CN204730763U - A kind of laser-beam riding guidance guided missile photoelectricity decoded digital circuit - Google Patents

Abstract

A kind of laser-beam riding guidance guided missile photoelectricity decoded digital circuit, comprise that signal is synchronous exports three large modules with filtering, pulse frequency measurement and signal receiving and envelope, vote the control of combinational logic circuit, complete period step-by-step counting Measuring Frequency Method and state machine in conjunction with three roads and realize.The synchronous d type flip flop comprising level Four with filtration module and connect of signal, first and second grade of trigger is used for a signal filtering with synchronously, second and third, the output of level Four trigger enters voting circuit and carries out logical operation, realizes secondary filtering; Pulse frequency measurement module judges the signal period by measuring the number comprising system clock pulse in input signal one-period; Signal receiving and envelope output module judge this signal start/stop time according to the signal frequency recorded, and control the corresponding output port of each frequency and are occurring that the corresponding signal period exports the state of envelope signal.Can not be there is frequent fluctuation or errored response in the utility model signal receiving and envelope output procedure, sensitivity can adjust flexibly.

Description

A kind of laser-beam riding guidance guided missile photoelectricity decoded digital circuit

Technical field

The utility model belongs to guided missile signal transacting field, is specifically related to a kind of laser-beam riding guidance guided missile photoelectricity decoded digital circuit.

Background technology

Laser-beam riding guidance is by earth-based guidance instrument detection run-home launch laser beam, and navigate missile flies along laser beam center a kind of guidance technology hit the mark.The coordinate information of guided missile embodies in the output signal of optoelectronic device, and this signal becomes a road electric impulse signal through photoelectric coding, is superimposed by multi-frequency timesharing, needs to carry out decoding and could determine guided missile coordinate.

Owing to comprising more interference and noise in code signal, decoding circuit exports exists more fluctuation and mistake, therefore requires higher to interference free performance.Traditional design adopts analog circuit to realize above-mentioned functions always, and its system complex, hardware cost are high, volume is large, and flexibility is not strong, and key issue is that interference free performance is poor.When occurring the random code of leaking code, error coded, frequency intersection in code signal, and during the interference such as noise, export and often inevitably occur rub-out signal.Therefore, the demand of user to circuitry digitizing design is extremely urgent, and expects to improve systematic function by Design of digital.

Utility model content

The purpose of this utility model is for above-mentioned defect of the prior art, and provide a kind of robustness better, interfering signal filtering is thorough, and the laser-beam riding guidance guided missile photoelectricity decoded digital circuit that sensitivity can adjust flexibly.

To achieve these goals, the technical solution adopted in the utility model is:

Comprise signal synchronous and filtration module, pulse frequency measurement module and signal receiving and envelope output module;

The synchronous d type flip flop comprising level Four with filtration module and connect of described signal, wherein, first and second grade of trigger is used for a signal filtering with synchronously, second and third, the output of level Four trigger enters voting circuit and carries out logical operation, realizes secondary filtering; Described pulse frequency measurement module comprises clock pulse counter, and clock pulse counter is in the input signal rising edge of a pulse moment, and start counting to counter O reset, next rising edge of a pulse moment stops counting, and again reset; Described signal receiving and envelope output module comprise the start/stop time judging this signal according to the signal frequency recorded, and control the corresponding output port of each frequency and are occurring that the period of corresponding signal exports the state machine of envelope signal.

The input of digital circuit is the configurable input of sensitivity, for requiring to carry out sensitivity level adjustment according to input signal actual conditions and system index, for different sensitivity grade, by state machine Circuit tuning interference free performance and response rapidity.

Select sensitivity the lowest class to improve circuit anti-interference performance when the configurable input of described sensitivity exists more interference and error message to input signal, time more satisfactory to input signal, select sensitivity highest ranking to improve the rapidity of Circuit responce.

Described state machine comprises Idle state IDLE, metastable state UNCONFIRM, pre-stable state PRESTABLE, stable state STABLE, confirms stable state CONFIRM, duplicate acknowledgment stable state RECONFIRM six kinds of states; Wherein IDLE is Default Idle state, state when STABLE is occurrence frequency switching.

Synchronous and the filtration module of described signal second and third, the output of level Four trigger enters voting circuit and votes, when the output more than wherein two-stage or two-stage is high, judges that this signal is as useful signal, otherwise be considered as interfering signal.

Compared with prior art, the utility model has following beneficial effect:

1, the utility model digital photoelectric decoding circuit instead of conventional analog circuits and realizes coordinate information process, circuit cost reduce, volume reduce, and by Anti-interference Design comparatively analog circuit there is better robustness.

2, adopt level Four trigger to vote circuit in conjunction with three roads and carry out the synchronous and filtering of input signal, not only effectively ensure that the synchronous of input signal and system clock, and no matter all can effectively filtering for the interfering signal being less than or greater than a clock cycle.

3, the utility model exports based on state machine control signals solution mediation envelope, while can realizing signal frequency measurement, judge duration and the start/stop time of corresponding frequencies signal, and produce corresponding envelope output signal according to the effective pulse duration.Signal receiving of the present utility model and envelope output module are according to photoelectric encoder output signal frequency assemblage characteristic, and the interference that may exist and rub-out signal feature, whether judge that current period records signal frequency is effective information, if effectively, there is effectively conversion in state, otherwise then returns disarmed state.This structure can filtering leak code, error coded, interfering signal and two frequency intersections occur optional frequency signal etc., ensure that good anti-interference and stability.

Further, the utility model considers the uncertainty of user's request and applied environment, devises a configurable input of sensitivity, can realize sensitivity adjustable flexibly.By designing the state machine under three kinds of sensitivity levels, system is made to have different applicabilities and robustness.When environment for use is more satisfactory, when input signal is containing less interference, select higher sensitivity grade, now lag output signal shortest time; When environment for use is comparatively severe, when input signal interference is more, select lower sensitivity level, thus the system that ensures has good robustness and stability.This mentality of designing improves the flexibility of code, in the face of different occasion and demand can generally be suitable for.In addition, this design extensively can carry out the design in there being engineering practice demand, conveniently adjusts flexibly according to actual environment and changes in demand, reduces time and the financial cost of change in design.

Further, the utility model state machine comprises Idle state IDLE, metastable state UNCONFIRM, pre-stable state PRESTABLE, stable state STABLE, confirms stable state CONFIRM, duplicate acknowledgment stable state RECONFIRM six kinds of states, wherein IDLE is Default Idle state, state when STABLE is occurrence frequency switching; Signal receiving process is based upon on the orderly conversion of each state by this design, and when ensureing that input signal exists more interference and may there is non-ideal signal, frequent fluctuation or errored response can not occur for signal receiving and envelope output procedure.

Accompanying drawing explanation

Fig. 1 laser-beam riding guidance missile guidance control system block diagram;

Fig. 2 laser-beam riding guidance missile guidance control principle schematic diagram;

Fig. 3 laser control information field schematic diagram: (a) is pitch orientation schematic diagram; B () is yaw direction schematic diagram;

Fig. 4 photoelectrolysis decoding circuit signal transmission schematic diagram: (a) is input signal schematic diagram; B () is output signal schematic diagram;

Fig. 5 photoelectrolysis decoding circuit functional module principle schematic;

Synchronous and the filter circuit combinational logic circuit figure of Fig. 6;

Synchronous and the filter circuit waveform schematic diagram of Fig. 7;

State machine schematic diagram during Fig. 8 sensitivity=2;

Fig. 9 signal lag situation schematic diagram;

Figure 10 signal errors situation schematic diagram;

Figure 11 jamproof photoelectrolysis decoding circuit input and output schematic diagram.

Detailed description of the invention

Below in conjunction with accompanying drawing, the utility model is described in further detail.

See Fig. 1, for laser-beam riding guidance guided missile, the sensing detection device of its guidance control system detects guided missile coordinate by laser equipment, also needs to carry out the conversion between photosignal when therefore inputing to control unit.The photoelectricity decoding device that shows in the part of this programme research and figure, function is identified by the signal that Photoelectric Detection code device exports, and therefrom obtains guided missile actual coordinate.In addition, there are certain mapping relations between multiple pulse electrical signal envelope of output and actual coordinate, this part is not at the category of this programme research.This circuit exports and guided missile coordinate value not detected, just need can deliver to control unit through certain conversion.

See Fig. 2, laser-beam riding guidance missile guidance control principle is illustrated intuitively in figure, object changing coordinates state just need can be obtained the state after applying Guidance and control instruction through photoelectric coding, photoelectricity decoding by laser-beam riding guidance guided missile, and the utility model is photoelectricity decoded portion mainly for research.

See Fig. 3, laser intelligence field coordinate distributes along y direction, and coordinate value is larger, and guided missile off center point is more; Is laterally time shaft in figure, scope be one complete cycle 5ms; In figure, character is this regional pulse signal frequency.

Figure (a) shows the coordinate of guided missile in pitch orientation, and figure (b) shows the coordinate of guided missile at yaw direction.The pulse signal frequency combination that different coordinate position is corresponding is different, such as, when guided missile does not have side-play amount in pitch orientation, namely co-ordinate zero point is in, then photoelectric coding output pulse signal frequency is f3-f5-f4 combination, and each frequency range to account for the time roughly the same, as shown in dashed centre line position; And when guided missile occurs maximum offset in pitch orientation, being namely in maximum of points on ordinate, then output pulse signal frequency only has f3 frequency range, and continues a complete cycle.

See Fig. 4, the pulse signal that the utility model exports from photoelectric coding circuit as shown in figure (b), the input signal of this signal and photoelectrolysis decoding circuit.Can find out from figure (a), comprise the several frequency range of f3, f5, f4, f2, f5, f1 in current guided missile coordinate information successively, prove that guided missile has certain deviation at all relative location mid-shaft of pitching and yaw direction.Decoding circuit exports as shown in figure (b), its abscissa is corresponding with figure (a), difference is that this coordinate system decomposes out from (a), have four, corresponding f1, f2, f3 and f4 tetra-frequencies respectively, the time that each frequency continues within a codes co-ordinates cycle and period can be represented by abscissa.That is, the function that this decoding circuit realizes is decoded to the pulse signal that comprises multiple frequency timesharing superposition, exported respectively by the envelope signal of each pulse signal sustained periods of time.

See Fig. 5, as shown in the figure, the input/output signal form of each module shows at each intermodule the three zones module of the utility model photoelectrolysis decoding circuit.After a pending signal enters the utility model circuit, first complete synchronous and filtering, solve the asynchronous problem of signal clock and the filtering interference that may exist; Then, by pulse frequency measurement module, measure the pulse frequency of input signal in each period, its reference standard is the clock frequency of system; Finally, after determining signal day part frequency, corresponding for this period corresponding frequencies output end signal is set high, the envelope namely outputed signal.

See Fig. 6, the utility model is in the combinational logic circuit realizing synchronous and filter function, clock CLK used is system clock, the input signal of input INPUT and photoelectrolysis decoding circuit, export INPUT_SURE and namely pass through synchronous and filtered signal, next stage frequency measuring block can be exported to.

See Fig. 7, from figure, synchronous and filter circuit waveform namely can the function of combinational logic circuit intuitively in response diagram 6.Wherein, CLK, INPUT and INPUT_SURE signal all has display in figure 6, and INPUT_SYN, INPUT_S1, INPUT_S2 and INPUT_S3 are intermediate quantity, represents the output signal of four d type flip flops from top to bottom successively.Can find out from figure, when during the input of decoding circuit is as figure shown in INPUT time, there is two problems in it: the first, asynchronous with system clock CLK; The second, there is a burr.And through synchronous with filter function module after export as a signal as shown in INPUT_SURE, successfully reach synchronously and the effect of filtering.

State machine schematic diagram when Fig. 8 is sensivity index sensitivity=2, can find out that from figure this state machine comprises altogether IDLE, UNCONFIRM, PRESTABLE, STABLE, CONFIRM and RECONFIRM six states, when condition changes, can there is redirect in these states in state machine between any two.

See Fig. 9, in the typical input signal of one, T _a, T _b, T _cfor the pulse period comprised successively in this signal.For T _bduan Eryan, the pulse duration of its reality is T _s, and be T according to the duration that this circuit records _r.There is certain delay between both, use T _beforeand T _afterdefinition signal T respectively _bsection front and back ends postpones.Under the pattern that A pulse signal is connected with B pulse signal, front-end delay is minimum; Under the pattern that B pulse signal is connected with C pulse signal, rear end postpones maximum.

See Figure 10, in the typical input signal of one, the junction of A pulse signal and B pulse signal and B pulse signal and C pulse signal, all there is the delay of half period in front and back ends, pulse frequency difference causes T _swith T _rbetween error.

Figure 11 is a kind of photoelectrolysis decoding circuit input-output wave shape in typical case with interference free performance, and wherein CLK is circuit system clock signal, and INPUT is circuit input signal, comprises three kinds of different frequencies in this signal, respectively corresponding output 1,2,3.As seen from the figure, not only synchronous and filtering process have been carried out to input signal through this circuit, decoded simultaneously input comprise the pulse signal of three kinds of frequencies, and its respective envelope signal to be exported respectively as shown in OUT1, OUT2, OUT3.

Missije laser beam rider guidance control information field is passed through at the uniform velocity circumgyration incision laser beam by photoelectricity chopper wheel and is formed.There is the laser pulse signal of f1, f2, f3, f4, f5 five frequencies altogether in the one-period of chopper wheel, frequency is followed successively by from small to large: 9KHz, 11KHz, 15KHz, 18KHz, 21KHz, the positional information of pitch channel is characterized by f3, f4, f5, the positional information of jaw channel is characterized by f1, f2, f5, and two direction signals respectively account for 5ms.In each frequency pulse monocycle, the duration is determined by the deviation of guided missile relative to laser beam axis, and the positional information of reaction guided missile in space, the duration mostly is 5ms most, and minimum is 0.This signal produces through photoelectric coding circuit, be rendered as a road signal of telecommunication of multiburst signal timesharing superposition, the i.e. input of photoelectrolysis decoding circuit in this programme, this circuit realiration is to the demodulation of guided missile coordinate information, each frequency pulse signal is exported with envelop forms, rear class control circuit produces control signal with reference to certain algorithm accordingly and drives steering wheel to rotate, and carries out missile attitude and track adjustment.When guided missile flies on optical axis, output voltage is zero, and controller does not respond f5 frequency band; When there is deviation in guided missile in pitching or yaw direction, respective direction output voltage and offset deviation linear, offset deviation is larger, and control voltage is larger.

In order to realize the conversion being input to output, the utility model circuit carries out synchronously input signal successively and filtering, pulse frequency measurement, signal receiving and envelope export three step process.

Synchronous synchronous with filtration module for external signal and internal system clock, and the filtering process of interfering signal.To this, this programme is taked to export voting method, and in the trigger of first connect stored in level Four by input signal, four triggers adopt same system clocks, and data register all occurs in the moment of rising edge clock arrival.When in rear three grades of triggers, two or more export as time high, voting exports as high, when in rear three grades of triggers, two or more export as time low, voting exports as low, thus filtering interference.

Input signal INPUT enters first order trigger, sampling through clock signal clk produces synchronous input signal INPUT_SYN, this signal enters rear three grades of triggers successively, produce INPUT_S1, INPUT_S2 and INPUT_S3 of the delayed one-period of relative previous stage trigger respectively, produce input validation signal INPUT_SURE through voting.Here the edge getting INPUT_SURE inputs as efficient system, enters next frequency measuring block.

Pulse frequency measurement module is used for the determination of input pulse signal frequency, and this programme adopts complete period counting method, the rising edge time being masked as INPUT_SURE that pulse counter resets.The input of system contains the pulse signal of 5 kinds of different frequencies, and system clock frequency adopts 10MHz, starts counting when input signal each pulse period arrives, and counts and reset when the next pulse cycle arrives.Represent count value with counter, f represents frequency, then the clock pulses number in the pulse signal monocycle is: obtain each frequency pulse signal monocycle count value to be respectively: 1111,910,667,555,476.

Signal receiving and envelope export, and namely judge by count results the pulse frequency that input signal is corresponding, and many group pulses signal timesharing superposed decomposited by the period, and exported with envelop forms.Consider the discontinuity between the error of input signal and each frequency, the error range arranging frequency is ± 0.5KHz.Therefore, frequency is that the clock pulses number scope that the signal of f1, f2, f3, f4, f5 is corresponding is followed successively by: (1055,1167), (870,950), (645,689), (540,570), (465,487).When record certain section of frequency input signal wherein certain scope time, think that this section of pulse signal frequency is corresponding frequencies.

Envelope output is the start/stop time by judging different frequency signals, produces the envelope signal that high level lasting time is identical with this frequency pulse signal duration.For different sensitivity grade, the state machine of the utility model design is different.When sensitivity level is 2, the state machine of each frequency pulse signal comprises IDLE, UNCONFIRM, PRESTABLE, STABLE, CONFIRM, RECONFIRM six kinds of states.UNCONFIRM, PRESTABLE state is as whether setting up certain basis for estimation outputed signal, CONFIRM, RECONFIRM state keeps current output signal for judging whether, only have when state machine is transformed into STABLE from IDLE, output signal the saltus step that could occur from low to high; When being only transformed into IDLE from STABLE, output signal the saltus step that could occur from high to low, otherwise it is constant all to maintain former level.When sensitivity level is 1, each state machine comprises IDLE, PRESTABLE, STABLE, CONFIRM tetra-kinds of states.PRESTABLE state is still the basis for estimation setting up certain output signal, and CONFIRM is for keeping current output signal.When state machine occur from STABLE to IDLE or the conversion of IDLE to STABLE time, there is saltus step in output signal, otherwise it is constant to maintain former level.When sensitivity level is 0, each state machine only comprises IDLE and STABLE two states.Therefore, as long as state changes, just there is saltus step in output signal level, and system is in most sensitiveness.

For analog circuit, its lag time and error can not quantitatively calculate.By contrast, this digitization program can lag time of accurate Calculation circuit and error.With reference to accompanying drawing 9,10, if three pulse signal cycles are from left to right respectively T _a, T _b, T _c, with regard to T _bfrequency range, T _sfor the actual pulse duration, T _rfor recording the pulse duration, its front-end delay is defined as T _before, rear end postpones to be defined as T _after.Analyzing known, there is delayed minimum situation in A pulse signal and B pulse signal junction, and delayed maximum situation appears in B pulse signal and C pulse signal junction.

Front and back end time delay maximum, minimum of a value result of calculation is as follows:

$T_{\max }=T_B+(\mathrm{sensitivity}+1)T_B,T_{\min }=\frac{1}{2}{T}_B+\mathrm{sensitivity}{T}_B$

T _{rear max}=T _c+ (sensitivity+1) T _c, T _{rear min}=0+sensitivityT _c

Because the order of five kinds of frequency timesharing superpositions is:

f ₃→(f ₅)→f ₄→f ₂→(f ₅)→f ₁→f ₃→(f ₅)→f ₄→f ₂→(f ₅)→f ₁

Therefore, intersection combination of frequency has following eight kinds:

F is appeared at by limiting value time delay calculating this circuit ₁before and after frequency range:

T _{front max}=4T ₁=444us, T _{front min}=0

T _{rear max}=4T ₁=444us, T _{rear min}=0

Identical with delay mechanism, current output enclosing interval is in fact not exclusively the interval that corresponding frequencies continues, and the some pulse periods comprising delayed last frequency and the some pulse periods of next frequency started, therefore, the width of envelope has increase in various degree or reduction, and its error amount is the difference of front and back intersection lag time.

For the duration of B signal, the maximum situation of error appears at T _aftermaximum and T _beforeminimum, or T _beforemaximum and T _aftertime minimum.That is:

E _max=| T _{front max}-T _{rear min}|=2T _b+ sensitivity|T _b-T _c| or

E _max=| T _{rear max}-T _{front min}|=2T _c+ sensitivity|T _c-T _b|

Can calculate the max value of error exporting envelope is:

e _max＝2T ₁+2(T ₁-T ₃)＝310us；

Wherein, T ₁appear at f under switch instances ₁the frequency period.

Claims (5)

1. a laser-beam riding guidance guided missile photoelectricity decoded digital circuit, is characterized in that: comprise signal synchronous and filtration module, pulse frequency measurement module and signal receiving and envelope output module;

The synchronous d type flip flop comprising level Four with filtration module and connect of described signal, wherein, first and second grade of trigger is used for a signal filtering with synchronously, second and third, the output of level Four trigger enters voting circuit and carries out logical operation, realizes secondary filtering; Described pulse frequency measurement module comprises clock pulse counter, and clock pulse counter is in the input signal rising edge of a pulse moment, and start counting to counter O reset, next rising edge of a pulse moment stops counting, and again reset; Described signal receiving and envelope output module comprise the start/stop time judging this signal according to the signal frequency recorded, and control the corresponding output port of each frequency and are occurring that the period of corresponding signal exports the state machine of envelope signal.

2. laser-beam riding guidance guided missile photoelectricity decoded digital circuit according to claim 1, it is characterized in that: the input of digital circuit is the configurable input of sensitivity, for requiring to carry out sensitivity level adjustment according to input signal actual conditions and system index, for different sensitivity grade, by state machine Circuit tuning interference free performance and response rapidity.

3. laser-beam riding guidance guided missile photoelectricity decoded digital circuit according to claim 2, it is characterized in that: when the configurable input of described sensitivity exists more interference and error message to input signal, select sensitivity the lowest class to improve circuit anti-interference performance, time more satisfactory to input signal, select sensitivity highest ranking to improve the rapidity of Circuit responce.

4. laser-beam riding guidance guided missile photoelectricity decoded digital circuit according to claim 1 and 2, is characterized in that: described state machine comprises Idle state IDLE, metastable state UNCONFIRM, pre-stable state PRESTABLE, stable state STABLE, confirms stable state CONFIRM, duplicate acknowledgment stable state RECONFIRM six kinds of states; Wherein IDLE is Default Idle state, state when STABLE is occurrence frequency switching.

5. laser-beam riding guidance guided missile photoelectricity decoded digital circuit according to claim 1, it is characterized in that: the synchronous and filtration module of described signal second and third, the output of level Four trigger enters voting circuit and votes, when output more than wherein two-stage or two-stage is high, judge that this signal is as useful signal, otherwise be considered as interfering signal.