Spaceborne incremental photoelectric encoder signal processing method

Abstract

The present application relates to photoelectric displacement precision measurement technical field, especially to a kind of spaceborne incremental photoelectric encoder signal processing method, by microprocessor executes following steps: S1, the state of first square wave pulse signal is judged;S2, when detecting the falling edge of second square wave pulse signal, and the state of first square wave pulse signal is high level at this time, rough code count is added one;When detecting the falling edge, and the state of first square wave pulse signal is low level, rough code count is reduced one;S3, to the subdivision of fine code signal is carried out, and with rough code count is connected to obtain binary angular displacement;S4, to upper system is sent;Fully utilize the characteristics of interference generated by shaping circuit due to no positive feedback composition hysteresis comparator, without increasing positive feedback circuit, change rough code count method, can reduce the size and cost of hardware circuit;While saving the debugging positive feedback circuit process, reduce the workload of hardware debugging personnel, improve overall circuit debugging efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photoelectric displacement precision measurement, and in particular to a satellite-borne incremental photoelectric encoder signal processing method, a computer device capable of executing the method and a computer readable storage medium. BACKGROUND

[0002] The photoelectric encoder is also called an optical angle position sensor, and is a digital angle measuring device integrating light, machine and electricity. The incremental photoelectric encoder has the advantages of simple coding, fast reaction speed, stable and reliable operation, and is widely used in satellite-borne devices. The selection of the processing circuit components of the satellite-borne incremental photoelectric encoder should fully consider the particularity of the use environment, therefore, a single-chip microcomputer or an ARM embedded with a hysteresis comparator interrupt cannot be used as the microprocessor of the processing circuit, and a DSP or FPGA with high reliability should be selected.

[0003] As the microprocessor of the incremental photoelectric encoder, the DSP or FPGA causes an internal hysteresis comparator interrupt function, and therefore a hardware shaping circuit is needed to complete the coarse code counting. In order to enhance the anti-noise capability, a positive feedback circuit is added to the shaping circuit to form a hysteresis comparator. However, such a hysteresis comparator increases the volume and weight of the hardware circuit, and at the same time, the power consumption of the shaping circuit is also increased due to the addition of the positive feedback.

[0004] At present, the main method to improve the anti-interference capability of the shaping processing circuit of the satellite-borne incremental photoelectric encoder is to add a positive feedback to form a hysteresis comparator in the circuit. This method has the disadvantages of large volume, heavy weight and high power consumption. At the same time, a positive feedback resistor is needed, which wastes manpower and is low in efficiency. Since the weight, volume and power consumption of the satellite-borne device are strictly required, the method of adding a positive feedback circuit is difficult to meet the technical requirements of the satellite-borne device. SUMMARY

[0005] To solve the above problems, the present application provides a satellite-borne incremental photoelectric encoder signal processing method without adding a positive feedback circuit to the shaping circuit, so as to solve the disadvantages of the prior art, such as large volume, heavy weight, high power consumption, waste of manpower and low efficiency.

[0006] In the first aspect, the present application provides a satellite-borne incremental photoelectric encoder signal processing method, wherein the satellite-borne incremental photoelectric encoder outputs two groups of square wave pulses, namely a first square wave pulse signal and a second square wave pulse signal, and the phase difference between the first square wave pulse signal and the second square wave pulse signal is 90 degrees.

[0007] The two groups of square wave pulses are divided into two signals, namely a first signal and a second signal. The first signal directly enters and exits the microprocessor, and the second signal enters the microprocessor through an amplification circuit and an ADC analog-to-digital converter.

[0008] The microprocessor is used to execute the following steps:

[0009] S1, judging the state of the first square wave pulse signal;

[0010] S2, when detecting the falling edge of the second square wave pulse signal, and at this time the state of the first square wave pulse signal is high, the coarse code count is increased by one;

[0011] When detecting the falling edge of the second square wave pulse signal, and at this time the state of the first square wave pulse signal is low, the coarse code count is decreased by one;

[0012] S3, subdividing the fine code signal collected by the ADC analog-to-digital converter, and connecting the fine code signal with the coarse code count to obtain a binary angular displacement;

[0013] S4, sending the binary angular displacement to an upper-level system through a communication circuit.

[0014] As an optional solution, the first square wave pulse signal is generated by a sin+ signal and a sin- signal, and the second square wave pulse signal is generated by a cos+ signal and a cos- signal.

[0015] As an optional solution, the first square wave pulse signal is generated by a cos+ signal and a cos- signal, and the second square wave pulse signal is generated by a sin+ signal and a sin- signal.

[0016] As an optional solution, before the S4, the method further comprises:

[0017] judging whether the state of the first square wave pulse signal is consistent with that in S1, if consistent, continuing to wait, and the coarse code count remains unchanged.

[0018] As an optional solution, before the S4, the method further comprises:

[0019] judging whether the state of the first square wave pulse signal is consistent with that in S1, if not consistent, returning to S1, and executing S1, S2 and S3.

[0020] As an optional solution, when a cos square wave surface counting mode is adopted, the corresponding fine code subdivision phase θ is changed to:

[0021]

[0022] Wherein, cos is the cosine signal of cos+ and cos- collected by the ADC analog-digital converter into the microprocessor after amplification, and sin is the sine signal of sin+ and sin- collected by the ADC analog-digital converter into the microprocessor after amplification.

[0023] In a second aspect, the embodiment of the present application provides a satellite-borne incremental photoelectric encoder, comprising a light-emitting diode, a code disc, an indicating grating and a signal processing circuit.

[0024] The light emitted by the light-emitting diode passes through the code disc and the indicating grating, and when the code disc and the indicating grating rotate relatively, a Moire fringe signal is generated, which enters the signal processing circuit.

[0025] The signal processing circuit comprises a photoelectric receiving tube, a non-positive feedback shaping circuit, an amplifying circuit, an ADC analog-digital converter, a microprocessor and a communication circuit, the photoelectric receiving tube receives the Moire fringe light signal and converts it into an electric signal.

[0026] The electric signal is divided into a first signal and a second signal, the first signal directly enters the microprocessor after being shaped into a square wave signal for counting by the non-positive feedback shaping circuit, and the second signal enters the microprocessor after being amplified by the amplifying circuit and the ADC analog-digital converter, the two signals are processed in the microprocessor to obtain binary angular displacement and are sent to a superior system through the communication circuit.

[0027] In a third aspect, the present application further provides a computer device, comprising:

[0028] at least one processor; and

[0029] a memory connected with the at least one processor; wherein,

[0030] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the signal processing method of the satellite-borne incremental photoelectric encoder.

[0031] The present application further provides a non-transient computer readable storage medium storing computer instructions, the computer instructions being used to enable the computer to execute the signal processing method of the satellite-borne incremental photoelectric encoder.

[0032] Compared with the prior art, the present application can achieve the following beneficial effects:

[0033] This invention provides a signal processing method for a spaceborne incremental photoelectric encoder. This signal processing method makes full use of the interference caused by the hysteresis comparator formed by the lack of positive feedback in the shaping circuit. Without adding a positive feedback circuit, the coarse code counting method is changed, which can reduce the size and cost of the hardware circuit. At the same time, it saves the debugging process of the positive feedback circuit, reduces the workload of hardware debugging personnel, and improves the overall circuit debugging efficiency.

[0034] In specific spaceborne applications, there are usually very high requirements for the weight and power consumption of incremental photoelectric encoders, which should be as low as possible. The signal processing method for spaceborne incremental photoelectric encoders provided by this invention can fully realize the low weight and low power consumption of spaceborne incremental photoelectric encoders by reducing the size and cost of hardware circuits, making a significant contribution to the selection of spaceborne equipment. Attached Figure Description

[0035] Figure 1 This is a circuit structure diagram of a spaceborne incremental photoelectric encoder provided according to an embodiment of the present invention;

[0036] Figure 2 This is a circuit structure diagram of a shaping circuit without positive feedback;

[0037] Figure 3 It is a circuit structure diagram with added positive feedback shaping circuit;

[0038] Figure 4 This is a schematic diagram of the positive feedback-free shaped output of a positive feedback-free shaped circuit;

[0039] Figure 5 This is a schematic diagram of positive feedback shaping output with added positive feedback shaping circuit;

[0040] Figure 6 This is a schematic diagram of the sine and cosine square wave counting edge of a spaceborne incremental photoelectric encoder provided in an embodiment of the present invention;

[0041] Figure 7 This is a flowchart of a signal processing method for a spaceborne incremental photoelectric encoder provided according to an embodiment of the present invention;

[0042] Figure 8 This is a structural block diagram of a computer device provided according to an embodiment of the present invention.

[0043] Figure label:

[0044] Light emitting diode 1, code disc 2, indicating grating 3, photoelectric receiving tube 4, resistor 5, amplification circuit 6, ADC analog-digital converter 7, eighth pin 8, ninth pin 9, tenth pin 10, non-positive feedback shaping circuit 88, microprocessor 99, communication circuit 100, communication interface 11, computer equipment 12, signal processing circuit 13, external equipment 14, processing unit 16, bus 18, network adapter 20, I / O interface 22, display 24, system memory 28, access memory 30, cache memory 32, storage system 34, program / utility 40, program module 42. DETAILED DESCRIPTION

[0045] In order to make the purposes, technical solutions and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not constitute a limitation on the present application.

[0046] In combination Figure 1 As shown in the circuit structure diagram of the satellite-borne incremental photoelectric encoder provided according to the embodiment of the present application, it can be seen from the diagram that the satellite-borne incremental photoelectric encoder provided in the embodiment of the present application includes a light emitting diode 1, a code disc 2, an indicating grating 3 and a signal processing circuit 13. The light emitted by the light emitting diode 1 passes through the code disc 2 and the indicating grating 3, and when the code disc 2 and the indicating grating 3 are relatively rotated to generate a Moire fringe signal, the Moire fringe signal includes four signals of sin+, sin-, cos+ and cos-. The Moire fringe signal enters the signal processing circuit 13. The signal processing circuit 13 includes a photoelectric receiving tube 4, a non-positive feedback shaping circuit 88, an amplification circuit 6, an ADC analog-digital converter 7, a microprocessor 99 and a communication circuit 100. The photoelectric receiving tube 4 receives the Moire fringe light signal and converts it into an electric signal. The photoelectric receiving tube 4 is connected in series with a resistor 5. The electric signal passes through the resistor 5 and is divided into a first path signal and a second path signal. The first path signal directly enters the microprocessor 99 after the non-positive feedback shaping circuit 88 generates a square wave signal used for counting. The second path signal enters the microprocessor 99 after passing through the amplification circuit 6 and the ADC analog-digital converter 7. The two path signals are processed inside the microprocessor 99 to obtain a binary angular displacement and are sent to a superior system through the communication circuit 100. The communication circuit 100 is in communication connection with the superior system through a communication interface 11.

[0047] The non-positive feedback shaping circuit 88 adopts a comparator circuit, and the sine+ and sin- are used to obtain the sine counting square wave, and the cos+ and cos- are used to obtain the cosine counting square wave. In the process of the hardware circuit processing of the moire fringe electrical signal, high-frequency noise components are superimposed due to the thermal noise of the components themselves and other reasons. The high-frequency noise greatly interferes with the output of the non-positive feedback comparator circuit adopted by the present application, the obtained square wave has burrs, and is prone to cause coarse code counting errors.

[0048] For the convenience of understanding, the comparison is provided as a reference, as shown in Figure 2 、 Figure 3 、 Figure 4 and Figure 5 , Figure 2 and Figure 3 are respectively a shaping circuit without positive feedback (i.e. the non-positive feedback shaping circuit 88 shown in Figure 1 ) and a shaping circuit with positive feedback, wherein the eighth pin 8, the ninth pin 9 and the tenth pin 10 are pin diagrams of the circuit chip, Figure 4 and Figure 5 are respectively Figure 2 and Figure 3 corresponding output comparison diagrams. As can be seen from Figure 3 , the positive feedback of the comparator circuit increases the resistances R1, R2 and R3, and the resistance values of the three resistances are matched according to the actual circuit. In general, the values of R1 and R2 are in the range of 20Ω-100Ω, and the value of R3 is in the range of 20KΩ-100KΩ, and the appropriate resistance value is determined through the output of the comparator circuit; and as can be seen from Figure 2 , when the comparator circuit does not have a positive feedback circuit, a hysteresis comparator cannot be formed, and the square wave pulse has great interference at the rising or falling edge; however, this interference has a feature, that is, when the rising edge, oscillation is generated first, and then a stable high level is generated; when the falling edge, the low level is first dropped, and then oscillation is generated. Therefore, in the preferred embodiment, the falling edge of the cosine-shaped square wave is used as the edge surface of the coarse code counting.

[0049] As shown in Figure 6 , it is an explanation diagram of the positive and negative cosine square wave counting edge surface used in the embodiment of the present application. When the microprocessor 99 detects the falling edge of the cosine square wave pulse signal, if the sine square wave pulse signal is high at this time, the coarse code counting is increased by 1, otherwise, if the sine square wave pulse signal is low, the coarse code counting is decreased by 1. The signal processing of the microprocessor 99 is changed from the original edge surface sensitivity to level sensitivity, that is, the falling edge is not judged again after the judgment, so that the oscillation noise of the edge surface does not interfere with the counting. Because the cosine square wave pulse signal is high, the coarse code counting is increased by 1, and the edge surface counting mode is changed, so that the corresponding fine code subdivision phase θ is also changed to

[0050]

[0051] In formula (1), theta is a fine code, cos is a cosine signal collected by an ADC analog-digital converter 7 into a microprocessor 99 after amplification of cos+ and cos-, and sin is a sine signal collected by the ADC analog-digital converter 7 into the microprocessor 99 after amplification of sin+ and sin-.

[0052] The satellite-borne incremental photoelectric encoder provided by the embodiment of the application fully utilizes the characteristics of interference generated by a shaping circuit due to a hysteresis comparator without positive feedback, does not increase a positive feedback circuit, changes a coarse code counting method, can reduce the size and cost of a hardware circuit, simultaneously saves a debugging positive feedback circuit process, reduces the workload of a hardware debugging personnel, and improves the overall circuit debugging efficiency.

[0053] The embodiment of the application provides a satellite-borne incremental photoelectric encoder signal processing method, the satellite-borne incremental photoelectric encoder outputs two groups of square wave pulses, which are a first square wave pulse signal and a second square wave pulse signal, and the phase difference between the first square wave pulse signal and the second square wave pulse signal is 90 degrees.

[0054] The two groups of square wave pulses are divided into two signals, which are a first signal and a second signal; the first signal directly enters and exits the microprocessor 99, and the second signal enters the microprocessor 99 through an amplification circuit 6 and an ADC analog-digital converter 7.

[0055] The microprocessor is used for executing the following steps:

[0056] S1, judging the state of the first square wave pulse signal;

[0057] S2, when the falling edge of the second square wave pulse signal is detected and the state of the first square wave pulse signal is a high level at this time, the coarse code count is increased by one;

[0058] When the falling edge of the second square wave pulse signal is detected and the state of the first square wave pulse signal is a low level at this time, the coarse code count is decreased by one.

[0059] S3, subdividing a fine code signal collected by the ADC analog-digital converter and connecting the fine code signal with the coarse code count to obtain a binary angular displacement;

[0060] S4, sending the binary angular displacement to an upper-level system through a communication circuit 100.

[0061] In some embodiments, the microprocessor 99 adopts a digital signal processor (DSP) or a programmable array logic (FPGA), which can be selected according to needs, and this is not limited.

[0062] In some embodiments, the first square wave pulse signal is generated by a sin+ signal and a sin- signal, and the second square wave pulse signal is generated by a cos+ signal and a cos- signal.

[0063] In some embodiments, the first square wave pulse signal is generated by a cos+ signal and a cos- signal, i.e. the first pulse signal is obtained by passing cos+ and cos- through the comparator circuit (i.e. the non-positive feedback shaping circuit) shown in the figure; and the second square wave pulse signal is generated by a sin+ signal and a sin- signal, i.e. the second pulse is obtained by passing sin+ and sin- through the comparator circuit (i.e. the non-positive feedback shaping circuit) shown in the figure. Figure 2 Figure 2 In some embodiments, the first square wave pulse signal is generated by a cos+ signal and a cos- signal, i.e. the first pulse signal is obtained by passing cos+ and cos- through the comparator circuit (i.e. the non-positive feedback shaping circuit) shown in the figure; and the second square wave pulse signal is generated by a sin+ signal and a sin- signal, i.e. the second pulse is obtained by passing sin+ and sin- through the comparator circuit (i.e. the non-positive feedback shaping circuit) shown in the figure.

[0064] In some embodiments, before the S4, further comprising:

[0065] In some embodiments, before the S4, further comprising:

[0066] In some embodiments, before the S4, further comprising:

[0067] In some embodiments, before the S4, further comprising:

[0068] In some embodiments, when the cos square wave is used for face counting, the corresponding fine code subdivision phase θ is changed to:

[0069]

[0070] In some embodiments, when the cos square wave is used for face counting, the corresponding fine code subdivision phase θ is changed to:

[0071] In some embodiments, when the cos square wave is used for face counting, the corresponding fine code subdivision phase θ is changed to: Figure 7 The flow chart of the signal processing method of the incremental photoelectric encoder provided in the embodiments of the present application is shown in the figure, and as can be seen from the figure, the signal processing method comprises:

[0072] In the first step, the state of the sin square wave pulse signal (simply referred to as sin square wave) is judged, i.e. whether the sin square wave is at a high level or not.

[0073] In the second step, the falling edge of the cos square wave pulse signal (simply referred to as cos square wave falling edge) is waited for, and if the state of the sin square wave pulse signal is at a high level at this time, the count is increased by one, otherwise the count is decreased by one.

[0074] ​Thirdly, the fine code signal collected by the microprocessor 99 through the ADC analog-digital converter 7 is subdivided and connected with the coarse code count of the second step to obtain the final binary angular displacement.

[0075] Fourthly, it is judged whether the state of the sin square wave pulse signal is consistent with the state of the first step, if not, it returns to the first step, if yes, it continues to wait, the count is unchanged, and it returns to the third step.

[0076] It should be noted that in other embodiments, the input sin+ and sin- of the sine shaping circuit, i.e. the comparator circuit, can be interchanged, the sine square wave obtained is opposite to the high and low levels of the non-interchanged square wave, so that the falling edge of the sin square wave can also be used as the counting edge, when the cos square wave is high, the coarse code count is added by 1, when the cos square wave is low, the coarse code count is reduced by 1; the fine code subdivision does not need to interchange the sine and cosine, and the test effect is the same as that of the previous embodiment.

[0077] The signal processing method of the satellite-borne incremental photoelectric encoder provided by the embodiment of the application fully utilizes the characteristics of the interference generated by the hysteresis comparator constituted by the shaping circuit without positive feedback, does not increase the positive feedback circuit, changes the coarse code counting method, can reduce the size and cost of the hardware circuit, saves the debugging process of the positive feedback circuit, reduces the workload of the hardware debugging personnel, improves the overall circuit debugging efficiency, and can fully realize the low weight and low power consumption of the satellite-borne incremental photoelectric encoder, which makes a great contribution to the selection of satellite-borne equipment.

[0078] Correspondingly, according to the embodiment of the application, the application further provides a computer device, a readable storage medium and a computer program product.

[0079] Figure 8 Fig. 1 is a structural schematic diagram of a computer device 12 provided in the embodiment of the application. Figure 8 Fig. 1 is a structural schematic diagram of a computer device 12 provided in the embodiment of the application. Figure 8 The computer device 12 shown is only an example, and should not bring any limitation to the function and use range of the embodiment of the application.

[0080] As Figure 8As shown, the computer device 12 is in the form of a general-purpose computing device. The computer device 12 is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the applications described and / or claimed in this document.

[0081] The components of the computer device 12 can include, but are not limited to, one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including system memory 28 to the processing unit 16.

[0082] The bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics bus, a processor or local bus using any of a variety of bus architectures. By way of example, these architectures include Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0083] The computer device 12 typically includes a variety of computer system readable media. Such media can be any available media that is located either internally or externally to computer device 12, including both volatile and non-volatile media, removable and non-removable media.

[0084] The system memory 28 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Computer device 12 can further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, a storage system 34 can be provided for reading from and writing to non-removable, non-volatile magnetic media (e.g., a "hard drive"). Figure 8 Not shown, a removable / non-removable, volatile / non-volatile computer system storage medium can be used to store data including one or more programs and / or program modules used by the computer device 12, and the operating system 36. The computer device 12 can also contain a computer- readable media reader 40 that can further read and / or record to various types of computer system storage media 42. Figure 8 In alternative embodiments, a non-removable, non-volatile media can be used for storage of data, including one or more programs and / or program modules used by the computer device 12, and the operating system 36. The computer device 12 can also contain a computer- readable media reader 40 that can further read and / or record to various types of computer system storage media 42. The computer device 12 can also have input device(s) 44 such as keyboard, mouse, pen, voice input device, touch input device, etc. Output device(s) 46 such as a display, speakers, printer, etc. can also be included. These devices can be connected by input / output interface(s) 48 that can be utilized by the processing unit(s) 16 to communicate external input and / or output. The computer device 12 can further include a communication interface 50 that can be utilized to communicate with an external device 52, such as a network, device, etc. The communication interface 50 can include, for example, a modem, a network card (wireless or wired), an infrared communication device, a Bluetooth® device, etc.

[0085] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0086] Computer device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with the computer device 12, and / or with any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 22. Furthermore, computer device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20.

[0087] like Figure 8 As shown, network adapter 20 communicates with other modules of computer device 12 via bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0088] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing the satellite incremental photoelectric encoder signal processing method provided in the specific embodiments of the present invention.

[0089] In a specific embodiment of the present invention, a non-transient computer-readable storage medium storing computer instructions is also provided, on which a computer program is stored, wherein the program is executed by a processor to provide a satellite-borne incremental photoelectric encoder signal processing method according to the specific embodiment of the present invention.

[0090] The computer storage media of the present embodiments can be any available media that can be accessed by a computer. By way of example, and not limitation, such computer readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired computer program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection is properly termed a computer readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, or twisted pair, then the coaxial cable, fiber optic cable, or twisted pair are included in the definition of medium. Disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, Blu-ray® disc, and floppy disk used to store software.

[0091] Computer readable storage media refers to any available medium that can be accessed by a computer. By way of example, and not limitation, such computer readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired computer program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection is properly termed a computer readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, or twisted pair, then the coaxial cable, fiber optic cable, or twisted pair are included in the definition of medium. Disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, Blu-ray® disc, and floppy disk used to store software.

[0092] Computer readable storage media refers to any available medium that can be accessed by a computer. By way of example, and not limitation, such computer readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired computer program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection is properly termed a computer readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, or twisted pair, then the coaxial cable, fiber optic cable, or twisted pair are included in the definition of medium. Disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, Blu-ray® disc, and floppy disk used to store software.

[0093] The present embodiments also provide a computer program product, comprising a computer program, which, when executed by a processor, implements the above-described satellite-borne incremental photoelectric encoder signal processing method.

[0094] It should be understood that the various forms of flow shown above can be used to reorder, add, or remove steps. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, as long as the desired results of the present disclosure are achieved, which is not limited herein.

[0095] The specific embodiments described above are not to be taken as limiting the scope of the application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives of the specific embodiments described above can be made without departing from the spirit and scope of the application. Any such modifications, equivalents, alternatives and combinations, therefore, are expressly included within the scope of the application.

Claims

1. A method of processing signals from a space-borne incremental optical encoder, the method comprising: The satellite-borne incremental photoelectric encoder outputs two groups of square wave pulses, namely a first square wave pulse signal and a second square wave pulse signal, and the phase difference between the first square wave pulse signal and the second square wave pulse signal is 90 degrees; The two groups of square wave pulses are divided into two signals, namely a first signal and a second signal; the first signal directly enters and exits a microprocessor, and the second signal enters the microprocessor through an amplification circuit and an ADC analog-to-digital converter; The microprocessor is used to execute the following steps: S1, judging the state of the first square wave pulse signal; S2, when the falling edge of the second square wave pulse signal is detected and the state of the first square wave pulse signal is high at this time, the coarse code count is increased by one; when the falling edge of the second square wave pulse signal is detected and the state of the first square wave pulse signal is low at this time, the coarse code count is decreased by one; S3, subdividing the fine code signal collected by the ADC analog-to-digital converter and connecting the fine code signal with the coarse code count to obtain a binary angular displacement; Before S4, further comprising: judging whether the state of the first square wave pulse signal is consistent with that in S1, if consistent, continuing to wait, and the coarse code count remains unchanged; Before S4, further comprising: judging whether the state of the first square wave pulse signal is consistent with that in S1, if not consistent, returning to S1, and executing S1, S2 and S3; When the cos square wave is used to count the surface, the corresponding fine code subdivision phase is changed to: wherein cos is and The ADC analog-to-digital converter collects the cosine signal into the microprocessor after amplification, sin is and The ADC analog-to-digital converter collects the sine signal into the microprocessor after amplification; S4, sending the binary angular displacement to a superior system through a communication circuit.

2. The method of processing signals from a space-borne incremental optical encoder as recited in claim 1, wherein, The first square wave pulse signal is generated by a signal and a signal generation, the second square wave pulse signal is generated by a signal and a signal generation.

3. The method of processing signals from a space-borne incremental optical encoder as recited in claim 1, wherein, The first square wave pulse signal is generated by a signal and signal generation, the second square wave pulse signal is generated by a signal and signal generation.

4. A space-borne incremental photoelectric encoder for performing the space-borne incremental photoelectric encoder signal processing method according to any one of claims 1 to 3, characterized in that It comprises a light-emitting diode, a code disc, an indicating grating and a signal processing circuit; The light emitted by the light-emitting diode passes through the code disc and the indicating grating, and when the code disc and the indicating grating rotate relatively, a moire fringe signal is generated, which enters the signal processing circuit; The signal processing circuit comprises a photoelectric receiving tube, a non-positive feedback shaping circuit, an amplification circuit, an ADC analog-to-digital converter, a microprocessor and a communication circuit, the photoelectric receiving tube receives the moire fringe light signal and converts it into an electrical signal; The electrical signal is divided into a first signal and a second signal, the first signal directly enters the microprocessor after the non-positive feedback shaping circuit generates a square wave signal for counting, and the second signal enters the microprocessor through the amplification circuit and the ADC analog-to-digital converter, the two signals are processed in the microprocessor to obtain a binary angular displacement, and the binary angular displacement is sent to a superior system through a communication circuit.

5. A computer device, comprising: It comprises: at least one processor; and a memory connected in communication with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the satellite-borne incremental photoelectric encoder signal processing method of any one of claims 1 to 3.

6. A non-transitory computer-readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to enable the computer to execute the satellite-borne incremental photoelectric encoder signal processing method of any one of claims 1 to 3.

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