CN112180355A - Millimeter wave proximity fuse height setting correction method and system based on acceleration sensor - Google Patents

Millimeter wave proximity fuse height setting correction method and system based on acceleration sensor Download PDF

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CN112180355A
CN112180355A CN202010854116.7A CN202010854116A CN112180355A CN 112180355 A CN112180355 A CN 112180355A CN 202010854116 A CN202010854116 A CN 202010854116A CN 112180355 A CN112180355 A CN 112180355A
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module
axis
height
acceleration sensor
correction
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胡泰洋
张亚宁
肖泽龙
薛文
吴礼
杨铭怡
贺轶蓉
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Nanjing University of Science and Technology
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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
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B3/00—Blasting cartridges, i.e. case and explosive
    • F42B3/22—Elements for controlling or guiding the detonation wave, e.g. tubes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/882—Radar or analogous systems specially adapted for specific applications for altimeters

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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Abstract

The invention discloses a millimeter wave proximity fuse height setting correction method and system based on an acceleration sensor, wherein the system consists of a frequency modulation distance measuring module, an attitude measuring module, a digital signal processing and height setting correction module and a detonation device; the frequency modulation distance measurement module and the attitude measurement module transmit the acquired signals to the digital signal processing module, the fixed height correction is carried out, whether an ignition signal is generated or not is judged, and the detonator detonates the warhead after receiving the ignition signal. Most conventional ammunition fuzes do not provide posture information of the ammunition body at present, and height setting errors can be caused when the ammunition body inclines; the invention can accurately control the explosive height, accurately correct the fuse height setting error caused by the inclination of the projectile body and effectively improve the damage performance of the ammunition.

Description

Millimeter wave proximity fuse height setting correction method and system based on acceleration sensor
Technical Field
The invention relates to the field of ammunition fuses, in particular to a millimeter wave frequency modulation proximity fuse height setting correction method based on an acceleration sensor.
Background
Compared with the conventional ammunition, the precision guidance ammunition has high precision, but the manufacturing cost is high, and the equipment quantity is limited. Considering the situation of most conventional ammunition fuzes today, when the main lobe of the fuze antenna is aligned with the target, the ranging result is the distance between the projectile body and the target. In practical situations, the bullet is generally inclined and falls due to the influence of airflow in the falling process, so that the direction of the bullet head is inclined with the target ground. Referring to fig. 1, the distance R between the projectile and the target is obtained instead of the true height H of the projectile. Conventional ammunition does not provide attitude information and therefore causes the detection distance of the fuze to be lengthened at the same height, resulting in the actual air-burst height being lower than the set optimal air-burst height. This will cause the fuze to be triggered by mistake, and has a great influence on the damage effect of the bullet. If the posture of the projectile body can be obtained, the distance between the measured projectile eyes is corrected, and therefore the best damage effect can be obtained only if the real height of the projectile body is obtained. Therefore, how to apply the attitude measurement system to the conventional ammunition is the key and difficult point of the fuze definition high research.
The traditional inertial navigation technology has high precision in the aspect of attitude measurement technology, but the system has overlarge volume and relatively high cost; GPS is gradually adopted abroad to carry out missile-borne elevation measurement, the mode is convenient and direct, but the requirement on the performance of a receiver is high, the output is the altitude, the altitude needs to be converted into the height relative to the ground by depending on geographic information, and a large error can be introduced. Although the attitude measurement technology based on the MEMS acceleration sensor is not as high as the traditional inertial navigation technology in the aspect of precision, the attitude measurement technology has the characteristics of small volume, low cost, strong shock resistance, low power consumption and the like, and is very suitable for application in the field of conventional ammunition.
Disclosure of Invention
The invention aims to provide a millimeter wave proximity fuse height setting correction method and system based on an acceleration sensor, which have the advantages of small size, low cost and the like, can accurately control the explosion height and improve the damage performance of ammunition.
The technical scheme for realizing the purpose of the invention is as follows: a millimeter wave proximity fuse height setting correction system based on an acceleration sensor comprises a frequency modulation distance measuring module, an attitude measuring module, a digital signal processing and height setting correction module and a detonation device;
the frequency modulation ranging module is used for generating a transmitting signal and receiving an echo signal carrying distance information after a target is detected; the frequency modulation and ranging module comprises a waveform generator, a radio frequency transceiving module and an intermediate frequency signal processing module, wherein the waveform generator is used for modulating the VCO to generate continuous wave frequency modulation signals, and the radio frequency transceiving module comprises a transmitting channel and a receiving channel and is used for transmitting the continuous wave frequency modulation signals, receiving echo signals reflected by a target and realizing the detection of the height of the target; the intermediate frequency signal processing module is used for detecting and processing intermediate frequency signals;
the attitude measurement module is used for acquiring a triaxial acceleration output value of the MEMS acceleration sensor;
the digital signal processing and fixed-height distance measuring module is used for calculating the projectile distance and the projectile axis inclination angle to obtain the actual height of the projectile body, and then the actual height is compared with the preset distance to judge whether a firing signal is generated or not; the detonating device detonates the warhead after receiving the ignition signal.
Furthermore, the frequency modulation distance measurement module, the attitude measurement module, the digital signal processing and height fixing correction module and the detonation device are all fixed in the shell cavity through the PCB, the digital signal processing and height fixing correction module comprises an FPGA and a DSP, the FPGA receives and processes real-time data, and the DSP completes algorithm operation.
Furthermore, the attitude measurement module comprises an MEMS acceleration sensor, a signal conditioning module and an A/D conversion module, and signals received by the MEMS acceleration sensor are amplified, conditioned and A/D converted and then sent to the digital signal processing module and the fixed-height ranging module.
Furthermore, the MEMS acceleration sensor enables the z axis to be arranged along the elastic axis direction, and the plane formed by the x axis and the y axis is perpendicular to the z axis.
The invention also provides a millimeter wave proximity fuse height setting correction method based on the acceleration sensor, which comprises the following steps:
the frequency modulation ranging module collects and receives echo signals carrying target distance information;
the attitude measurement module acquires a triaxial acceleration output value of the MEMS acceleration sensor, and the triaxial acceleration output value is sent to the digital signal processing module and the fixed-height distance measurement module after being amplified, conditioned and A/D converted;
the digital signal processing and fixed height distance measuring module calculates the projectile distance and the projectile axis inclination angle to obtain the actual height of the projectile body, and then the actual height is compared with the preset distance to judge whether a firing signal is generated.
Further, the frequency modulation distance measurement module generates a transmitting signal, and receives an echo signal carrying distance information after a target is detected; when the frequency-modulated signal is a triangular wave, the distance formula is:
Figure BDA0002645786770000021
in the formula,. DELTA.FmFor maximum frequency deviation, TmFor modulating the signal period, c is the speed of light, fiIs the difference frequency.
Further, the attitude measurement module adopts a single-axis correction mode and a double-axis correction mode to perform fixed height correction, and the corrected projectile body height is as follows: h ═ R · l; in the formula, R is the bullet distance, and l is the correction amount;
when the tilt angle of the elastic shaft is less than or equal to the set tilt angle, a double-shaft correction mode is adopted, and the correction amount in the mode is as follows:
Figure BDA0002645786770000031
when the tilt angle of the elastic shaft is larger than the set tilt angle, a single-shaft correction mode is adopted, and the correction amount in the mode is
Figure BDA0002645786770000032
In which theta is the angle of inclination of the axis of the projectile, i.e. the direction of movement F of the projectilex，Fy，FzThe single-axis output values of the acceleration sensor are respectively the x-axis, the y-axis and the z-axis.
Further, the set inclination angle is 61 °.
Furthermore, the MEMS acceleration sensor has a z-axis arranged along the elastic axis direction, and a plane formed by the x-axis and the y-axis is arranged perpendicular to the z-axis.
Compared with the existing fuze height determination technology, the method has the following beneficial effects: (1) the distance precision is high, the anti-interference ability is strong, and the influence of meteorological conditions is small; (2) the MEMS triaxial acceleration sensor is adopted to measure the posture of the projectile body, the required space is small, and the device and the peripheral connecting circuit thereof are simple; (3) by adopting single-axis and double-axis correction modes respectively, the installation angle error between the sensor and the projectile axis can be calibrated, and the fuze height error caused by the inclination of the projectile body can be corrected with higher precision.
Drawings
FIG. 1 is a schematic diagram showing the relationship between the shaft inclination angle of the fuze ranging projectile and the height of the projectile body.
Fig. 2 is a schematic diagram of a millimeter wave proximity fuse height setting correction device based on an acceleration sensor.
Fig. 3 is a schematic diagram of a correction principle of the three-axis acceleration sensor.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 2, the millimeter wave proximity fuse height setting correction system based on the acceleration sensor comprises a frequency modulation distance measuring module, an attitude measuring module, a digital signal processing and height setting correction module and a detonation device. The digital signal processing module can monitor the frequency modulation distance measurement module in real time and transmit the acquired signals to the digital signal processing module through the attitude measurement module, the fixed height correction is carried out, whether ignition signals are generated or not is judged, and the detonator detonates the fighting part after receiving the ignition signals. The frequency modulation distance measurement module, the attitude measurement module, the digital signal processing and fixed height correction module and the detonation device are all fixed in the shell cavity through the PCB, and the digital signal processing and fixed height correction module comprises an FPGA and a DSP.
The frequency modulation ranging module generates a transmitting signal and receives an echo signal carrying distance information after a target is detected. The frequency modulation ranging module comprises a waveform generator, a radio frequency transceiving module and an intermediate frequency signal processing module.
The invention adopts a triangular wave modulation method. Since the signal linearity of the triangular wave affects the accuracy of the positioning, the higher the signal linearity of the triangular wave, the better. The radio frequency transceiving component mainly comprises a transmitting channel and a receiving channel, and receives echo signals reflected by a target by transmitting continuous wave frequency modulation signals to realize the function of detecting the height of the target. The intermediate frequency signal processing module completes the detection and processing of the intermediate frequency signal. When triangular wave modulation is adopted, the bullet distance detected by the frequency modulation distance measurement module is as follows:
Figure BDA0002645786770000041
in the formula,. DELTA.FmFor maximum frequency deviation, TmFor modulating the signal period, c is the speed of light, fiIs the difference frequency.
The attitude measurement module amplifies and conditions the signals received by the MEMS triaxial acceleration sensor, and sends the signals into the digital signal processing module and the fixed-height distance measurement module after A/D conversion. The MEMS triaxial acceleration sensor enables a z axis to be arranged along the elastic axis direction, and a plane formed by the x axis and the y axis is vertical to the z axis.
And the digital signal processing and height-fixing ranging module is used for respectively resolving a projectile distance and a projectile axis inclination angle according to the intermediate frequency output signal and the three-axis output value to obtain the actual height of the projectile body, and then comparing the actual height with a preset distance to judge whether a firing signal is generated. The detonating device is used for ignition execution control and explosion ignition sequence control. When the threshold ignition circuit receives an ignition signal from the signal processor, the signal is output to the igniter, and the warhead is detonated through the safety device, so that the target is damaged.
The digital signal processing and fixed-height ranging module can realize digital control of a transmitting waveform, ensure the self-adaptive control of the frequency modulation linearity and the power of the transmitting waveform, simultaneously realize intelligent judgment of the change characteristics of a target echo signal, extract target information from complex wide area clutter and background interference, perform self-adaptive processing and filtering, and improve the passive and active interference resistance. The module extracts distance information between the bullets from signals output by the frequency modulation distance measuring module, then calculates included angle information between a bullet shaft and the gravity direction through the signals output by the attitude measuring module, further obtains the actual height of the bullet from the ground, compares the actual height with a preset distance, and judges whether a firing signal is generated.
The detonating device is used for ignition execution control and explosion ignition sequence control. When the threshold ignition circuit receives an ignition signal from the signal processor, the signal is output to the igniter, and the warhead is detonated through the safety device, so that the target is damaged.
The calculation of the elastic axis inclination angle adopts two different correction modes of single axis and double axis.
When the inclination angle of the missile axis is small, the sensitivity of the x axis and the y axis to the inclination angle is high, and the inclination angle of the missile axis is calculated by adopting a double-axis correction mode according to the linear space transformation theory through the angle of the x axis and the y axis deviating from the gravity direction. The embodiment of the invention firstly calculates the calculated inclination angle value calculated under the double-shaft mode, and adopts the double-shaft correction mode when the inclination angle of the elastic shaft is less than or equal to 61 degrees.
Under the biaxial correction mode, the measurement results of the two acceleration sensors perpendicular to the projectile body are respectively as follows: fx、Fy. Referring to FIG. 3, the ground coordinate system is denoted as Oxyz and the projectile coordinate system is denoted as Ox1y1z1。Ox1y1z1See figureMake Oxyz tilt by theta around y-axisxIs tilted by theta about the x-axisyNamely:
Figure BDA0002645786770000051
simplifying to obtain:
Figure BDA0002645786770000052
the gravitational acceleration is expressed in the ground coordinate system as: [ x y z ]]＝[0 0 g]Then, we can get:
Figure BDA0002645786770000053
meanwhile, the tilt angle of the elastic shaft meets the geometric relational expression: cos θ ═ cos θx·cosθyThe available correction values are:
Figure BDA0002645786770000054
the height setting formula after correction is as follows:
Figure BDA0002645786770000055
when the tilt angle of the elastic axis is large, the sensitivity of the z axis to the tilt angle is high, and the height is determined and corrected through the angle of the z axis deviating from the gravity direction by adopting a single-axis correction mode. And when the tilt angle of the elastic axis is larger than 61 degrees, a single-axis correction mode is adopted.
In the single-axis correction mode, only the z-axis single-axis output value is considered, and the following can be obtained: fzWhen gcos θ, the correction value is:
Figure BDA0002645786770000061
the height setting formula after correction is as follows:
Figure BDA0002645786770000062
when the bullet has acceleration or deceleration motion, the vector sum of 3 axes of the acceleration sensor is not 1g any more, before the correction value is calculated, the modulus g 'of the vector sum of 3 axes is calculated, and the modulus is used as the correction reference, and the gravity acceleration g in the correction formula is replaced by g', so that the correction value error of the bullet in the non-equilibrium state can be effectively reduced.
The inertial force acceleration sensing chip is applied to the conventional millimeter wave proximity fuse, and the height is determined and corrected by utilizing the relation between the component of gravity in the sensing axis direction and the inclination angle of the sensing axis.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (9)

1. A millimeter wave proximity fuse height setting correction system based on an acceleration sensor is characterized by comprising a frequency modulation distance measuring module, an attitude measuring module, a digital signal processing and height setting correction module and a detonation device;
the frequency modulation ranging module is used for generating a transmitting signal and receiving an echo signal carrying distance information after a target is detected; the frequency modulation and ranging module comprises a waveform generator, a radio frequency transceiving module and an intermediate frequency signal processing module, wherein the waveform generator is used for modulating the VCO to generate continuous wave frequency modulation signals, and the radio frequency transceiving module comprises a transmitting channel and a receiving channel and is used for transmitting the continuous wave frequency modulation signals, receiving echo signals reflected by a target and realizing the detection of the height of the target; the intermediate frequency signal processing module is used for detecting and processing intermediate frequency signals;
the attitude measurement module is used for acquiring a triaxial acceleration output value of the MEMS acceleration sensor;
the digital signal processing and fixed-height distance measuring module is used for calculating the projectile distance and the projectile axis inclination angle to obtain the actual height of the projectile body, and then the actual height is compared with the preset distance to judge whether a firing signal is generated or not; the detonating device detonates the warhead after receiving the ignition signal.
2. The acceleration sensor-based millimeter wave proximity fuse height setting and correcting system of claim 1, wherein the frequency modulation ranging module, the attitude measuring module, the digital signal processing and height setting and correcting module and the detonation device are all fixed in the shell cavity through a PCB, the digital signal processing and height setting and correcting module comprises an FPGA and a DSP, the FPGA receives and processes real-time data, and the DSP completes algorithm operation.
3. The acceleration sensor-based millimeter wave proximity fuse height setting and correcting system according to claim 1, wherein the attitude measuring module comprises an MEMS acceleration sensor, a signal conditioning module and an a/D conversion module, and the signals received by the MEMS acceleration sensor are amplified, conditioned, a/D converted and then sent to the digital signal processing module and the height setting and ranging module.
4. The acceleration sensor-based millimeter wave proximity fuse set-high correction system according to claim 3, wherein the MEMS acceleration sensor has a z-axis arranged along a missile axis direction, and a plane formed by x and y axes is arranged perpendicular to the z-axis.
5. A correction method based on the millimeter wave proximity fuse high setting correction system of claim 1, characterized by comprising the following steps:
the frequency modulation ranging module collects and receives echo signals carrying target distance information;
the attitude measurement module acquires a triaxial acceleration output value of the MEMS acceleration sensor, and the triaxial acceleration output value is sent to the digital signal processing module and the fixed-height distance measurement module after being amplified, conditioned and A/D converted;
the digital signal processing and fixed height distance measuring module calculates the projectile distance and the projectile axis inclination angle to obtain the actual height of the projectile body, and then the actual height is compared with the preset distance to judge whether a firing signal is generated.
6. The acceleration sensor-based millimeter wave proximity fuse height setting correction method according to claim 5, characterized in that the frequency modulation ranging module generates a transmitting signal, receives an echo signal carrying distance information after detecting a target; when the frequency-modulated signal is a triangular wave, the distance formula is:
Figure FDA0002645786760000021
in the formula,. DELTA.FmFor maximum frequency deviation, TmFor modulating the signal period, c is the speed of light, fiIs the difference frequency.
7. The acceleration sensor-based millimeter wave proximity fuse height setting correction method according to claim 5, characterized in that the attitude measurement module performs height setting correction by adopting two correction modes, namely single-axis correction mode and double-axis correction mode, and the corrected projectile height is: h ═ R · l; in the formula, R is the bullet distance, and l is the correction amount;
when the tilt angle of the elastic shaft is less than or equal to the set tilt angle, a double-shaft correction mode is adopted, and the correction amount in the mode is as follows:
Figure FDA0002645786760000022
when the tilt angle of the elastic shaft is larger than the set tilt angle, a single-shaft correction mode is adopted, and the correction amount in the mode is
Figure FDA0002645786760000023
In which theta is the angle of inclination of the axis of the projectile, i.e. the direction of movement F of the projectilex，Fy，FzThe single-axis output values of the acceleration sensor are respectively the x-axis, the y-axis and the z-axis.
8. The acceleration-sensor-based millimeter wave proximity fuse height setting correction method according to claim 5, characterized in that the set inclination angle is 61 °.
9. The acceleration-sensor-based millimeter wave proximity fuse set-high correction method of claim 5, wherein the MEMS acceleration sensor has a z-axis arranged along the missile axis direction, and a plane formed by the x-axis and the y-axis is arranged perpendicular to the z-axis.
CN202010854116.7A 2020-08-24 2020-08-24 Millimeter wave proximity fuse height setting correction method and system based on acceleration sensor Pending CN112180355A (en)

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