SU1113822A2 - Device for determining coordinates of point light objects - Google Patents

Abstract

1. DEVICE FOR DETERMINATION OF COORDINATES OF POINT LIGHT OBJECTS according to author. St. No. 811302, characterized in that, in order to determine the accuracy in determining each of the coordinate signal generation channels, it contains a variance error dispersion calculator and a digital filter, the input of which is connected to the output of the reversing generator, and the input of the error error dispersion calculator connected to the outputs of the operating mode switching unit, and the output to the first control input of the digital filter, the second control input of which is connected to the corresponding output of the block switched modes.

Description

2. The device rro p. 1, that is, that the calculator of the error error mismatch contains a counter, the first and second impregnators of pulses and a series-connected reversing counter, quad, adder, first shift register, code converter and SECURITIES A shift register whose output is the output of the error error variance calculator,. one of the inputs of the reversible counter is the first input of the error calculator, the other input of the reversible counter connected to the inputs of the second pulse generator and the counter is the second input of the error error dispersion calculator, the outputs of the first and second pulse formers are connected respectively to the control inputs of the first and second second shift registers, the output of the counter is connected to

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the input of the first pulse shaper, the outputs of the first shift register are connected to the corresponding inputs of the adder. .

3. The device pop, 1, is different. 14 a. Y with the fact that the digital filter contains a code inverter and a serially connected SHS element, an adder, a register and a shift register whose output is a digital filter output, one of the inputs of the OR element is The filter input, one of the inputs of the shift register, is the first control input of the digital filter, the register input connected to the other input of the shift register is the second control input of the 1st filter, the register outputs are connected to the corresponding inputs of the adder, the output the shift register is connected to the input of the code inverter, the output of which under | CL1 is connected to another input of the OR element.

The invention relates to automation and computing and can be used in optical location, television automatons and astronavigation systems. According to the main author. St. No. 811302, a device is known for determining the coordinates of point-like light objects containing a dissector, the output of which is connected to the input of a video amplifier, and the control inputs to the outputs of digital-to-analog converters (D / A converters) of forming the X and Y coordinate signal channels, each of which consists of a series-connected reverser a massive counter and a register, the output of which is connected to the corresponding DAC as well as the operating mode switching unit, trigger, video signal shaping unit, synchro-generator and forts common to both channels the world of the cruciform raster, the outputs of which are connected to the controllers by the inputs of the dissector, the output of the limiter amplifier connected to the trigger inputs and the video signal conditioning unit, the outputs of which are connected to the first and second inputs of the operating mode switching unit, the third and fourth inputs of which are connected to one of the outputs of the synchronous generator, the other output of which is connected to one of the inputs of the former of the next cruciform raster, the other input of the former is connected to the output m of the video signal conditioning unit, and the control outputs of the operation mode switching unit are connected to the corresponding inputs of the reversible counters and registers of the signal forming channel of the coordinates C1. However, the known device does not have a sufficiently high accuracy in determining the coordinates due to the constant bandwidth of the automatic control loop without taking into account changes in the intensity of external influences. The purpose of the invention is to improve the accuracy of determining the coordinates of point light objects. 3 This goal is achieved by the fact that in the device for determining the coordinates of point light objects, each of the channels of forming the coordinate signals contains a calculator of the error error dispersion and a digital filter whose input is connected to the output of the reversible counter, and the output to the register input, the inputs of the error dispersion calculator The error bars are connected to the outputs of the operating mode switching unit, and the output to the first control input of the digital filter, the second control input of which is connected to the corresponding output of the operation mode switching unit. Besides . the error error variance calculator contains a counter, the first and second pulse formers, and a series-connected reversing counter, a quadrant, an adder, the first shift register, a code converter, and a second shift register, the output of which is the output of the error error dispersion count, one of the reversible counter inputs is The first input of the error error calculator, the other input of the reversible counter, connected to the inputs of the second form in the pulse generator and the counter, is the second stroke calculator mismatch error dispersion vpsody first and second pulse generators are connected respectively to the control inputs of the first and second shift registers, the counter output is connected to the input of a first pulse shaper, the first shift register outputs are connected to inputs of the corresponding adder. The digital filter contains a code inverter and an OR element connected in series, an adder, a register and a shift register whose output is the output of a digital filter, one of the inputs of the OR element is a filter input, one of the inputs of the shift register is the first control input of the digital filter, the input the register connected to another input of the shift register is the second control input of the digital filter; the output of the register is connected to the corresponding inputs of the adder; the output of the shift register is connected to input 2 of the code inverter whose output is connected to another input of the OR element. FIG. 1 shows the structural scheme of the proposed device for determining the coordinates; in fig. 2 is a timing diagram of the signals generated by its blocks and nodes. The device contains the dissector 1., the amplifier-limiter 2, the trigger 3, the mode switching unit 4, the reversible counter 5, the register 6, the video signal generating unit 7, the synchronizing generator 8, the DAC 9 and the tracking crucible raster 10, the error error dispersion calculator 11, digital filter 12, reversible counter 13, quad 14, adder 15, first shift register 16, code converter 17, second shift register 18, counter 19, first imposer 20 former, second pulse shaper 2t, OR 22 element, accumulator 23, register24, shift register 25, code inverter 26. The device has two similar channels for forming the X and Y coordinate signals, each of which consists of a reversible counter 5, register 6, a DAC 9, a calculator 11 for error error and a digital filter 12. The device operates in two modes: search mode for lines and frames and coordinate determination mode. In the search mode, in lines (Fig. 2o) and frames (Fig. 2S), stepwise sawtooth voltages are formed to create a search raster. This is ensured by the fact that the pulses arriving from the synchronizing generator 8 through the counter 5, the registers 24, 25 and 6 (which in this mode transmit the number coming from the counter) are fed to the DAC 9. The DAC converts the number into a current deflecting the aperture of the dissector in rows and frames. Reversal of counters occurs when they overflow. View search raster shown in Fig.2m. When a modulated light object is detected, the incoming video signal transfers the trigger 3 to a different state and the 4 switching mode. Mov stops the search engine. The dissector 1 exposes the following cruciform raster, which is formed from the pulses received from the synchronous generator 8 (see Fig. 2e) by the former 10. The voltage diagram along a single channel is shown in Fig. 2e. $ f When a source of interest is detected, namely, when a video signal is identified (see Fig. 2), according to several selective features (frequency, phase amplitude), the video signal generation unit 7 outweighs the potential of logical 1 (see Fig. 2d), which translates into mode-determination of coordinates. At the same time, the control inputs of the registers 24, 25 k receive the potential of logical O, and the number 6 of the roughly defined coordinate in the search is stored in the p register 6. Digital filter 12 is included in the coordinate filtering mode, dispersion calculator 11 calculates the variance of the error of the error, and the image of the point modulated. the light object is scanned with a cross shaped raster (see Fig. 2ji). Coming from the dissector 1, the video signal pulses, normalized by the force of force 2, are divided by trigger 3 into two and are fed to the mode switching unit 4. In coordinate mode, the reversal of counter 5 of channel X (channel Y works in the same way) is produced by pulses rigidly connected to the center of a cruciform raster. Thus, the counter 5 to the left of the center of the next cruciform raster adds up the video signal pulses, and to the right of the center of the next raster subtracts the number of incoming video signal pulses from the number of previously accumulated pulses. The number remaining in the counter 5 after the end of scanning by coordinates uniquely characterizes the mismatch of the center of the image of the object on the photocathode of the dissector 1 and the center of the next cruciform raster. Digital filter 12 (analogue of the first-order single-link RS filter) filtered the coordinate codes. The code from the output of the reversible counter5 through the OR element 22 is fed to the adder 23, summed with the register code 24, written into the register 24, and rewritten into the shift register 25. Shift register 25 is designed to control the time constant of a digital filter. Changing the filter time constant is carried out by changing the number of bits by which the code is reduced (shifted) in register 25. The code shift is controlled by 2 error error calculator 11 and determines the fraction of the input code that increases the output code of the filter (by 1 / 2, 1/4, 1/8, etc.) in one step. The code from the output of the shift register 25 through the inverter 26 code and the element OR 22 is summed in the additional code in the adder 23 with the contents of the register 24. As a result, the contents of the register 24 are reduced by the number stored in the register 25. The code is copied from the register 25 to the register 6 simultaneously along the X and Y channels. The number in the DAC converts into a current that shifts the center of the cruciform raster on the photocathode of the dissector 1 in the direction of reducing the mismatch. The error variance calculator 11 performs the function. l., N1-1. Sj 1 (where o is the estimate of the error variance of the channel error X; N + 1 is the sample size by which the estimate of the variance is calculated; AXj is the value of the error in the iM period of the next raster. Reversible counter 13 calculates in each sweep period of the next raster value a X, which goes to quadrant 14. Quadrature 14 is punctured on a programmable logic matrix (PLA), which contains the squares of all possible combinations of the input code. The sum of the squares of the error of the error with accumulator 15 is accumulated in register 16 yoke. Counter 18 counts the number of scan periods of the next raster and with the end of the N + 1 period, the counter starts the first pulse shaper 20, which generates K (log N) shift pulses fed to the register 16. The value of N. is selected as a multiple of the number two with the possibility of replacing the division operation by N code shift operations by tog.N bits. In addition, the value N must meet the requirements of the theory of statistical solutions. In this case, N was chosen large 250. After shifting the code in register 16 at its output. an estimate of the error variance error 7 was obtained, which was fed to the input of the code converter 17. Converter 17 is made on a PLA into which the following conversion algorithm is programmed: for example, if the input number of converter 17 is within where L, Lj, Lj are the boundary values of the intervals in which the variance estimate can be found, then the output of the converter appears code 0101000 ...... 0. In case, then the code can be 01010100. ..0. If we have L L then on converter output 17, code 01000000 ... Oh, and so on. Consequently, due to a change in the magnitude of the variance estimate, the number of units in the output code of the converter 17 varies accordingly. The code from the output of converter 17 is written to register 18 before the end of each scan of the next raster scan. At the end of each scan period, the pulse shaper 21 is started, which generates shift pulses by register 18, the number of which is equal to the number of register bits 18. As a result, a certain number of pulses are input to the control input of the register 25 and 28 at the output of the serial code of register 18. shifting the code. in it according to the described, i.e. the bandwidth control of the automatic control loop is controlled. An example of the operation of a filter with two different constant times of IC is shown in FIG. 2i (the dotted line represents the jumps of the coordinates). It is known that the variance of the error of the mismatch caused by external influences depends on the bandwidth of the contour and the intensity of the mvMOB blinding image where lP is the control bandwidth of the automatic control; Id - the intensity of the noise effects. From this it follows that in order to preserve the error dispersion constant e in the case of a change in the intensity N, it is necessary to control the pattern of the loop bandwidth. The neglect of changes in the intensity of N can lead to significant errors in determining the coordinates of light point objects. In the ideal case, when NO is changed, the gain in the accuracy of determining the coordinates can reach 100%. Experimentally obtained gain in accuracy of 50-55% in comparison with the basic object b.

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Claims (3)

1. A DEVICE FOR DETERMINING THE COORDINATES OF POINT LIGHT OBJECTS by ed. St. No. 811302, characterized in that, in order to increase the accuracy of determination, each of the coordinate signal generation channels contains a mismatch error dispersion calculator and a digital filter, the input of which is connected to the output of the reversible counter, and the output to the input of the register, the inputs of the calculator the variance of the mismatch error is connected to the outputs of the operation mode switching unit, and the output is connected to the first control input of the digital filter, the second control input of which is connected to the corresponding output of the mode switching unit s work. • and 1 2. The device according to π. 1, characterized in that the mismatch error dispersion calculator comprises a counter, a first and second pulse shaper and a reversible counter, a quadrator, an adder, a first shift register, a code converter and a second shift register, the output of which is the output of the mismatch error dispersion calculator, one of the input of the reverse counter is the first input of the calculator of the error error, the other input of the reverse counter connected to the inputs of the second pulse shaper and with counter, is the second input of the error dispersion variance calculator, the outputs of the first and second pulse shapers are connected respectively to the control inputs of the first and second shift registers, the counter output is connected to the input of the first pulse shaper, the outputs of the first shift register are connected to the corresponding inputs of the adder. 3. The device pop. 1, excellent characterized in that the digital filter contains a code inverter and a series-connected OR element, an adder, a register and a shift register, the output of which is the output of a digital filter, one of the inputs of the OR element is a filter input, one of the inputs of the shift register is the first control input digital filter, the input of the register connected to another input of the shift register is the second control input of the digital filter, the outputs of the register are connected to the corresponding inputs of the adder, the output of the shift register is connected to the input Ohm inverter code, the output of which is connected to another input of the OR element.