSP computes the intermediate coefficient coef0 converted from the front coordinates to the deck coordinates, and the following floating point operation is executed during computation,
step two: calculating a middle coefficient coef1 converted from deck coordinates to geographical coordinates in a second operation module of the DSP, and executing the following floating point operation during calculation;
step three: calculating a coefficient coef2 for obtaining the heading in an operation module III of the DSP, and executing the following floating point operation during calculation:
step four: in the fourth DSP operation block, the above-obtained coef0, coef1, and coef2 are combined, the combination operation is floating-point multiplication, and the result is denoted as coef 3:
wherein c00, c01, c02, c10, c11, c12, c20, c21 and c22 are 9 coefficients obtained by merging operation;
step five: performing floating point to fixed point operation on the 9 coefficients in the intermediate coef3 obtained in the step four, and then sending the coefficients to the FPGA through a transmission channel;
step six: in the FPGA, the following fixed point operations are performed on the pitch angle Eoa and the azimuth angle Aoa to obtain an intermediate value xcoef:
step seven: in the FPGA, the fixed-point multiplication operation of the matrix and the vector is performed on the intermediate vector coef3 and the intermediate vector xcoef to obtain the intermediate vector coef:
wherein y0, y1 and y2 are three vectors obtained after fixed-point multiplication;
step eight: solving a signal azimuth angle Aoa _ real and a signal pitch angle Eoa _ real relative to the geographic coordinates after the attitude compensation according to the intermediate quantity coef obtained in the step eight,
wherein atan is an arctangent function operator, and asin is an anti-sine function operator.
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