CN109671329B - Radio direction finding simulation system and method - Google Patents
Radio direction finding simulation system and method Download PDFInfo
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- CN109671329B CN109671329B CN201910123452.1A CN201910123452A CN109671329B CN 109671329 B CN109671329 B CN 109671329B CN 201910123452 A CN201910123452 A CN 201910123452A CN 109671329 B CN109671329 B CN 109671329B
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/006—Simulators for teaching or training purposes for locating or ranging of objects
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
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Abstract
The invention provides a radio direction finding simulation system and a radio direction finding simulation method, wherein the system comprises a beacon unit and a direction finding and target searching unit, the direction finding and target searching unit comprises a direction finding unit and a target searching trolley, the direction finding unit is connected with the target searching trolley through a driving interface, the target searching trolley is used for carrying the direction finding unit and driving the target searching trolley to search for the beacon unit after receiving a driving signal of the direction finding unit, the direction finding unit is used for radio direction finding and driving the target searching trolley to search for the beacon unit, and the beacon unit is used for sending and removing a radio signal and giving a collision alarm. The direction finding of the system is actually that the direction finding unit automatically drives the target finding trolley to find the beacon unit after direction finding calculation, the traditional manual direction finding and target finding is replaced, the technical design capability of students is examined, and the system is suitable for radio direction finding simulation teaching, experiments, training, electronic sports and the like of high-grade universities and colleges.
Description
Technical Field
The invention relates to radio direction finding competition, teaching and training simulation technologies, in particular to a system and a method for radio direction finding simulation.
Background
The radio direction finding competition is a competition activity combining sports and science and technology, and the radio direction finding competition is brought into sports courses in China, and the general process mainly comprises the following steps: in a beautiful natural environment such as open fields, jungles of hills, suburbs, parks, and the like, a plurality of beacon devices (signal sources) are hidden in advance to emit a predetermined radio signal. The participants hand-hold the radio direction finder to measure the direction of the hidden radio station source, and quickly and accurately find out these signal sources one by adopting a walking or running mode, so as to find out the specified number of the radio stations within the specified time, and the participants with less time consumption are the excellence.
The traditional radio direction finding competition is biased to sports, has low technical content, cannot meet the culture requirement of high-end professional talents, and particularly urgently needs to develop radio direction finding electronic competition and teaching activities with high difficulty and technical content for higher colleges and universities in China. Therefore, a novel radio direction finding simulation system needs to be developed, the system is suitable for scientific research experiments, teaching, training and electronic competitions of universities and colleges, a scientific and technological platform integrating practice, innovation and teaching is built through the system, and the purposes of training and training the professional technical ability, innovation ability and practical ability of students are achieved finally.
Disclosure of Invention
The invention aims to provide a radio direction finding simulation system and a radio direction finding simulation method, which are used for providing high-technology-content radio direction finding electronic competition and teaching activities for colleges and universities.
A radio direction-finding simulation system comprises a beacon unit and a direction-finding and target-searching unit, wherein the direction-finding and target-searching unit comprises a direction-finding unit and a target-searching trolley, the direction-finding unit is connected with the target-searching trolley through a driving interface,
the target searching trolley is used for carrying the direction finding unit, receiving the driving signal of the direction finding unit and then driving to search the beacon unit;
the direction finding unit is used for wirelessly finding directions and driving the target finding trolley to find the beacon unit and comprises a double-channel radio frequency receiving module, an intermediate frequency module, a distance measuring module, a direction finding infrared receiving module, a direction finding infrared remote controller and a direction finding display screen, wherein the direction finding antenna is connected with the double-channel radio frequency receiving module, the double-channel radio frequency receiving module is connected with the intermediate frequency module, the intermediate frequency module is provided with a driving interface and is respectively connected with the distance measuring module, the direction finding display screen and the direction finding infrared receiving module, and the direction finding infrared receiving module is wirelessly connected with the direction finding infrared remote controller;
the beacon unit is used for sending and removing radio signals and giving collision alarm and comprises a sound-light alarm module, a beacon display screen, a pulse frequency source module, a central processing unit, a vibration sensor, a Hall sensor, a beacon infrared receiving module, a beacon infrared remote controller and a transmitting antenna, wherein the central processing unit is respectively connected with the pulse frequency source module, the sound-light alarm module, the vibration sensor, the Hall sensor, the beacon infrared receiving module and the beacon display screen, the pulse frequency source module is connected with the transmitting antenna, and the beacon infrared receiving module is in wireless connection with the beacon infrared remote controller.
Furthermore, the direction-finding antenna comprises a first direction-finding antenna and a second direction-finding antenna, and the intermediate frequency module comprises an FPGA, an MCU and 2 AD samplers.
Further, the sound and light alarm module comprises an LED and a buzzer.
The invention provides a radio direction finding simulation method, which comprises the following steps:
the first step is as follows: setting transmission parameters for beacon units
The beacon infrared receiving module converts the received infrared remote control signal into an electric signal and sends the electric signal into a central processing unit for decoding;
the second step is that: the beacon unit emits a radio signal of a specific frequency modulated with a beacon Morse code
The central processing unit analyzes the character code and frequency, then sets a pulse frequency source module to output a baseband signal with specific frequency and modulated with beacon Morse code, and the baseband signal is converted into a pulse radio frequency signal after gain adjustment and pulse modulation processing and is radiated by a transmitting antenna;
the third step: setting receiving parameters for direction-finding unit, recognizing Morse code of beacon, starting radio direction finding
Receiving parameters are set by the direction-finding infrared remote controller in a remote control mode, the parameters comprise a receiving frequency range and direction-finding Morse codes, after receiving an infrared remote control signal, the direction-finding infrared receiving module converts the infrared signal into an electric signal, sending the electrical signal into MCU for decoding, the MCU analyzes character instruction and sets corresponding receiving parameter to FPGA, the FPGA sets working parameter of the dual-channel RF receiving module, controls the dual-channel RF receiving module to receive RF signal in set frequency range, and is converted into an intermediate frequency signal after gain adjustment and frequency conversion, and then the intermediate frequency signal is transmitted to an AD sampler to complete sampling and data processing, a beacon Morse code in a wave signal is identified, if the beacon Morse code is consistent with a direction-finding Morse code, the beacon unit which transmits the radio signal is a target beacon unit to be searched, and the radio direction finding is started to further determine the incoming wave direction of the beacon unit; otherwise, if the beacon Morse code is not consistent with the direction-finding Morse code, the signal is abandoned, and the next frequency point signal is continuously received;
the fourth step: starting and driving the target-searching trolley to approach the beacon unit
Synchronizing the incoming wave direction measured in the third step to the MCU, calculating the angle of the target-searching trolley needing to be steered by the MCU according to the incoming wave direction, controlling the target-searching trolley to align the incoming wave direction of the signal through the driving interface, then driving the target-searching trolley to be close to the beacon unit, and correcting the motion direction of the target-searching trolley according to the incoming wave direction in real time to enable the target-searching trolley to always run towards the target beacon unit;
the fifth step: beacon-relieved radio signal
After the target searching trolley approaches the beacon unit, the distance measuring module detects the distance R between the target searching trolley and the beacon unit, when the value of R reaches a limit value, the MCU controls the target searching trolley to slow down and gradually approach the beacon unit until a Hall sensor of the beacon unit is triggered, and after the beacon unit receives a Hall feedback signal of the target searching trolley approaching safely, the signal emission is closed, and an acousto-optic signal for signal cancellation is sent out through the acousto-optic alarm module.
Further, the fourth step calculates the angle of the target-seeking trolley needing to be steered according to the incoming wave direction, and the specific calculation formula is as follows:
as can be derived from the above-mentioned formula,
；
in the formula (I), the compound is shown in the specification,
is the angular velocity, t is the time,
is the phase difference of two channel receiving signals in the dual-channel radio frequency receiving module, f is the frequency, d is the distance between the first direction-finding antenna and the second direction-finding antenna,
the difference between the first direction-finding antenna-to-beacon unit distance R1 and the second direction-finding antenna-to-beacon unit distance R2,
the steering angle is used for searching the target of the target searching trolley.
Further, the limit value of R in the fifth step is in the range of 10 to 50cm, preferably 30 cm.
Particularly, if the beacon searching trolley collides with the beacon unit, the beacon unit can send out sound-light alarm through the sound-light alarm module in order to remove the failure of the beacon radio signal.
The invention has the beneficial effects that:
compared with the traditional radio direction finding competitive activities, the radio direction finding simulation system combines the target finding trolley with the direction finding unit, utilizes the direction finding unit to drive the target finding trolley to find the beacon unit, replaces artificial movement and debugging direction finding, is a brand-new radio direction finding simulation system, and is suitable for new radio direction finding activities, such as radio direction finding experiments, teaching, training, electronic competitions and the like. The application and implementation of the invention can build a scientific and technological platform integrating practice, innovation and teaching into a whole, train and cultivate the professional technical ability, innovation ability, practical ability and the like of students, and the invention plays an important role in the teaching of the future radio direction finding field.
Drawings
FIG. 1 is a schematic block diagram of the structure of a beacon unit of the present invention;
FIG. 2 is a block diagram of the direction-finding and target-finding unit according to the present invention;
FIG. 3 is a flow chart of the method of the present invention;
FIG. 4 is a diagram of the angular relationship between the direction-finding antenna and the beacon unit of the present invention;
FIG. 5 is a schematic diagram of an infrared remote control for a beacon according to the present invention;
fig. 6 is a main interface display diagram of the beacon display screen after the parameters are set.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings,
referring to fig. 1 and 2, the radio direction finding simulation system of the present invention includes a beacon unit, a direction finding and target finding unit, wherein the direction finding and target finding unit includes a direction finding unit and a target finding trolley, the direction finding unit is connected to the target finding trolley through a driving interface, and the target finding trolley is used for carrying the direction finding unit and driving the target finding unit after receiving a driving signal of the direction finding unit.
The direction finding unit is used for radio direction finding and driving the beacon finding trolley to find the beacon unit, and comprises a double-channel radio frequency receiving module, an intermediate frequency module, a distance measuring module, a direction finding infrared receiving module, a direction finding infrared remote controller and a direction finding display screen, a direction finding antenna is connected with the double-channel radio frequency receiving module, the double-channel radio frequency receiving module is connected with the intermediate frequency module, the intermediate frequency module is provided with a driving interface and is respectively connected with the distance measuring module, the direction finding display screen and the direction finding infrared receiving module, the direction finding infrared receiving module is in wireless connection with the direction finding infrared remote controller, and the direction finding infrared remote controller is used for remotely setting receiving parameters. The direction-finding antenna comprises a first direction-finding antenna and a second direction-finding antenna, so that the direction-finding antenna receives two paths of signals, the two paths of signals are correspondingly transmitted to the double-channel radio frequency receiving module, the intermediate frequency module comprises an FPGA (field programmable gate array), an MCU (micro controller unit) and 2 AD (analog-to-digital) samplers, and in order to receive the 2 paths of signals input by the double-channel radio frequency receiving module, the intermediate frequency module is provided with the 2 AD samplers which are used for respectively sampling the two paths of signals.
The beacon unit is used for sending and removing radio signals and giving collision alarm and comprises a sound-light alarm module, a beacon display screen, a pulse frequency source module, a central processing unit, a vibration sensor, a Hall sensor, a beacon infrared receiving module, a beacon infrared remote controller and a transmitting antenna. The central processing unit is respectively connected with the pulse frequency source module, the sound-light alarm module, the vibration sensor, the Hall sensor, the beacon infrared receiving module and the beacon display screen, the pulse frequency source module is connected with the transmitting antenna, and the beacon infrared receiving module is in wireless connection with the beacon infrared remote controller. The sound and light alarm module comprises an LED and a buzzer, and the collision alarm or the successful signal cancellation prompt is finished by the LED flickering and the buzzer buzzing to send sound and light signals.
The direction-finding display screen and the beacon display screen display the set contents of current transmitting frequency, receiving frequency range, beacon Morse code, direction-finding Morse code, temperature, voltage and the like in the direction-finding and target-searching process, and play a role in man-machine interaction.
Referring to fig. 3 and 4, the radio direction finding simulation method of the present invention includes the following steps
The first step is as follows: setting transmission parameters for beacon units
The beacon infrared receiving module converts the received infrared remote control signal into an electric signal and sends the electric signal into a central processing unit for decoding;
the second step is that: the beacon unit emits a radio signal of a specific frequency modulated with a beacon Morse code
The central processing unit analyzes the character code and frequency, then sets a pulse frequency source module to output a baseband signal with specific frequency and modulated with beacon Morse code, and the baseband signal is converted into a pulse radio frequency signal after gain adjustment and pulse modulation processing and is radiated by a transmitting antenna;
the third step: setting receiving parameters for direction-finding unit, recognizing Morse code of beacon, starting radio direction finding
The receiving parameters are set by the direction-finding infrared remote control module in a remote control way, the parameters comprise a receiving frequency range and a direction-finding Morse code, the direction-finding infrared receiving module converts an infrared signal into an electric signal after receiving an infrared remote control signal, sending the electrical signal into MCU for decoding, the MCU analyzes character instruction and sets corresponding receiving parameter to FPGA, the FPGA sets working parameter of the dual-channel RF receiving module, controls the dual-channel RF receiving module to receive RF signal in set frequency range, and is converted into an intermediate frequency signal after gain adjustment and frequency conversion, and then the intermediate frequency signal is transmitted to an AD sampler to complete sampling and data processing, a beacon Morse code in a wave signal is identified, if the beacon Morse code is consistent with a direction-finding Morse code, the beacon unit which transmits the radio signal is a target beacon unit to be searched, and the radio direction finding is started to further determine the incoming wave direction of the beacon unit; otherwise, if the beacon Morse code is not consistent with the direction-finding Morse code, the signal is abandoned, and the next frequency point signal is continuously scanned and received;
the fourth step: starting and driving the target-searching trolley to approach the beacon unit
Synchronizing the incoming wave direction measured in the third step to the MCU, calculating the angle of the target-searching trolley needing to be turned according to the incoming wave direction by the MCU, controlling the target-searching trolley to align the incoming wave direction of the signal through the driving interface, then driving the target-searching trolley to be close to the beacon unit, and correcting the motion direction of the target-searching trolley according to the incoming wave direction in real time to enable the target-searching trolley to always run towards the beacon unit. The angle of the target-seeking trolley needing to be steered is calculated according to the incoming wave direction, and the specific calculation formula is as follows:
as can be derived from the above-mentioned formula,
；
in the formula (I), the compound is shown in the specification,
is the angular velocity, t is the time,
is the phase difference of two channel receiving signals in the dual-channel radio frequency receiving module, f is the frequency, d is the distance between the first direction-finding antenna and the second direction-finding antenna,
the difference between the first direction-finding antenna-to-beacon unit distance R1 and the second direction-finding antenna-to-beacon unit distance R2,
the steering angle is used for searching the target of the target searching trolley.
The higher the precision of the target searching trolley is, the smaller the running error of the target searching trolley is, in other words, the higher the target searching accuracy is,
dependent on the consistency and stability of the signals received by the two-channel RF receiver module, i.e. the phase difference
The precision of the steering angle is greatly influenced, the actual measurement phase difference is within +/-3 degrees, and the measurement error is +/-1 degree, namely the double-channel phase difference
The value is around 6-8 deg. Target-seeking steering angle of target-seeking trolley through calculation
Is within a range of 1.1032 deg., so that more accurate steering can be ensured.
The fifth step: de-beaconing unit radio signals
After the target searching trolley approaches the beacon unit, the ranging module detects the limit distance R from the target searching trolley to the beacon unit, the limit value range of the R is 10-50cm, preferably 30cm, when the value of the R reaches the limit value, the MCU controls the target searching trolley to slow down and gradually approach the beacon unit until the Hall sensor of the beacon unit is triggered, and after the beacon unit receives a Hall feedback signal of safe approach of the target searching trolley, the beacon unit closes the emission signal and then sends an acousto-optic signal for signal cancellation through the acousto-optic alarm module. In another case, if the target-seeking trolley collides with the beacon unit, it should be noted that the collision can be understood that the target-seeking trolley contacts the beacon unit and triggers the vibration sensor of the beacon unit, and if the target-seeking trolley collides with the beacon unit, the target seeking is failed, and the beacon unit sends out an audible and visual alarm through the audible and visual alarm module.
Example (b):
the invention can be used for radio direction finding simulation teaching in colleges and universities, can also be directly used for radio direction finding electronic competition, and is also suitable for experiments and training. When students use the analog system, for example, when one person finds multi-beacon radio direction finding electronic competition, the radio direction finding frequency of the competition is 2.4GHz-2.5 GHz. The method comprises the following steps that 3 students form a competition group, 15 beacon units are randomly placed on an indoor competition field such as a flat indoor basketball court, a judge or a worker sets radio transmitting signals with different frequencies and different beacon Morse codes for the 15 beacon units respectively, 3 players select 5 direction-finding Morse codes in a lottery mode respectively, then the 3 players control a targeting trolley provided with the direction-finding units to find 5 beacon units respectively, and the players who find the 5 beacon units win first; or when many people find the radio direction-finding electronic competition of a beacon, a referee or a staff sets radio emission signals with different frequencies and different beacon Morse codes for 15 beacon units respectively, except that 3 players are informed of the unique beacon Morse code 1, 3 players respectively control a targeting cart provided with the direction-finding unit to find 1 target beacon unit, and the player who finds the target beacon unit wins first.
It should be noted that, during the competition, a common direction-finding morse code (one beacon is found by multiple persons) is given in advance, or each player chooses a plurality of direction-finding morse codes (one beacon is found by one person), and when the player sets the receiving parameters of the direction-finding unit, the direction-finding morse codes are set. When the beacon is searched, the direction finding unit scans and receives the frequency within the range of 2.4GHz-2.5GHz, after the signal of a certain frequency point is scanned, and after the signal is accessed, the beacon Morse code of the frequency point is identified, if the beacon Morse code of an incoming wave is consistent with the set direction finding Morse code, the incoming wave is a target searching signal, the incoming wave direction is further measured, and the beacon unit which sends the target signal is found by controlling the traveling of the beacon searching trolley. If the beacon Morse code of the incoming wave is not consistent with the set direction-finding Morse code, the signal is not the target signal to be searched, the signal is abandoned, and the radio signal of the next frequency point is continuously scanned and received.
The radio direction-finding analog system for players consists of beacon unit, direction-finding and target-searching unit, which consists of direction-finding unit and target-searching bogie. The beacon searching trolley is used for carrying the direction finding unit, receiving the driving signal of the direction finding unit and then driving to search the beacon unit; the direction-finding unit comprises a double-channel radio frequency receiving module, an intermediate frequency module (comprising an FPGA, an MCU and 2 AD samplers), 2 direction-finding antennas of a first direction-finding antenna and a second direction-finding antenna, a distance measuring module, a direction-finding infrared receiving module, a direction-finding infrared remote controller and a direction-finding display screen; the beacon unit comprises an audible and visual alarm module (comprising a three-color LED and a buzzer), a beacon display screen, a pulse frequency source module, a central processing unit, a vibration sensor, a Hall sensor, a beacon infrared receiving module, a beacon infrared remote controller and a transmitting antenna. The FPGA uses a model number of 5CEBA9F23C7N, has rich internal resources, totally 301k logic units and 684 multipliers, and meets the implementation application of the invention; the model of the MCU is STM32F103VGT6, and the signal processor is widely practiced by I and has high stability; the model of the AD sampler is AD9265, and the sampling rate is 102.4 MHz; the central processing unit is used for core control of the beacon unit, a CPU with the model of STM32F103VGT6 is used, the kernel is ARM Cortex-M3, and the RAM and the ROM in the chip are rich in resources.
During competition, referees or workers can set parameters of the beacon units by holding the beacon infrared remote controllers and matching the beacon display screens, and competitors can set parameters of the direction finding units by holding the direction finding infrared remote controllers and matching the direction finding display screens. For example, when setting parameters of the beacon unit, as shown in fig. 5, a numeral key "0" on the beacon infrared remote controller is a signal switch for transmitting and turning off signals; the key "1" is used to set the frequency; the key 2 modulates the pulse width; the key "3" is used for selecting Morse code characters; the key '4' modulation switch is used for modulating Mohs code of a switching signal; resetting the key 5; the button '6' trigger switch is used for switching on and off the vibration sensor and the Hall sensor; the direction key is a mobile selection cursor; the key "+" is to return to the previous step, the key "#" is to return to the main interface, and the key "OK" is used for determining and saving, etc. Therefore, each key on the remote controller corresponds to different function settings, and the beacon unit is remotely controlled through the remote controller. After the remote control setting is finished, the pulse frequency source module automatically finishes the work parameter analysis by receiving a work instruction from the central processing unit, outputs 2.4GHz-2.5GHz radio frequency signals, outputs 10 us-1000 ms pulse width radio frequency signals (the pulse width can be controllably changed) after band-pass filtering and pulse modulation, and radiates out through the transmitting antenna. As shown in fig. 6, after the parameters are set, the display main interface of the beacon display screen is that the temperature of the beacon unit is 10 ℃, the voltage is 7.4V, the morse code character is MOS, the frequency of the signal transmitted by the beacon is 2450MHz, the modulation switch is in an on state, that is, the morse code is modulated in the signal and the corresponding character is MOS, the modulation pulse width is 100us, the beacon is triggered, that is, the vibration sensor and the hall sensor of the beacon are in an on working state, and the whole beacon unit normally works.
The player sets receiving parameters through the direction finding infrared remote controller, the direction finding unit receives radio frequency signals within the range of 2.4GHz-2.50GHz through 2 direction finding antennas, and when one signal is scanned and the frequency point signal is determined to be a target searching signal, direction finding and target searching are started. Because the target searching trolley carries the direction-finding unit and is connected with the direction-finding unit through the driving interface, after a target signal is determined, the MCU in the direction-finding unit calculates the angle of the target searching trolley needing to be steered according to the direction of the incoming wave, controls the motor of the target searching trolley to adjust the posture of the target searching trolley to be aligned with the direction of the incoming wave of the beacon unit, then drives the target searching trolley to be close to the beacon unit, when the target searching trolley is close to the beacon unit, the distance measuring module on the target searching trolley can detect the distance of the beacon, when the distance R between the target searching trolley and the beacon unit reaches 30cm, the MCU controls the motor to slow down, the motor gradually approaches the beacon until a Hall sensor of the beacon unit is triggered, and the beacon unit stops the radio signal transmission. The distance measurement module can adopt ultrasonic distance measurement, adopts an ultrasonic distance measurement sensor with the model of HC-SR04, and the sensor with the model is widely used on the intelligent trolley. If the signal is not the target signal to be searched, the signal is abandoned, and the radio signal of the next frequency point is continuously scanned and received.
Furthermore, in the beacon unit, the Hall sensor and the vibration sensor are used for detecting the targeting trolley. The front end of the target seeking trolley is provided with a Hall sensing area, when the target seeking trolley runs to the position in the detection range of the Hall sensor of the beacon unit, the Hall sensor detects the position of the target seeking trolley, a feedback signal is sent to the central processing unit to be processed, the central processing unit controls the three-color LED lamp to be changed into green from yellow in a general state, and at the moment, the emission of a radio signal of the beacon unit is turned off. When the target searching trolley does not enter the induction range of the Hall sensor, the target searching trolley is in contact with the beacon unit, or the target searching trolley collides with the beacon unit after driving too fast, at the moment, the vibration sensor transmits a feedback signal to the central processing unit, the central processing unit controls the three-color LED lamp to be changed from yellow to red, and meanwhile, the buzzer is driven to give out buzzing alarm, and the target searching fails.
In the competition process, the relevant programs embedded in the direction-finding unit need to be set by players, such as a direction-finding algorithm, a trolley driving algorithm and the like, so that the target searching speed, the target searching accuracy and the target searching accuracy are determined by the efficiency, the quality and the like of the program codes. By applying the invention, the professional technical ability, the practical ability and the innovation ability of students can be exercised and improved, and the invention plays an important role in the teaching in the field of radio direction finding in the future.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A radio direction finding simulation system, characterized by: the beacon unit and the direction-finding and target-searching unit are included, the direction-finding and target-searching unit comprises a direction-finding unit and a target-searching trolley, and the direction-finding unit is connected with the target-searching trolley through a driving interface;
the target searching trolley is used for carrying the direction finding unit, receiving the driving signal of the direction finding unit and then driving to search the beacon unit;
the direction finding unit is used for wirelessly finding directions and driving the target finding trolley to find the beacon unit and comprises a double-channel radio frequency receiving module, a direction finding antenna, an intermediate frequency module, a distance measuring module, a direction finding infrared receiving module, a direction finding infrared remote controller and a direction finding display screen, wherein the direction finding antenna is connected with the double-channel radio frequency receiving module, the double-channel radio frequency receiving module is connected with the intermediate frequency module, the intermediate frequency module is provided with a driving interface and is respectively connected with the distance measuring module, the direction finding display screen and the direction finding infrared receiving module, and the direction finding infrared receiving module is wirelessly connected with the direction finding infrared remote controller;
the beacon unit is used for sending and removing radio signals and giving a collision alarm and comprises an audible and visual alarm module, a beacon display screen, a pulse frequency source module, a central processing unit, a vibration sensor, a Hall sensor, a beacon infrared receiving module, a beacon infrared remote controller and a transmitting antenna, wherein the central processing unit is respectively connected with the pulse frequency source module, the audible and visual alarm module, the vibration sensor, the Hall sensor, the beacon infrared receiving module and the beacon display screen;
in the beacon unit, a Hall sensor and a vibration sensor are both used for detecting the target-searching trolley, a Hall sensing area is arranged at the front end of the target-searching trolley, when the target-searching trolley runs to the detection range of the Hall sensor of the beacon unit, the Hall sensor detects the position of the target-searching trolley and sends a feedback signal to a central processing unit for processing, the central processing unit controls an acousto-optic alarm module to send an LED (light-emitting diode) flashing signal, at the moment, the beacon unit turns off the emission of a radio signal, and the radio signal is successfully removed; when the target searching trolley does not enter the sensing range of the Hall sensor, the target searching trolley contacts the beacon unit or collides the beacon unit when the target searching trolley runs too fast, at the moment, the vibration sensor transmits a feedback signal to the central processing unit, the central processing unit controls the sound-light alarm module to send out an LED flashing signal and a buzzer to alarm, and the radio signal fails to be relieved;
the direction-finding antenna comprises a first direction-finding antenna and a second direction-finding antenna, and the intermediate frequency module comprises an FPGA (field programmable gate array), an MCU (microprogrammed control unit) and 2 AD samplers.
2. A radio direction finding simulation method, characterized by: comprises the following steps
The first step is as follows: setting transmission parameters for beacon units
Setting emission parameters including emission frequency and beacon Morse code by remote control of a beacon infrared remote controller, converting received infrared remote control signals into electric signals by a beacon infrared receiving module, and sending the electric signals into a central processing unit for decoding;
the second step is that: the beacon unit emits a radio signal of a specific frequency modulated with a beacon Morse code
The central processing unit analyzes the character code and frequency, then sets a pulse frequency source module to output a baseband signal with specific frequency and modulated with beacon Morse code, and the baseband signal is converted into a pulse radio frequency signal after gain adjustment and pulse modulation processing and is radiated by a transmitting antenna;
the third step: setting receiving parameters for direction-finding unit, recognizing Morse code of beacon, starting radio direction finding
Receiving parameters are set by the direction-finding infrared remote controller in a remote control mode, the parameters comprise a receiving frequency range and direction-finding Morse codes, after receiving an infrared remote control signal, the direction-finding infrared receiving module converts the infrared signal into an electric signal, sending the electrical signal into MCU for decoding, the MCU analyzes character instruction and sets corresponding receiving parameter to FPGA, the FPGA sets working parameter of the dual-channel RF receiving module, controls the dual-channel RF receiving module to receive RF signal in set frequency range, and is converted into an intermediate frequency signal after gain adjustment and frequency conversion, and then the intermediate frequency signal is transmitted to an AD sampler to complete sampling and data processing, a beacon Morse code in a wave signal is identified, if the beacon Morse code is consistent with a direction-finding Morse code, the beacon unit which transmits the radio signal is a target beacon unit to be searched, and the radio direction finding is started to further determine the incoming wave direction of the beacon unit; otherwise, if the beacon Morse code is not consistent with the direction-finding Morse code, the signal is abandoned, and the next frequency point signal is continuously received;
the fourth step: starting and driving the target-searching trolley to approach the beacon unit
Synchronizing the incoming wave direction measured in the third step to the MCU, calculating the angle of the target-searching trolley required to be steered by the MCU according to the incoming wave direction, controlling the target-searching trolley to align the incoming wave direction of the signal through the driving interface, then driving the target-searching trolley to be close to the beacon unit, and correcting the motion direction of the target-searching trolley according to the incoming wave direction in real time to enable the target-searching trolley to always run towards the target beacon unit;
the fifth step: de-beaconing unit radio signals
After the target searching trolley approaches the beacon unit, the distance measuring module detects the distance R between the target searching trolley and the beacon unit, when the value of R reaches a limit value, the MCU controls the target searching trolley to slow down and gradually approach the beacon unit until a Hall sensor of the beacon unit is triggered, and after the beacon unit receives a Hall feedback signal of the target searching trolley approaching safely, the signal emission is closed, and an acousto-optic signal for signal cancellation is sent out through the acousto-optic alarm module.
3. The radio direction finding simulation method of claim 2, wherein: and in the fourth step, the angle of the target-seeking trolley needing to be steered is calculated according to the incoming wave direction, and the specific calculation formula is as follows:
according to the above formula
；
In the formula (I), the compound is shown in the specification,
is the angular velocity, t is the time,
for two channels in a dual-channel radio frequency receiving moduleThe phase difference of the received signals is,
in order to be the frequency of the radio,
is the separation of the first direction finding antenna and the second direction finding antenna,
the difference between the first direction-finding antenna-to-beacon unit distance R1 and the second direction-finding antenna-to-beacon unit distance R2,
the steering angle is used for searching the target of the target searching trolley.
4. The radio direction finding simulation method of claim 2, wherein: the limit value of R in the fifth step is 10-50 cm.
5. Radio direction finding simulation method according to claim 2 or 3 or 4, characterized in that: if the beacon searching trolley collides with the beacon unit, the beacon unit can send out sound-light alarm through the sound-light alarm module in order to remove the beacon radio signal failure.
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| CN111524406A (en) * | 2020-04-10 | 2020-08-11 | 电子科技大学 | Radio orientation experiment teaching device and method |
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