CN112240998A - Shipborne corner reflector control method and device - Google Patents
Shipborne corner reflector control method and device Download PDFInfo
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- CN112240998A CN112240998A CN202011052566.0A CN202011052566A CN112240998A CN 112240998 A CN112240998 A CN 112240998A CN 202011052566 A CN202011052566 A CN 202011052566A CN 112240998 A CN112240998 A CN 112240998A
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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
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Abstract
The invention relates to a ship-borne corner reflector control method and device, wherein the method comprises the following steps: receiving a control instruction sent by an external upper computer, wherein the control instruction carries pointing angle control information, and the pointing angle control information comprises angle control information and angular speed control information; controlling the action of the corner reflector according to the pointing angle control information; receiving angle feedback information sent by a corner reflector; determining angle deviation information according to the angle control information and the angle feedback information; receiving angular velocity feedback information sent by an external inertial navigation sensor, wherein the inertial navigation sensor is fixedly connected with the corner reflector; determining angular velocity deviation information according to the angular velocity control information and the angular velocity feedback information; and sending the angle deviation information and the angular speed deviation information to an upper computer so that the upper computer determines a new control instruction according to the angle deviation information and the angular speed deviation information. The technical scheme can improve the accuracy of the pointing angle of the corner reflector.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a control method and a device for a shipborne corner reflector.
Background
The corner reflector is a high-precision three-dimensional optical element, has extremely strong reflection echo characteristics, and can reflect the energy of an incident electromagnetic wave in a completely opposite direction when the incident angle of the electromagnetic wave emitted by a target object and the pointing angle of the corner reflector are within a certain range.
At present, when the corner reflector is installed on a ship, the pointing angle of the corner reflector can be changed by changing the course angle of a ship body, and then the incident angle of electromagnetic waves emitted by the corner reflector and a target object is adjusted.
Therefore, in view of the above disadvantages, it is desirable to provide a control scheme for a corner reflector to improve the accuracy of the pointing angle of the corner reflector.
Disclosure of Invention
The technical problem to be solved by the invention is that the accuracy of the pointing angle of the corner reflector is low, and aiming at the defects in the prior art, the invention provides a shipborne corner reflector control method and a shipborne corner reflector control device so as to improve the accuracy of the pointing angle of the corner reflector.
In order to solve the above technical problem, in a first aspect, the present invention provides a method for controlling a corner reflector on a ship, including:
receiving a control instruction sent by an external upper computer, wherein the control instruction carries pointing angle control information, and the pointing angle control information comprises angle control information and angular speed control information;
controlling the action of a corner reflector according to the pointing angle control information;
receiving angle feedback information sent by the corner reflector;
determining angle deviation information according to the angle control information and the angle feedback information;
receiving angular velocity feedback information sent by an external inertial navigation sensor, wherein the inertial navigation sensor is fixedly connected with the corner reflector;
determining angular velocity deviation information according to the angular velocity control information and the angular velocity feedback information;
and sending the angle deviation information and the angular speed deviation information to the upper computer so that the upper computer determines a new control instruction according to the angle deviation information and the angular speed deviation information.
In a possible design, before the receiving the control instruction sent from the external upper computer, the method further includes:
acquiring first position information of an external radar transmitter, wherein the first position information is used for representing a longitude value, a latitude value and a height value of the radar transmitter;
acquiring second position information of the inertial navigation sensor, wherein the second position information is used for representing a longitude value, a latitude value and a height value of the corner reflector;
determining pointing angle information according to the first position information and the second position information, wherein the pointing angle information is used for representing a pointing angle of the corner reflector;
and sending the pointing angle information to the upper computer so that the upper computer determines the control instruction according to the pointing angle information.
In a possible design, after the receiving a control command sent by an external upper computer and before the controlling the action of the corner reflector according to the pointing angle control information, the method further includes:
acquiring a spatial position value of the corner reflector, wherein the spatial position value is used for representing a course angle, a pitch angle and a roll angle of the corner reflector in an inertial space coordinate system;
and determining the given pointing angle value of the corner reflector according to the spatial position value and the pointing angle information.
In one possible design, the pointing angle setpoint includes an azimuth pointing angle setpoint and a pitch pointing angle setpoint;
the controlling the action of the corner reflector according to the pointing angle control information comprises the following steps:
determining a sectional variable parameter control quantity according to the given value of the pointing angle;
carrying out differential calculation on the given value of the azimuth pointing angle to obtain a first target speed value;
determining a speed feedforward control quantity according to a preset first feedforward coefficient and the first target speed value;
carrying out differential calculation on the given value of the pitching pointing angle to obtain a second target speed value;
determining an acceleration feedforward control quantity according to a preset second feedforward coefficient and the second target speed value;
adding the piecewise variable parameter control quantity, the speed feedforward control quantity and the acceleration feedforward control quantity to form a speed given control quantity;
controlling the corner reflector action according to the given control quantity of the speed.
In a second aspect, the present invention also provides a shipborne corner reflector control device, comprising: the device comprises a control instruction receiving module, a control module, a feedback information receiving module, a first determining module and a sending module;
the control instruction receiving module is used for receiving a control instruction sent by an external upper computer, wherein the control instruction carries pointing angle control information, and the pointing angle control information comprises angle control information and angular speed control information;
the control module is used for controlling the action of the corner reflector according to the pointing angle control information received by the control instruction receiving module;
the feedback information receiving module is used for receiving angle feedback information sent by the corner reflector;
the first determining module is configured to determine angle deviation information according to the angle control information received by the control instruction receiving module and the angle feedback information received by the feedback information receiving module;
the feedback information receiving module is further configured to receive angular velocity feedback information sent by an external inertial navigation sensor, where the inertial navigation sensor is fixedly connected to the corner reflector;
the first determining module is further configured to determine angular velocity deviation information according to the angular velocity control information received by the control instruction receiving module and the angular velocity feedback information received by the feedback information receiving module;
the sending module is used for sending the angle deviation information and the angular speed deviation information determined by the first determining module to the upper computer so that the upper computer can determine a new control instruction according to the angle deviation information and the angular speed deviation information.
In one possible design, the shipborne corner reflector control device further comprises: the device comprises a first obtaining module and a second determining module;
the first acquisition module is used for acquiring first position information of an external radar transmitter and acquiring second position information of the inertial navigation sensor, wherein the first position information is used for representing a longitude value, a latitude value and a height value of the radar transmitter, and the second position information is used for representing the longitude value, the latitude value and the height value of the corner reflector;
the second determining module is configured to determine pointing angle information according to the first position information and the second position information acquired by the first acquiring module, where the pointing angle information is used to represent a pointing angle of the corner reflector;
the sending module is further configured to send the pointing angle information determined by the second determining module to the upper computer, so that the upper computer determines the control instruction according to the pointing angle information.
In one possible design, the shipborne corner reflector control device further comprises: a second obtaining module and a third determining module;
the second acquisition module is used for acquiring a spatial position value of the corner reflector, wherein the spatial position value is used for representing a course angle, a pitch angle and a roll angle of the corner reflector in an inertial space coordinate system;
the third determining module is configured to determine the given pointing angle value of the corner reflector according to the spatial position value acquired by the second acquiring module and the pointing angle information determined by the second determining module.
In one possible design, the pointing angle setpoint includes an azimuth pointing angle setpoint and a pitch pointing angle setpoint;
the control module is used for executing the following processing:
determining a sectional variable parameter control quantity according to the given value of the pointing angle;
carrying out differential calculation on the given value of the azimuth pointing angle to obtain a first target speed value;
determining a speed feedforward control quantity according to a preset first feedforward coefficient and the first target speed value;
carrying out differential calculation on the given value of the pitching pointing angle to obtain a second target speed value;
determining an acceleration feedforward control quantity according to a preset second feedforward coefficient and the second target speed value;
adding the piecewise variable parameter control quantity, the speed feedforward control quantity and the acceleration feedforward control quantity to form a speed given control quantity;
controlling the corner reflector action according to the given control quantity of the speed.
In a third aspect, the present invention further provides an intelligent device, including: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor is configured to invoke the machine readable program to execute the onboard corner reflector control method provided in the first aspect or any possible implementation manner of the first aspect.
In a fourth aspect, the present invention also provides a computer-readable medium,
the computer readable medium has stored thereon computer instructions which, when executed by a processor, cause the processor to perform the onboard corner reflector control method provided by the first aspect or any of the possible implementations of the first aspect.
According to the technology, after the corner reflector is controlled to act according to the control command from the upper computer, angle feedback information from the corner reflector and angular velocity feedback information from the inertial navigation sensor are received, angle deviation information and angular velocity deviation information are respectively determined, and the angle deviation information and the angular velocity deviation information are sent to the upper computer to determine a new control command. Therefore, the new control instruction from the upper computer is generated by the angle feedback information and the angular velocity feedback information generated according to the control instruction and aiming at the control information, so that the accurate control of the corner reflector can be realized, and the accuracy of the pointing angle of the corner reflector is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a method for controlling a corner reflector on board a ship according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an apparatus for controlling a corner reflector on board a ship according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an onboard corner reflector control arrangement provided in accordance with an embodiment of the present invention;
FIG. 4 is a schematic view of another shipborne corner reflector control arrangement provided in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view of yet another shipborne corner reflector control apparatus provided in accordance with an embodiment of the present invention;
fig. 6 is a flow chart of another method for controlling a corner reflector on board a ship according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a method for controlling a corner reflector on a ship, which may specifically include the following steps:
step 101: receiving a control instruction sent by an external upper computer, wherein the control instruction carries pointing angle control information, and the pointing angle control information comprises angle control information and angular speed control information;
step 102: controlling the action of the corner reflector according to the pointing angle control information;
step 103: receiving angle feedback information sent by a corner reflector;
step 104: determining angle deviation information according to the angle control information and the angle feedback information;
step 105: receiving angular velocity feedback information sent by an external inertial navigation sensor, wherein the inertial navigation sensor is fixedly connected with the corner reflector;
step 106: determining angular velocity deviation information according to the angular velocity control information and the angular velocity feedback information;
step 107: and sending the angle deviation information and the angular speed deviation information to an upper computer so that the upper computer determines a new control instruction according to the angle deviation information and the angular speed deviation information.
In the embodiment of the invention, after the control command from the upper computer controls the corner reflector to act, the control method of the shipborne corner reflector receives the angle feedback information from the corner reflector and the angular velocity feedback information from the inertial navigation sensor, respectively determines the angle deviation information and the angular velocity deviation information, and sends the angle deviation information and the angular velocity deviation information to the upper computer to determine a new control command. Therefore, the new control instruction from the upper computer is generated by the angle feedback information and the angular velocity feedback information generated according to the control instruction and aiming at the control information, so that the accurate control of the corner reflector can be realized, and the accuracy of the pointing angle of the corner reflector is improved.
In an embodiment of the present invention, based on the shipborne corner reflector control method shown in fig. 1, before receiving a control instruction sent by an external upper computer in step 101, the method may further include the following steps:
acquiring first position information of an external radar transmitter, wherein the first position information is used for representing a longitude value, a latitude value and a height value of the radar transmitter;
acquiring second position information from the inertial navigation sensor, wherein the second position information is used for representing a longitude value, a latitude value and a height value of the corner reflector;
determining pointing angle information according to the first position information and the second position information, wherein the pointing angle information is used for representing a pointing angle of the corner reflector;
and sending the pointing angle information to an upper computer so that the upper computer determines a control instruction according to the pointing angle information.
In the embodiment of the invention, the pointing angle information used for representing the pointing angle of the corner reflector is determined according to the acquired first position information of the radar transmitter and the acquired second position information of the corner reflection, and the pointing angle information is sent to the upper computer so that the upper computer determines the control instruction used for controlling the pointing angle of the corner reflector, so that the pointing angle of the corner reflector can be accurate. That is, the pointing angle of the corner reflector determined according to the first position information and the second position information is best matched with the incident angle of the electromagnetic wave emitted by the radar transmitter, that is, when the corner reflector is at the pointing angle, the incident energy can be emitted in the completely opposite direction to the maximum extent.
In an embodiment of the present invention, based on the onboard corner reflector control method shown in fig. 1, after receiving a control command sent from an external upper computer in step 101 and before controlling the corner reflector to operate according to the pointing angle control information in step 102, the method may further include the following steps:
acquiring a spatial position value of the corner reflector, wherein the spatial position value is used for representing a course angle, a pitch angle and a roll angle of the corner reflector in an inertial space coordinate system;
and determining the given pointing angle value of the corner reflector according to the spatial position value and the pointing angle information.
In an embodiment of the present invention, based on the shipborne corner reflector control method shown in fig. 1, when the pointing angle given value includes an azimuth pointing angle given value and a pitch pointing angle given value, step 102 controls the corner reflector to operate according to the pointing angle control information, which may specifically include the following steps:
determining a sectional variable parameter control quantity according to a given value of a pointing angle;
carrying out differential calculation on the given value of the azimuth angle to obtain a first target speed value;
determining a speed feedforward control quantity according to a preset first feedforward coefficient and a first target speed value;
carrying out differential calculation on the given value of the pitching pointing angle to obtain a second target speed value;
determining an acceleration feedforward control quantity according to a preset second feedforward coefficient and a second target speed value;
adding the piecewise variable parameter control quantity, the speed feedforward control quantity and the acceleration feedforward control quantity to obtain a speed given control quantity;
the reflector action is controlled according to the speed given control quantity.
In the embodiment of the invention, the piecewise variable parameter control quantity is determined according to the given value of the pointing angle, and the speed feedforward control quantity and the acceleration feedforward control quantity are respectively generated according to the given value of the azimuth pointing angle and the given value of the pitching pointing angle in the given value of the pointing angle, so that the speed given control quantity for controlling the action of the corner reflector is determined. Therefore, according to each given pointing angle value, a corresponding speed given control quantity is generated, and the corner reflector is controlled, so that the pointing angle of the corner reflector can be accurately controlled.
As shown in fig. 2 and 3, the embodiment of the present invention provides a corner reflector control device on board a ship. The embodiment of the ship-borne corner reflector control device can be realized by software, hardware or a combination of the software and the hardware. From a hardware level, as shown in fig. 2, a hardware structure diagram of a device in which a ship-borne corner reflector control apparatus provided in the embodiment of the present invention is located is shown, where in addition to the processor, the memory, the network interface, and the nonvolatile memory shown in fig. 2, the device in which the apparatus is located in the embodiment may also generally include other hardware, such as a forwarding chip responsible for processing a packet, and the like. Taking a software implementation as an example, as shown in fig. 3, as a logical apparatus, the apparatus is formed by reading, by a CPU of a device in which the apparatus is located, corresponding computer program instructions in a non-volatile memory into a memory for execution.
As shown in fig. 3, an embodiment of the present invention provides a ship-mounted corner reflector control device, including: a control instruction receiving module 301, a control module 302, a feedback information receiving module 303, a first determining module and a sending module;
a control instruction receiving module 301, configured to receive a control instruction sent by an external upper computer, where the control instruction carries pointing angle control information, and the pointing angle control information includes angle control information and angular velocity control information;
a control module 302, configured to control an action of the corner reflector according to the pointing angle control information received by the control instruction receiving module 301;
a feedback information receiving module 303, configured to receive angle feedback information sent from a corner reflector;
a first determining module 304, configured to determine angle deviation information according to the angle control information received by the control instruction receiving module 301 and the angle feedback information received by the feedback information receiving module 303;
the feedback information receiving module 303 is further configured to receive angular velocity feedback information sent by an external inertial navigation sensor, where the inertial navigation sensor is fixedly connected to the corner reflector;
the first determining module 304 further determines angular velocity deviation information according to the angular velocity control information received by the control instruction receiving module 301 and the angular velocity feedback information received by the feedback information receiving module 303;
a sending module 305, configured to send the angular deviation information and the angular velocity deviation information determined 304 by the first determining module to an upper computer, so that the upper computer determines a new control instruction according to the angular deviation information and the angular velocity deviation information.
In an embodiment of the present invention, based on the onboard corner reflector control apparatus shown in fig. 3, as shown in fig. 4, the onboard corner reflector control apparatus may further include: a first obtaining module 401 and a second determining module 402;
the first obtaining module 401 is configured to obtain first position information of an external radar transmitter, and obtain second position information from an inertial navigation sensor, where the first position information is used to represent a longitude value, a latitude value, and a height value of the radar transmitter, and the second position information is used to represent a longitude value, a latitude value, and a height value of a corner reflector;
a second determining module 402, configured to determine pointing angle information according to the first position information and the second position information acquired by the first acquiring module 401, where the pointing angle information is used to represent a pointing angle of a corner reflector;
the sending module 304 is further configured to send the pointing angle information determined by the second determining module 402 to the upper computer, so that the upper computer determines a control instruction according to the pointing angle information.
In an embodiment of the present invention, based on the onboard corner reflector control apparatus shown in fig. 4, as shown in fig. 5, the onboard corner reflector control apparatus may further include: a second obtaining module 501 and a third determining module 502;
the second obtaining module 501 is configured to obtain a spatial position value of the corner reflector, where the spatial position value is used to represent a heading angle, a pitch angle, and a roll angle of the corner reflector in an inertial space coordinate system;
a third determining module 502, configured to determine a given pointing angle value of the corner reflector according to the spatial position value acquired by the second acquiring module 501 and the pointing angle information determined by the second determining module 402.
In an embodiment of the invention, based on the onboard corner reflector control apparatus shown in fig. 5, the control module 302 is configured to perform the following processes:
determining a sectional variable parameter control quantity according to a given value of a pointing angle;
carrying out differential calculation on the given value of the azimuth angle to obtain a first target speed value;
determining a speed feedforward control quantity according to a preset first feedforward coefficient and a first target speed value;
carrying out differential calculation on the given value of the pitching pointing angle to obtain a second target speed value;
determining an acceleration feedforward control quantity according to a preset second feedforward coefficient and a second target speed value;
adding the piecewise variable parameter control quantity, the speed feedforward control quantity and the acceleration feedforward control quantity to obtain a speed given control quantity;
the reflector action is controlled according to the speed given control quantity.
The configuration illustrated in the embodiment of the present invention is not intended to specifically limit the onboard corner reflector control device. In other embodiments of the invention the onboard corner reflector control means may comprise more or fewer components than shown, or some components may be combined, some components may be split, or a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.
The contents of information interaction, execution process and the like among the modules in the shipborne corner reflector control device are based on the same conception as that of the method embodiment of the invention, and specific contents can be referred to the description in the method embodiment of the invention, and are not described again here.
In order to more clearly illustrate the technical solution of the present invention, the following describes in detail a control method for a corner reflector on board a ship, which is provided by an embodiment of the present invention, and as shown in fig. 6, the method may include the following steps:
step 601: first position information of an external radar transmitter is acquired.
In the step, the upper computer acquires first position information from the upper computer after receiving the first position information of the external radar transmitter, wherein the first position information is used for representing a longitude value, a latitude value and a height value of the radar transmitter.
Step 602: and acquiring second position information from an external inertial navigation sensor.
In this step, second position information from the inertial navigation sensor is acquired, wherein the second position information is used for characterizing a longitude value, a latitude value and a height value of the corner reflector.
Step 603: and determining the information of the pointing angle and sending the information to an external upper computer.
In the step, according to the received first position information and the second position information, the pointing angle information used for representing the pointing angle of the corner reflector is determined, and the pointing angle information is sent to the upper computer, so that the upper computer generates a control instruction for controlling the action of the corner reflector according to the pointing angle information.
Step 604: and receiving a control instruction sent by the upper computer.
In this step, the control command carries pointing angle control information, which includes angle control information and angular velocity control information.
Step 605: spatial position values of the corner reflectors are obtained.
In this step, the spatial position values are used to characterize the course angle, pitch angle and roll angle of the corner reflector in the inertial space coordinate system.
Step 606: and determining the pointing angle given value of the corner reflector.
In this step, a given value of the pointing angle for controlling the corner reflector can be determined based on the spatial position value of the corner reflector and the pointing angle information of the corner reflector.
Step 607: and determining the piecewise variable parameter control quantity.
In this step, the given pointing angle value determined in step 606 is substituted into a preset piecewise variable parameter control algorithm, so that the piecewise variable parameter control quantity can be determined.
Step 608: and carrying out differential calculation on the given value of the azimuth pointing angle to obtain a first target speed value.
In the step, the given value of the azimuth pointing angle in the given values of the pointing angles is subjected to differential calculation to obtain a first target speed value.
Step 609: and determining a speed feedforward control quantity according to a preset first feedforward coefficient and a first target speed value.
In this step, the determined speed feedforward control amount may be calculated by multiplying a preset first feedforward coefficient by the first target speed value.
Step 610: and carrying out differential calculation on the given value of the pitching pointing angle to obtain a second target speed value.
In the step, the given value of the pitching pointing angle in the given values of the pointing angles is subjected to differential calculation to obtain a second target speed value.
Step 611: and determining the acceleration feedforward control quantity according to a preset second feedforward coefficient and a second target speed value.
In this step, the determined acceleration feedforward control amount may be calculated by multiplying a preset second feedforward coefficient by a second target speed value.
Step 612: the speed of the corner reflector is determined to give a control quantity, and the action of the corner reflector is controlled.
In this step, the piecewise-variable-parameter control amount, the velocity feedforward control amount, and the acceleration feedforward control amount are added as the velocity-setting control amount.
Step 613: and receiving angle feedback information sent by the corner reflector.
In this step, after the corner reflector is operated according to the control command, angle feedback information for characterizing the corner reflector is received.
Step 614: angular deviation information is determined.
In this step, angle deviation information is determined based on the angle control information and the angle feedback information.
Step 615: and receiving angular velocity feedback information sent by an external inertial navigation sensor.
In the step, the inertial navigation sensor is fixedly connected with the corner reflector.
Step 616: angular velocity deviation information is determined.
In this step, angular velocity deviation information is determined based on the angular velocity control information and the angular velocity feedback information.
Step 617: and sending the angle deviation information and the angular speed deviation information to an upper computer.
In this step, the angular deviation information and the angular velocity deviation information are sent to the upper computer, so that the upper computer determines a new control instruction according to the angular deviation information and the angular velocity deviation information.
An embodiment of the present invention further provides an intelligent device, including: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor is configured to invoke the machine readable program to perform the shipborne corner reflector control method described in any of the above embodiments.
Embodiments of the present invention further provide a computer readable medium, where computer instructions are stored, and when executed by a processor, cause the processor to execute the shipborne corner reflector control method described in any of the above embodiments.
In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.
Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.
Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.
Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion unit connected to the computer, and then causes a CPU or the like mounted on the expansion board or the expansion unit to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the above-described embodiments.
It should be noted that not all steps and modules in the above flows and system structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The system structure described in the above embodiments may be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by a plurality of physical entities, or some components in a plurality of independent devices may be implemented together.
In the above embodiments, the hardware unit may be implemented mechanically or electrically. For example, a hardware element may comprise permanently dedicated circuitry or logic (such as a dedicated processor, FPGA or ASIC) to perform the corresponding operations. The hardware elements may also comprise programmable logic or circuitry, such as a general purpose processor or other programmable processor, that may be temporarily configured by software to perform the corresponding operations. The specific implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
While the invention has been shown and described in detail in the drawings and in the preferred embodiments, it is not intended to limit the invention to the embodiments disclosed, and it will be apparent to those skilled in the art that various combinations of the code auditing means in the various embodiments described above may be used to obtain further embodiments of the invention, which are also within the scope of the invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of controlling a corner reflector on board a ship, comprising:
receiving a control instruction sent by an external upper computer, wherein the control instruction carries pointing angle control information, and the pointing angle control information comprises angle control information and angular speed control information;
controlling the action of a corner reflector according to the pointing angle control information;
receiving angle feedback information sent by the corner reflector;
determining angle deviation information according to the angle control information and the angle feedback information;
receiving angular velocity feedback information sent by an external inertial navigation sensor, wherein the inertial navigation sensor is fixedly connected with the corner reflector;
determining angular velocity deviation information according to the angular velocity control information and the angular velocity feedback information;
and sending the angle deviation information and the angular speed deviation information to the upper computer so that the upper computer determines a new control instruction according to the angle deviation information and the angular speed deviation information.
2. The method according to claim 1, wherein before said receiving the control command from the external upper computer, further comprising:
acquiring first position information of an external radar transmitter, wherein the first position information is used for representing a longitude value, a latitude value and a height value of the radar transmitter;
acquiring second position information of the inertial navigation sensor, wherein the second position information is used for representing a longitude value, a latitude value and a height value of the corner reflector;
determining pointing angle information according to the first position information and the second position information, wherein the pointing angle information is used for representing a pointing angle of the corner reflector;
and sending the pointing angle information to the upper computer so that the upper computer determines the control instruction according to the pointing angle information.
3. The method according to claim 2, wherein after receiving the control command from the external upper computer and before controlling the action of the corner reflector according to the pointing angle control information, the method further comprises:
acquiring a spatial position value of the corner reflector, wherein the spatial position value is used for representing a course angle, a pitch angle and a roll angle of the corner reflector in an inertial space coordinate system;
and determining the given pointing angle value of the corner reflector according to the spatial position value and the pointing angle information.
4. The method of claim 3, wherein the pointing angle setpoint comprises an azimuth pointing angle setpoint and a pitch pointing angle setpoint;
the controlling the action of the corner reflector according to the pointing angle control information comprises the following steps:
determining a sectional variable parameter control quantity according to the given value of the pointing angle;
carrying out differential calculation on the given value of the azimuth pointing angle to obtain a first target speed value;
determining a speed feedforward control quantity according to a preset first feedforward coefficient and the first target speed value;
carrying out differential calculation on the given value of the pitching pointing angle to obtain a second target speed value;
determining an acceleration feedforward control quantity according to a preset second feedforward coefficient and the second target speed value;
adding the piecewise variable parameter control quantity, the speed feedforward control quantity and the acceleration feedforward control quantity to form a speed given control quantity;
controlling the corner reflector action according to the given control quantity of the speed.
5. Shipborne corner reflector control apparatus, characterized by comprising: the device comprises a control instruction receiving module, a control module, a feedback information receiving module, a first determining module and a sending module;
the control instruction receiving module is used for receiving a control instruction sent by an external upper computer, wherein the control instruction carries pointing angle control information, and the pointing angle control information comprises angle control information and angular speed control information;
the control module is used for controlling the action of the corner reflector according to the pointing angle control information received by the control instruction receiving module;
the feedback information receiving module is used for receiving angle feedback information sent by the corner reflector;
the first determining module is configured to determine angle deviation information according to the angle control information received by the control instruction receiving module and the angle feedback information received by the feedback information receiving module;
the feedback information receiving module is further configured to receive angular velocity feedback information sent by an external inertial navigation sensor, where the inertial navigation sensor is fixedly connected to the corner reflector;
the first determining module is further configured to determine angular velocity deviation information according to the angular velocity control information received by the control instruction receiving module and the angular velocity feedback information received by the feedback information receiving module;
the sending module is used for sending the angle deviation information and the angular speed deviation information determined by the first determining module to the upper computer so that the upper computer can determine a new control instruction according to the angle deviation information and the angular speed deviation information.
6. The apparatus of claim 5, further comprising: the device comprises a first obtaining module and a second determining module;
the first acquisition module is used for acquiring first position information of an external radar transmitter and acquiring second position information of the inertial navigation sensor, wherein the first position information is used for representing a longitude value, a latitude value and a height value of the radar transmitter, and the second position information is used for representing the longitude value, the latitude value and the height value of the corner reflector;
the second determining module is configured to determine pointing angle information according to the first position information and the second position information acquired by the first acquiring module, where the pointing angle information is used to represent a pointing angle of the corner reflector;
the sending module is further configured to send the pointing angle information determined by the second determining module to the upper computer, so that the upper computer determines the control instruction according to the pointing angle information.
7. The apparatus of claim 6, further comprising: a second obtaining module and a third determining module;
the second acquisition module is used for acquiring a spatial position value of the corner reflector, wherein the spatial position value is used for representing a course angle, a pitch angle and a roll angle of the corner reflector in an inertial space coordinate system;
the third determining module is configured to determine the given pointing angle value of the corner reflector according to the spatial position value acquired by the second acquiring module and the pointing angle information determined by the second determining module.
8. The apparatus of claim 7,
the pointing angle given value comprises an azimuth pointing angle given value and a pitching pointing angle given value;
the control module is used for executing the following processing:
determining a sectional variable parameter control quantity according to the given value of the pointing angle;
carrying out differential calculation on the given value of the azimuth pointing angle to obtain a first target speed value;
determining a speed feedforward control quantity according to a preset first feedforward coefficient and the first target speed value;
carrying out differential calculation on the given value of the pitching pointing angle to obtain a second target speed value;
determining an acceleration feedforward control quantity according to a preset second feedforward coefficient and the second target speed value;
adding the piecewise variable parameter control quantity, the speed feedforward control quantity and the acceleration feedforward control quantity to form a speed given control quantity;
controlling the corner reflector action according to the given control quantity of the speed.
9. Smart device, characterized in that it comprises: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor configured to invoke the machine readable program to perform the onboard corner reflector control method of any of claims 1-4.
10. Computer readable medium, characterized in that it has stored thereon computer instructions which, when executed by a processor, cause the processor to execute the onboard corner reflector control method according to any one of claims 1 to 4.
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