CN211878185U - Remote follow-up laser seeker - Google Patents
Remote follow-up laser seeker Download PDFInfo
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- CN211878185U CN211878185U CN202020065552.1U CN202020065552U CN211878185U CN 211878185 U CN211878185 U CN 211878185U CN 202020065552 U CN202020065552 U CN 202020065552U CN 211878185 U CN211878185 U CN 211878185U
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Abstract
The utility model discloses a remote follow-up laser seeker, the utility model discloses a large-diameter's transmission-type optical system has strengthened receiving laser energy in the time of reduce cost, and the signal conditioning circuit who deuterogamies the rear end and adopts directly adopts the laser detection signal, makes whole detection system's sensitivity improve at double, makes detection stability, interference killing feature also improve a lot, has finally realized not less than 10 Km's remote detection distance, and the cost has then reduced 2 ~ 3 times. Due to the application of the four-quadrant laser PIN detector, the large-view-field detection of not less than +/-15 degrees is realized, and the technical threshold of terminal guidance flight control is greatly reduced.
Description
Technical Field
The utility model belongs to the laser guidance field, concretely relates to remote follow-up laser seeker.
Background
The laser seeker is a final guidance device which is arranged on an aircraft and controls an optical axis to lock and track a target and simultaneously sends out a line-of-sight angular rate signal of the missile for the aircraft to navigate by performing photoelectric conversion, signal conditioning and digital signal processing on a laser echo signal diffusely reflected by the target.
Because the sensitivity of the four-quadrant PIN laser detector is poor, even if a 100mJ airborne laser irradiator is used, the action distance of the laser guide head can reach 4-5 km at most, and the use range is severely limited. The four-quadrant laser APD detector is generally applied to a long-distance laser seeker with the action distance exceeding 5km due to the characteristic of high detection sensitivity, but the defects of the four-quadrant APD laser detector are obvious. First, the yield is high and the price is expensive, and mass production is possible only in a few developed countries. Secondly, the field of view of the applied laser seeker is not larger than +/-3 degrees due to the fact that the photosensitive surface of the four-quadrant APD laser detector is too small, and the searching efficiency and the tracking stability of the laser seeker are seriously affected. Finally, the four-quadrant APD laser detector has high technical difficulty in use, detection sensitivity is greatly influenced by environmental temperature change, and a dead zone of a seeker is large.
The existing laser detection signal processing circuit of the laser seeker is mainly designed by adopting a scheme taking a peak value holding circuit as a core, and utilizes four-quadrant signal summation to trigger the peak value holding circuit and simultaneously trigger DSP interruption to control a low-speed ADC to complete analog-to-digital conversion on a laser pulse peak value holding signal. And the laser echo signal loses the characteristics of the original signal after passing through the peak holding circuit, cannot be subjected to digital signal processing and is easily interfered by induction.
Disclosure of Invention
An object of the utility model is to overcome above-mentioned not enough, provide a remote follow-up laser seeker, adopted the big lens optical system of aspheric surface cooperation four-quadrant PIN laser detector and added the design that high-speed ADC directly adopted, the semi-initiative seeker of laser that makes possess 15 big visual field under the prerequisite that does not increase the irradiation energy of laser irradiator, detection tracking distance has reached the degree more than 10 km. The design difficulty of the whole aircraft terminal guidance system is greatly reduced, the cost is reasonable, and the mass production is easy.
In order to achieve the purpose, the utility model discloses a have four-quadrant laser PIN detector transmission optical system, be provided with the optics radome in front of the transmission optical system, four-quadrant laser PIN detector among the transmission optical system connects signal conditioning circuit, transmission optical system sets up on biax servo, signal conditioning circuit connects FPGA preprocessing circuit, FPGA preprocessing circuit connects DSP main control circuit, DSP main control circuit connects biax servo;
the transmission type optical system carries out convergence imaging and photoelectric conversion on the received laser echo signals and then sends the laser echo signals to the signal conditioning circuit;
the signal conditioning circuit is used for performing automatic gain control and analog-to-digital conversion, and outputting four-quadrant laser echo signal digital quantity to enter the FPGA preprocessing circuit;
the FPGA preprocessing circuit performs signal initial detection preprocessing and sends the signal initial detection preprocessing to the DSP main control circuit;
the DSP main control circuit is used for confirming and identifying a target, performing sum and difference operation and gain control, and controlling a double-shaft servo system to track a pointing target by utilizing a proportional steering algorithm;
the double-shaft servo system is used for driving the transmission type optical system to realize the functions of searching and tracking targets.
The transmission type optical system comprises an optical filter, an aspheric lens, a spherical lens and a four-quadrant PIN laser detector, the four-quadrant PIN laser detector is connected with a signal conditioning circuit, the spherical lens is arranged in front of a receiving end of the four-quadrant PIN laser detector, the aspheric lens is arranged in front of the spherical lens, and the optical filter is arranged in front of the aspheric lens.
The signal conditioning circuit comprises a transimpedance amplifying circuit, a program-controlled amplifying circuit and a sampling circuit, wherein the transimpedance amplifying circuit and the program-controlled amplifying circuit respectively comprise 4 identical circuit channels, 4 channel input ends of the transimpedance amplifying circuit are respectively connected to A, B, C, D four-quadrant output ends of a four-quadrant PIN laser detector, the outputs of 4 channels of the transimpedance amplifying circuit are respectively connected to the input ends of 4 channels of the program-controlled amplifying circuit, and the outputs of 4 channels of the program-controlled amplifying circuit are respectively connected to the sampling circuit.
The FPGA preprocessing circuit comprises a buffer receiving module, a low-pass filtering module, a laser pulse signal initial detection module, an initial detection signal parallel sending module and a wave gate module, the signal conditioning circuit is connected with the buffer receiving module and the wave gate module, the buffer receiving module is connected with the low-pass filtering module, the low-pass filtering module is connected with the laser pulse signal initial detection module, the laser pulse signal initial detection module is connected with the initial detection signal parallel sending module, and the initial detection signal parallel sending module and the wave gate module are both connected with the DSP main control circuit;
the buffer receiving module is used for buffering and receiving the four-quadrant laser echo signal;
the low-pass filtering module is used for performing low-pass filtering on the four-quadrant laser echo signal;
the laser pulse signal primary detection module is used for summing the signals subjected to low-pass filtering processing and identifying the laser pulse signals;
the primary detection signal parallel sending module is used for sending the laser pulse signal original digital quantity identified by the signal primary detection module to the DSP main control circuit;
the gate module is used for controlling the sampling time of the high-speed ADC with the width of 2 us.
The DSP main control circuit comprises a DMA parallel receiving module, a signal locking resolving module, a proportional guide resolving and control module, an automatic gain control module and an external communication module, wherein the DMA parallel receiving module is connected with the FPGA preprocessing circuit and the signal locking resolving module;
the DMA parallel receiving module is used for receiving laser pulse signals subjected to initial detection by the FPGA preprocessing circuit;
the signal locking resolving module is used for identifying whether the laser pulse signal subjected to the initial detection of the FPGA preprocessing circuit is really a target reflection laser echo signal, sending the target reflection laser echo signal to the proportional guidance resolving and controlling module and controlling the FPGA preprocessing circuit to open the wave gate module;
the proportional guidance resolving and controlling module is used for calculating the sum and difference of target reflected laser echo signals to obtain a bullet eye line angle error, converting the bullet eye line angle error into a bullet eye line angle rate signal through a proportional guidance algorithm and sending the bullet eye line angle rate signal to the double-shaft servo system;
the automatic gain control module is used for controlling the gain change of the program control amplifying circuit;
the external communication module is used for sending the bullet sight line angular rate signal and the laser seeker state information and receiving the upper computer instruction.
The tracking range of the double-shaft servo system is pitching +/-40 degrees and heading +/-30 degrees.
Compared with the prior art, the utility model discloses a large-bore transmission-type optical system has strengthened receiving laser energy in the time of reduce cost, and the signal conditioning circuit who deuterogamies the rear end and adopts directly adopts the laser detection signal, makes whole detection system's sensitivity improve at double, makes detection stability, interference killing feature also improve a lot, has finally realized not less than 10 Km's remote detection distance, and the cost has then reduced 2 ~ 3 times. Due to the application of the four-quadrant laser PIN detector, the large-view-field detection of not less than +/-15 degrees is realized, and the technical threshold of terminal guidance flight control is greatly reduced.
Drawings
FIG. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a diagram of a structure of a transmission-type optical system according to the present invention;
fig. 3 is a system diagram of a signal conditioning circuit according to the present invention;
FIG. 4 is a schematic diagram of the connection of the signal conditioning circuit, the FPGA preprocessing circuit and the DSP main control circuit;
wherein, 1, optical fairing; 2. a transmissive optical system; 3. a dual-axis servo system; 4. a signal conditioning circuit; 5. a PFGA preprocessing circuit; 6. a DSP main control circuit; 201. an optical filter; 202. an aspherical lens; 203. a spherical lens; 204. a four-quadrant PIN laser detector; 401. a transimpedance amplification circuit; 402. a program-controlled amplifying circuit; 403. a sampling circuit; 501. a buffer receiving module; 502. a low-pass filtering module; 503. a laser pulse signal primary detection module; 504. a parallel initial detection signal sending module; 505. a wave gate module; 601. a DMA parallel receiving module; 602. a signal locking resolving module; 603. a proportional guidance resolving and control module; 604. an automatic gain control module; 605. and an external communication module.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
Referring to fig. 1, the remote follow-up laser seeker comprises a transmission-type optical system 2, an optical fairing 1 is arranged outside the transmission-type optical system 2, the transmission-type optical system 2 is connected with a double-shaft servo system 3 and a signal conditioning circuit 4, the signal conditioning circuit 4 is connected with an FPGA preprocessing circuit 5, the FPGA preprocessing circuit 5 is connected with a DSP main control circuit 6, and the DSP main control circuit 6 is connected with the double-shaft servo system 3;
the transmission type optical system 2 carries out convergence imaging and photoelectric conversion on the received laser echo signals and then sends the laser echo signals to the signal conditioning circuit 4;
the signal conditioning circuit 4 is used for performing automatic gain control and analog-to-digital conversion, and outputting four-quadrant laser echo signal digital quantity to the FPGA preprocessing circuit 5;
the FPGA preprocessing circuit 5 performs signal initial detection preprocessing and sends the signal initial detection preprocessing to the DSP main control circuit 6;
the DSP main control circuit 6 is used for confirming the identification target and controlling the double-shaft servo system 3 to work after the wing proportion guidance calculation of the sum and difference operation;
the double-shaft servo system 3 is used for driving the transmission type optical system 2 to rotate.
A control method of a remote follow-up laser seeker comprises the following steps:
step one, enabling a target diffuse reflection laser echo signal to enter a four-quadrant laser PIN detector of a transmission type optical system 2 through an optical fairing 1;
step two, the transmission type optical system 2 converges and images the laser echo signals, and sends the laser echo signals to the signal conditioning circuit 4 after photoelectric conversion;
step three, the signal conditioning circuit 4 performs automatic gain control and analog-to-digital conversion on the received signal, and outputs the four-quadrant laser echo signal digital quantity to the FPGA preprocessing circuit 5;
the FPGA preprocessing circuit 5 performs initial detection preprocessing on the four-quadrant laser echo signal digital quantity and sends the four-quadrant laser echo signal digital quantity to the DSP main control circuit 6;
and step five, the DSP main control circuit 6 confirms the identification target, and controls the double-shaft servo system 3 to track the pointing target after sum and difference operation, gain control and proportion guidance calculation.
Referring to fig. 2, the transmission optical system 2 includes a four-quadrant PIN laser detector 204, the four-quadrant PIN laser detector 204 is connected to a signal conditioning circuit, a spherical lens 203 is disposed in front of a receiving end of the four-quadrant PIN laser detector 204, an aspheric lens 202 is disposed in front of the spherical lens 203, and an optical filter 201 is disposed in front of the aspheric lens 202.
The lens barrel of the transmission type optical system 2 is made of an aluminum alloy material, a spherical lens 203, an aspheric lens 202, a narrow band filter 201 and a four-quadrant PIN laser detector 204 are sequentially arranged from inside to outside after hard anodizing treatment, and finally the lens barrel is arranged on an optical bench of the double-shaft servo system 3.
Referring to fig. 3, the signal conditioning circuit 4 includes a transimpedance amplifier circuit 401, a large dynamic range programmable amplifier circuit 402, and a sampling circuit 403, wherein 4 channel input terminals of the transimpedance amplifier circuit 401 are respectively connected to A, B, C, D four-quadrant output terminals of the four-quadrant PIN laser detector 204, 4 channel outputs of the transimpedance amplifier circuit 401 are respectively connected to 4 channel input terminals of the programmable amplifier circuit 402, and 4 channel outputs of the programmable amplifier circuit 402 are respectively connected to the sampling circuit 403.
The transimpedance amplifier circuit 401 is composed of 4 channels and mainly composed of 4 identical and parallel transimpedance amplifier circuits, the program-controlled amplifier circuit 402 is composed of 4 identical and parallel programmable amplifier circuits with large dynamic ranges, the program-controlled amplifier circuit 402 is controlled by an automatic gain control module 604 through an SPI (serial peripheral interface) to control gain, and the sampling circuit 403 is composed of 1 four-channel high-speed ADC chip with sampling rate of 250MIPS and precision of 14 bits and a 250MHz high-precision temperature compensation crystal oscillator.
Firstly, a signal received by the transimpedance amplification circuit 401 is converted into a voltage pulse signal, gain adjustment is performed through the program control amplification circuit 402, and a four-quadrant laser echo signal digital quantity is acquired through the sampling circuit 403 and is transmitted to the FPGA preprocessing circuit 5.
Referring to fig. 4, the FPGA preprocessing circuit 5 includes a buffering receiving module 501, a low-pass filtering module 502, a laser pulse signal primary detection module 503, a primary detection signal parallel sending module 504, and a wave gate module 505, the signal conditioning circuit 4 is connected to the buffering receiving module 501 and the wave gate module 505, the buffering receiving module 501 is connected to the low-pass filtering module 502, the low-pass filtering module 502 is connected to the laser pulse signal primary detection module 503, the laser pulse signal primary detection module 503 is connected to the primary detection signal parallel sending module 504, and both the primary detection signal parallel sending module 504 and the wave gate module 505 are connected to the DSP main control circuit 6;
the buffering receiving module 501 is configured to buffer and receive a four-quadrant laser echo signal;
the low-pass filtering module 502 is configured to perform low-pass filtering on the four-quadrant laser echo signal;
the laser pulse signal primary detection module 503 is configured to sum the signals subjected to the low-pass filtering processing, and identify a laser pulse signal;
the initial detection signal parallel sending module 504 is configured to send the laser pulse signal original digital quantity identified by the signal initial detection module 503 to the DSP main control circuit 6; the initial detection signal parallel sending module 504 uses parallel channels to send, the transmission speed is 50MHz, and the Bit width is 16 Bit.
The wave gate module 505 is used for controlling the enabled high-speed ADC sampling time with the width of 2us, calculating the coming time of the next laser signal according to the laser code after the laser seeker locks the target laser echo, starting the high-speed ADC sampling 1us in advance, and closing the high-speed ADC sampling 2us later, so that the power consumption is reduced, and meanwhile, the anti-interference capacity of the laser seeker is increased.
The four-quadrant laser echo signal digital quantity is received through the buffering receiving module 501, the received four-quadrant laser echo signal digital quantity is subjected to low-pass filtering through the low-pass filtering module 502, signals subjected to low-pass filtering are summed through the laser pulse signal primary detection module 503, a laser pulse signal is identified, the laser pulse signal is sent to the DSP main control circuit 6 through the primary detection signal parallel sending module 504, and the enabling high-speed ADC sampling time with the width of 2us is controlled through the wave gate module 505.
Referring to fig. 4, the DSP main control circuit 6 includes a DMA parallel receiving module 601, a signal locking calculation module 602, a proportional guidance calculation and control module 603, an automatic gain control module 604, and an external communication module 605, the DMA parallel receiving module 601 is connected to the FPGA preprocessing circuit 5 and the signal locking calculation module 602, the signal locking calculation module 602 is connected to the proportional guidance calculation and control module 603 and the automatic gain control module 604, the proportional guidance calculation and control module 603 is connected to the external communication module 605, and the automatic gain control module 604 is connected to the signal conditioning circuit 4 and the FPGA preprocessing circuit 5;
the DMA parallel receiving module 601 is used for receiving laser pulse signals subjected to initial detection by the FPGA preprocessing circuit 5;
the signal locking resolving module 602 is configured to identify whether the laser pulse signal subjected to the initial detection by the FPGA preprocessing circuit 5 is actually a target reflection laser echo signal, send the target reflection laser echo signal to the proportional guidance resolving and control module 603, and control the FPGA preprocessing circuit 5 to open the gate module 505, so as to enhance the anti-interference capability;
the proportional guidance resolving and controlling module 603 is configured to calculate a sum and a difference of the target reflected laser echo signals to obtain a bullet eye line angle error, convert the bullet eye line angle error into a bullet eye line angle rate signal through a proportional guidance algorithm, and send the bullet eye line angle rate signal to the dual-axis servo system 3;
the automatic gain control module 604 controls the laser pulse signal and the voltage amplitude to be stabilized to 1.8V by adjusting the gain change of the large dynamic range program control amplifying circuit 402, so as to ensure that the sampling data of the sampling circuit 403 is stable and reliable;
the external communication module 605 is configured to send a bullet sight line angular rate signal and laser seeker state information and receive an upper computer instruction. The external communication module 605 is a CAN communication interface, the DSP main control circuit 6 sends the bullet sight line angular rate signal and the laser seeker state information through the external communication module 605 and receives the upper computer instruction, and the CAN interface communication rate is 500 KHz.
The DMA parallel receiving module 601 receives laser pulse signals passing through the FPGA preprocessing circuit 5, the signal locking resolving module 602 uses a coherent detection algorithm to extract target reflection laser echo signals in the laser pulse signals passing through the FPGA preprocessing circuit 5 for initial detection, the proportional guidance resolving and control module 603 performs sum and difference operation on the target reflection laser echo signals to obtain a bullet eye line angle error, the bullet eye line angle error is converted into a bullet eye line angle rate signal through the proportional guidance algorithm to be supplied to the double-shaft servo system 3, and the automatic gain control module 604 controls gain change of the signal conditioning circuit 4.
The tracking range of the double-shaft servo system 6 is pitching +/-40 degrees and heading +/-30 degrees.
Claims (5)
1. A remote follow-up laser seeker is characterized by comprising a transmission type optical system (2) with a four-quadrant laser PIN detector, wherein an optical fairing (1) is arranged in front of the transmission type optical system (2), the four-quadrant laser PIN detector in the transmission type optical system (2) is connected with a signal conditioning circuit (4), the transmission type optical system (2) is arranged on a double-shaft servo system (3), the signal conditioning circuit (4) is connected with an FPGA (field programmable gate array) preprocessing circuit (5), the FPGA preprocessing circuit (5) is connected with a DSP (digital signal processor) main control circuit (6), and the DSP (digital signal processor) main control circuit (6) is connected with the double-shaft servo system (3);
the transmission type optical system (2) carries out convergent imaging and photoelectric conversion on the received laser echo signals and then sends the laser echo signals to the signal conditioning circuit (4);
the signal conditioning circuit (4) is used for carrying out automatic gain control and analog-to-digital conversion, and outputting four-quadrant laser echo signal digital quantity to enter the FPGA preprocessing circuit (5);
the FPGA preprocessing circuit (5) performs signal initial detection preprocessing and sends the signal initial detection preprocessing to the DSP main control circuit (6);
the DSP main control circuit (6) is used for confirming an identification target, performing sum and difference operation and gain control, and controlling the double-shaft servo system (3) to work through a proportion guidance calculation method;
the double-shaft servo system (3) is used for driving the transmission type optical system (2) to rotate.
2. The remote follow-up laser seeker according to claim 1, wherein the transmission type optical system (2) comprises an optical filter (201), an aspheric lens (202), a spherical lens (203) and a four-quadrant PIN laser detector (204), the four-quadrant PIN laser detector (204) is connected with a signal conditioning circuit, the spherical lens (203) is arranged in front of a receiving end of the four-quadrant PIN laser detector (204), the aspheric lens (202) is arranged in front of the spherical lens (203), and the optical filter (201) is arranged in front of the aspheric lens (202).
3. The remote servo-actuated laser seeker according to claim 1, wherein the signal conditioning circuit (4) comprises a transimpedance amplifier circuit (401), a programmable amplifier circuit (402), and a sampling circuit (403), wherein the transimpedance amplifier circuit (401) and the programmable amplifier circuit (402) each comprise 4 identical circuit channels, 4 channel input ends of the transimpedance amplifier circuit (401) are respectively connected to A, B, C, D quadrant output ends of the four-quadrant PIN laser detector (204), outputs of 4 channels of the transimpedance amplifier circuit (401) are respectively connected to input ends of 4 channels of the programmable amplifier circuit (402), and outputs of 4 channels of the programmable amplifier circuit (402) are respectively connected to the sampling circuit (403).
4. The remote servo-actuated laser seeker according to claim 1, wherein the FPGA preprocessing circuit (5) comprises a buffering receiving module (501), a low-pass filtering module (502), a laser pulse signal initial detection module (503), an initial detection signal parallel sending module (504) and a wave gate module (505), the signal conditioning circuit (4) is connected with the buffering receiving module (501) and the wave gate module (505), the buffering receiving module (501) is connected with the low-pass filtering module (502), the low-pass filtering module (502) is connected with the laser pulse signal initial detection module (503), the laser pulse signal initial detection module (503) is connected with the initial detection signal parallel sending module (504), and the initial detection signal parallel sending module (504) and the wave gate module (505) are both connected with the DSP main control circuit (6);
the buffer receiving module (501) is used for buffering and receiving the four-quadrant laser echo signal;
the low-pass filtering module (502) is used for performing low-pass filtering on the four-quadrant laser echo signal;
the laser pulse signal primary detection module (503) is used for summing the signals subjected to low-pass filtering processing and identifying the laser pulse signals;
the primary detection signal parallel sending module (504) is used for sending the laser pulse signal original digital quantity identified by the signal primary detection module (503) to the DSP main control circuit (6);
the gate module (505) is used to control the enabled high speed ADC sampling time of 2us width.
5. The remote servo laser seeker according to claim 1, wherein the DSP main control circuit (6) comprises a DMA parallel receiving module (601), a signal locking calculation module (602), a proportional guidance calculation and control module (603), an automatic gain control module (604) and an external communication module (605), the DMA parallel receiving module (601) is connected with the FPGA preprocessing circuit (5) and the signal locking calculation module (602), the signal locking calculation module (602) is connected with the proportional guidance calculation and control module (603) and the automatic gain control module (604), the proportional guidance calculation and control module (603) is connected with the external communication module (605), and the automatic gain control module (604) is connected with the signal conditioning circuit (4) and the FPGA preprocessing circuit (5);
the DMA parallel receiving module (601) is used for receiving laser pulse signals subjected to initial detection by the FPGA preprocessing circuit (5);
the signal locking and resolving module (602) is used for identifying whether the laser pulse signal subjected to initial detection by the FPGA preprocessing circuit (5) is actually a target reflection laser echo signal, sending the target reflection laser echo signal to the proportional guidance resolving and controlling module (603), and controlling the FPGA preprocessing circuit (5) to open the wave gate module (505);
the proportional guidance resolving and controlling module (603) is used for calculating the sum and difference of target reflected laser echo signals to obtain a bullet eye line angle error, converting the bullet eye line angle error into a bullet eye line angle rate signal through a proportional guidance algorithm and sending the bullet eye line angle rate signal to the double-shaft servo system (3);
the automatic gain control module (604) is used for controlling the gain change of the program-controlled amplifying circuit (402);
the external communication module (605) is used for sending the line-of-sight angular rate signal of the bullet and the state information of the laser seeker and receiving the instruction of the upper computer.
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| CN111123288A (en) * | 2020-01-13 | 2020-05-08 | 西安深瞳智控技术有限公司 | Remote follow-up laser seeker and control method |
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