Fully autonomous multi-target spin-skip illumination guidance system and method

Abstract

The application discloses a kind of full autonomous multi-target rotary discontinuous irradiation guidance system and method, the system includes: back-to-back irradiation array antenna, control and frequency comprehensive component, servo system, power cabinet and water-cooled cabinet;The irradiation control and frequency comprehensive component is connected with irradiation array, servo system and water-cooled cabinet respectively;The water-cooled cabinet is connected with irradiation array and control and frequency comprehensive component;The power cabinet is connected with irradiation array.Two array back-to-back high-speed rotary operation mode is used, discontinuous irradiation guidance system, solve irradiation radar full airspace coverage, multi-target guidance and reduce development cost etc.Problems;Improve the survivability and combat capability of weapon.

Description

Technical Field

[0001] This invention belongs to the technical field of phased array guidance, and particularly relates to a fully autonomous multi-target rotating intermittent irradiation guidance system and method. Background Technology

[0002] Missile guidance systems can be divided into three main categories: remote control guidance, homing guidance, and autonomous guidance. Among them, homing guidance refers to the guidance method in which a missile can autonomously search for, acquire, identify, track, and attack targets. This is the most important modern guidance system and is mostly used in air defense missile weapon systems. This method is further divided into three types: active homing guidance, semi-active homing guidance, and passive homing guidance.

[0003] Semi-active homing guidance requires a high-power illumination radar to provide the seeker with a sufficiently strong target echo signal during guidance, controlling the missile to intercept the target according to the proportional navigation law. Since continuous wave illumination radar can only guide a single target channel, and multi-target guidance requires an illumination radar for each target channel, the ground system would be too large, reducing system mobility and combat reaction time. Therefore, a semi-active homing guidance system with intermittent illumination of multiple targets will become the entry point for solving the multi-target problem.

[0004] Due to the limited beam coverage of a single phased array antenna and the requirement for simultaneous defense across the entire airspace, conventional air defense weapon systems typically employ combinations of 3-4 phased array antennas to form a full-airspace guided interception system. However, considering cost constraints and the high cost of phased array antennas, illumination radars face the need to achieve full airspace coverage using as few phased array antennas as possible. Summary of the Invention

[0005] The purpose of this invention is to provide a fully autonomous multi-target rotating intermittent illumination guidance system and method, which adopts a high-speed rotating operation mode with two arrays back to back and an intermittent illumination guidance system to solve problems such as full airspace coverage of illumination radar, multi-target guidance and reduction of development costs; and improve the survivability and combat capability of weapons.

[0006] To solve the above problems, the technical solution of the present invention is as follows:

[0007] A fully autonomous multi-target rotating intermittent irradiation guidance system includes: an irradiation array, a control and frequency synthesis component, a servo system, a power supply cabinet, and a water-cooled cabinet;

[0008] The illumination array includes two back-to-back phased array antennas, which are controlled by the control and frequency synthesis components to perform high-speed rotation in order to meet the full airspace division under the target illumination data rate requirements.

[0009] While the illumination array is rotating at high speed, the control and frequency synthesis component receives the normal azimuth information collected by the servo system, completes the prediction of the normal azimuth of the illumination array and the identification and screening of the illuminability of multiple targets in the entire airspace; according to the target threat level, it completes the target priority sorting, generates a queue of targets to be illuminated on the illumination array, and controls the guidance system to complete the radiation timing of the preset frequency and command transmission; furthermore, based on real-time navigation information and normal azimuth information, it performs anti-sway processing and coordinate transformation on the targets to achieve precise control of the illumination array beam;

[0010] The power cabinet is electrically connected to the irradiation array and independently controls the power supply to and from the irradiation array.

[0011] The water-cooled cabinet is used to cool the irradiation array and the control and frequency synthesis components.

[0012] According to one embodiment of the present invention, the control and frequency synthesis component includes a control module and a frequency synthesis module;

[0013] The control module consists of a system timing FPGA board and a ruggedized computing board; wherein, the system timing FPGA board provides the guidance system with working timing, frequency output switching signals and radiation switching signals, distributes internal commands and retrieves BIT data from each device;

[0014] The hardened computing board is used to receive full-space target data from the weapon control system and autonomously complete the target classification, processing, and control of the illumination array.

[0015] The frequency synthesizer module generates a radio frequency signal to provide a co-source excitation signal to the illumination array, and simultaneously performs command modulation on the subcarrier frequency signal to output an illumination signal with command guidance information to the illumination array.

[0016] According to one embodiment of the present invention, the system timing FPGA board is connected to the ruggedized computing board via a CPCI bus, receives navigation data sent by the ship's navigation equipment via RS422, writes it into the FPGA's memory at a preset rate, and communicates with the servo system via serial port at a preset rate to inquire about the normal direction and writes it into the corresponding memory; communicates with the illumination array via CAN at a preset rate to send array control commands and phasing data; and communicates with the frequency synthesizer module via parallel port at a preset rate to send frequency points and command information.

[0017] According to one embodiment of the present invention, the hardened computing board receives full-airspace target information sent by the weapon control system via LAN, completes the screening and sorting of multiple batches of targets, and generates a target illumination queue for the illumination array.

[0018] The hardened computing board initiates the reading of navigation data and normal direction information from the FPGA memory of the system timing board at a preset rate via the CPCI bus. Through anti-sway processing, coordinate transformation and array A / B angle calculation, it completes the calculation of target data for each irradiation time slot. It writes frequency command, instruction data and calculation data into the FPGA memory at a preset rate. The irradiation execution results of each cycle are returned to the weapon control system via LAN.

[0019] According to an embodiment of the present invention, the hardened computing board determines the target execution cycle based on the execution sequence and calculates the target data extrapolation time; it takes the latest multiple sets of data in the normal direction and uses the sliding window method to predict the normal azimuth of the illumination array surface, obtaining the normal azimuth corresponding to the midpoint of the execution cycle; it uses a target motion trajectory prediction and filtering algorithm to obtain the target position information corresponding to the midpoint of the execution cycle; it completes the coordinate system transformation of the target position information, performs coordinate transformation and anti-shaking processing on the target position information, so that it is in the same coordinate system as the normal azimuth of the array surface; it filters targets according to the radiation range of the phased array antenna, taking targets that fall within the radiation range as illuminateable targets and targets that do not fall within the radiation range as unilluminable targets.

[0020] According to one embodiment of the present invention, the illumination array is a planar array composed of X-band transmitting components. It receives timing control signals, radiation switching signals and radio frequency signals from the control and frequency synthesis components to complete the radiation output of the X-band transmitting components. It receives array control commands and array A / B angles via CAN to complete array power on / off control and beam control.

[0021] According to one embodiment of the present invention, the azimuth coverage range of the illumination array is -70° to +70°.

[0022] A fully autonomous multi-target rotating intermittent irradiation guidance method includes:

[0023] Control the high-speed rotation of the illumination array to complete the full airspace division while meeting the target illumination data rate requirements;

[0024] During the high-speed rotation of the illumination array, the control and frequency synthesis components receive the normal azimuth information collected by the servo system, and complete the prediction of the array normal azimuth and the identification and screening of the illuminability of multiple targets in the entire airspace.

[0025] The control and frequency synthesis components prioritize targets based on their threat level, generate a queue of targets to be illuminated on the illumination array, and the control and guidance system completes the transmission of radiation timing and commands, including 1Hz, 8Hz and >8Hz.

[0026] The control and frequency synthesis components perform anti-sway processing and coordinate transformation on the target information based on real-time navigation information and normal azimuth information, and finally complete the precise control of the illumination array beam.

[0027] According to an embodiment of the present invention, the control and frequency synthesis component for completing target visibility determination and screening further includes:

[0028] Based on the execution sequence, determine the target execution cycle and complete the calculation of the target data extrapolation time;

[0029] The latest sets of data on the normal direction are taken, and the sliding window method is used to predict the normal orientation of the illumination array surface, thus obtaining the normal orientation corresponding to the midpoint of the execution cycle.

[0030] The target position information corresponding to the midpoint of the execution cycle is obtained by using a target motion trajectory prediction and filtering algorithm;

[0031] Complete the coordinate system transformation of the target position information, perform coordinate transformation and anti-sway processing on the target position information, so that it is in the same coordinate system as the normal orientation of the array surface;

[0032] Targets are selected based on the radiation range of the phased array antenna. Targets within the radiation range are considered as illuminateable targets, while targets outside the radiation range are considered as non-illuminable targets.

[0033] Because the present invention adopts the above technical solution, it has the following advantages and positive effects compared with the prior art:

[0034] The fully autonomous multi-target rotating intermittent illumination guidance system in one embodiment of the present invention requires only two illumination arrays to achieve full airspace coverage, greatly reducing development costs; employing an intermittent illumination system, it can complete illumination guidance for multiple targets within a single scheduling cycle, improving multi-target capability; through independent frequency synthesis and control channel design for the two array antennas, it can achieve multi-target frequency conversion illumination, completing same-frequency or different-frequency illumination guidance; utilizing the flexibility of the phased array radar beam and adjusting the servo rotation speed, it can meet the frequency requirements and command data rate requirements of seekers in different operating modes for intermittent illumination; it is applicable to weapon systems with semi-active homing guidance systems on various mobile platforms such as vehicle-mounted and shipborne, possessing wide applicability and strong mobility. Attached Figure Description

[0035] Figure 1 This is a block diagram of a fully autonomous multi-target rotating intermittent irradiation guidance system according to an embodiment of the present invention;

[0036] Figure 2 This is a signal operation diagram of a fully autonomous multi-target rotating intermittent irradiation guidance system according to an embodiment of the present invention;

[0037] Figure 3 This is a flow chart of a fully autonomous multi-target rotating intermittent irradiation guidance method according to an embodiment of the present invention;

[0038] Figure 4This is a flowchart illustrating a method for the control and frequency synthesis components to perform target visibility discrimination and screening in one embodiment of the present invention. Detailed Implementation

[0039] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a fully autonomous multi-target rotating intermittent irradiation guidance system and method proposed in this invention. The advantages and features of this invention will become more apparent from the following description and claims.

[0040] like Figure 1 As shown, this embodiment provides a fully autonomous multi-target rotating intermittent irradiation guidance system, including: a control and frequency synthesis component, an irradiation array, a water-cooled cabinet, a power supply cabinet, and a servo system; the control and frequency synthesis component is connected to the irradiation array, the servo system, and the water-cooled cabinet respectively; the water-cooled cabinet is connected to the irradiation array and the control and frequency synthesis component; and the power supply cabinet is connected to the irradiation array.

[0041] In the control and frequency synthesis components, the control part consists of a system timing board and a ruggedized computing board. The system timing board consists of an FPGA and peripheral configuration circuits, while the ruggedized computing board is an X86 computer board equipped with the VxWorks system.

[0042] The ruggedized computing board receives full-airspace target information from the weapon control system via LAN, completes the screening and sorting of 16 batches of targets, and generates target execution queues for two array faces. The ruggedized computing board also reads navigation data and normal direction information from the system timing board FPGA memory at a rate of 80Hz via the CPCI bus. Through anti-sway processing, coordinate transformation, and array face A / B angle calculation, it completes the calculation of target data for each illumination time slot, and writes frequency point commands, instruction data, and calculation data into the FPGA memory at a rate of 80Hz. Finally, it reports the illumination execution results of each cycle back to the weapon control system via LAN at a communication frequency of 16Hz.

[0043] The system timing board generates the 80Hz and 16Hz interrupt timing signals required by the guidance system; it provides frequency output switch signals and radiation switch signals; simultaneously, the FPGA on the system timing board is connected to the ruggedized computing board via the CPCI bus, receives 200Hz navigation data sent by the ship's navigation equipment through the RS422 receiver module, and writes it into the FPGA's memory at a rate of 80Hz; it communicates with the servo system via serial port at a rate of 80Hz to query the normal direction and writes it into the corresponding memory; it communicates with the illumination array via CAN at a rate of 80Hz to send array control commands and phasing data; and it communicates with the frequency synthesis section of the control and frequency synthesis component via parallel port at a rate of 80Hz to send frequency points and command information.

[0044] The frequency synthesizer consists of an FPGA and configuration circuit, a crystal oscillator frequency multiplier circuit, a digital phase-locked loop circuit, a frequency-shift phase-locked loop circuit, a subcarrier frequency generation circuit, and a subcarrier frequency modulation circuit. It receives frequency points and command information sent by the control section through a parallel port. It uses a low-phase-noise digital frequency phase-locked loop circuit to mix the frequency signal with the 20th frequency multiplier derived from the system crystal oscillator, and then outputs a frequency multiplier-based RF signal as the excitation signal for the illumination array. At the same time, the subcarrier frequency signal is modulated within the frequency synthesizer, and finally, an illumination signal with the subcarrier frequency is output.

[0045] The illumination array includes two active phased array antennas, both planar arrays composed of X-band transmitting components, arranged in a triangular configuration. It receives timing control signals, radiation switching signals, and radio frequency signals from the receiving control and frequency synthesizer components to complete the radiation output of the X-band transmitting components. It receives array control commands and array A / B angles via CAN to complete array power-on / power-off control and beam control. The array design ensures no grating lobes appear within an azimuth range of ±70° and an elevation range of 0–70°.

[0046] In the water-cooled cabinet, a main pump supplies coolant to cool the irradiation array and the control and frequency synthesizer components. Heat exchange with the external circulating cooling water removes heat from the internal circulating coolant in the cabinet's water tank; it also features flow and pressure detection and BIT alarm functions. The main pump can be started and stopped according to control commands from the control and frequency synthesizer components, and it can also respond to system resets.

[0047] The power supply cabinet is responsible for converting 380V / 50Hz to 510VDC, completing the independent power on / off control of the two irradiation array equipment and array power, and has output overvoltage and overcurrent protection functions.

[0048] The servo system mainly consists of an AC servo motor, an azimuth turntable, and an angle encoder. In rotation mode, it meets the requirement of an illumination data rate of >8 times / second (generally 12 times / second). Considering the 140° coverage of a single array, the turntable speed is selected as 30 r / min, theoretically resulting in (140*2*16) / 360 = 12.4 illumination times. It also has a mode for rotating to a fixed angle. Based on an 80Hz timing signal, it acquires angle encoder data and sends it to the control and frequency synthesizer components via serial port according to the internal protocol, completing the acquisition of azimuth information for the high-speed rotating array. The digital driver controls the motor speed loop and current loop, and performs position loop control based on the angle data from the high-precision encoder to ensure rotation speed accuracy.

[0049] like Figure 2The diagram shows the composition and interface of the fully autonomous multi-target rotating intermittent irradiation guidance system. The external interfaces of the system are divided into a power interface, a communication interface, and a cooling water interface. The power interface is a three-phase three-wire 380VAC power supply and a 24V power-on control signal. The communication interface is a single LAN interface used to receive control commands from the weapon control system and to provide feedback on the irradiation execution results. The cooling water interface uses external water to cool the coolant in the cabinet's water tank.

[0050] like Figure 3 As shown, a fully autonomous multi-target rotating intermittent irradiation guidance method is characterized by the following steps:

[0051] S1: The two arrays rotate back to back at high speed to complete the full airspace division under the target illumination data rate requirements;

[0052] S2: In high-speed rotation mode, the control and frequency synthesis components receive the normal azimuth information collected by the 80Hz servo system, and complete the prediction of the normal azimuth of the array surface and the identification and screening of the visibility of 16 batches of targets in the entire airspace.

[0053] S3: The control and frequency synthesis components sort targets according to their threat level, generate a queue of targets to be illuminated on the illumination array, and control the guidance system to complete the radiation timing of 1Hz, 8Hz and >8Hz and complete the command transmission of 1 time / second.

[0054] S4: The control and frequency synthesis components perform anti-sway processing and coordinate transformation on the target information based on real-time navigation information and normal azimuth information, and finally complete the precise control of the illumination array beam.

[0055] like Figure 4 As shown, the steps for the control and frequency synthesis components to complete target visibility determination and screening are as follows:

[0056] S21: Based on the execution sequence, determine the target execution cycle and complete the calculation of the target data extrapolation time;

[0057] S22: Take the latest 16 sets of data on the normal direction, use the sliding window method to predict the normal orientation of the illumination array, and obtain the normal orientation corresponding to the middle time of the execution cycle;

[0058] S23: Use the target motion trajectory prediction and filtering algorithm to obtain the target position information corresponding to the middle moment of the execution cycle;

[0059] S24: Complete the coordinate system transformation of the target position information, perform coordinate transformation and anti-sway processing on the target position information, so that it is in the same coordinate system as the normal orientation of the array surface;

[0060] S25: Targets are selected based on the radiation range of the phased array antenna. Targets within the radiation range are considered as targets that can be illuminated, while targets outside the radiation range are considered as targets that cannot be illuminated.

[0061] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they shall still fall within the protection scope of the present invention.

Claims

1. A fully autonomous multi-target rotating intermittent irradiation guidance system, characterized in that, include: Irradiation array, control and frequency synthesis components, servo system, power supply cabinet and water-cooled cabinet; The illumination array includes two back-to-back phased array antennas, which are controlled by the control and frequency synthesis components to perform high-speed rotation in order to meet the full airspace division under the target illumination data rate requirements. While the illumination array is rotating at high speed, the control and frequency synthesis component receives the normal azimuth information collected by the servo system, and completes the prediction of the normal azimuth of the illumination array and the identification and screening of the illuminability of multiple targets in the entire airspace. Based on the target threat level, the system prioritizes targets, generates a queue of targets to be illuminated on the illumination array, and controls the guidance system to complete the radiation timing and command transmission at the preset frequency. Furthermore, based on real-time navigation information and normal azimuth information, the system performs anti-sway processing and coordinate transformation on the targets to achieve precise control of the illumination array beam. The power cabinet is electrically connected to the irradiation array and independently controls the power supply to and from the irradiation array. The water-cooled cabinet is used to cool the irradiation array and the control and frequency synthesis components; the control and frequency synthesis components include a control module and a frequency synthesis module. The control module consists of a system timing FPGA board and a hardened computing board. The system timing FPGA board provides the guidance system with working timing, frequency output switching signals and radiation switching signals, distributes internal commands and retrieves BIT data from each device. The hardened computing board is used to receive full-space target data from the weapon control system and autonomously completes the target classification and control of the illumination array. The frequency synthesizer module generates a radio frequency signal to provide a co-source excitation signal to the illumination array, and simultaneously performs command modulation on the subcarrier frequency signal to output an illumination signal with command guidance information to the illumination array. The hardened calculation board determines the target execution cycle based on the execution sequence and calculates the target data extrapolation time; it takes the latest multiple sets of data in the normal direction and uses the sliding window method to predict the normal azimuth of the illumination array surface, obtaining the normal azimuth corresponding to the midpoint of the execution cycle; it uses a target motion trajectory prediction and filtering algorithm to obtain the target position information corresponding to the midpoint of the execution cycle; it completes the coordinate system transformation of the target position information, performs coordinate transformation and anti-shaking processing on the target position information, so that it is in the same coordinate system as the normal azimuth of the array surface; it filters targets according to the radiation range of the phased array antenna, taking targets that fall within the radiation range as illuminateable targets and targets that do not fall within the radiation range as unilluminable targets.

2. The fully autonomous multi-target rotating intermittent irradiation guidance system as described in claim 1, characterized in that, The system's timing FPGA board is connected to the ruggedized computing board via a CPCI bus. It receives navigation data sent by the ship's navigation equipment via RS422 and writes it into the FPGA's memory at a preset rate. It also communicates with the servo system via serial port at a preset rate to query the normal direction and writes it into the corresponding memory. Furthermore, it communicates with the illumination array via CAN at a preset rate to send array control commands and phasing data. Finally, it communicates with the frequency synthesizer module via parallel port at a preset rate to send frequency points and command information.

3. The fully autonomous multi-target rotating intermittent irradiation guidance system as described in claim 1, characterized in that, The hardened computing board receives full-airspace target information sent by the weapon control system via LAN, completes the screening and sorting of multiple batches of targets, and generates a target illumination queue for the illumination array. The hardened computing board initiates the reading of navigation data and normal direction information in the FPGA memory of the system timing board at a preset rate via CPCI bus. Through anti-sway processing, coordinate transformation and array A / B angle calculation, it completes the calculation of target data for each illumination time slot and writes frequency command, instruction data and calculation data into FPGA memory at a preset rate. The irradiation results for each cycle are then returned to the weapon control system via LAN.

4. The fully autonomous multi-target rotating intermittent irradiation guidance system as described in claim 1, characterized in that, The illumination array is a planar array composed of X-band transmitting components. It receives timing control signals, radiation switching signals, and radio frequency signals from the control and frequency synthesis components to complete the radiation output of the X-band transmitting components. It receives array control commands and array A / B angles via CAN to complete array power on / off control and beam control.

5. The fully autonomous multi-target rotating intermittent irradiation guidance system as described in claim 4, characterized in that, The azimuth coverage range of the illumination array is -70° to +70°.

6. A fully autonomous multi-target rotating intermittent irradiation guidance method, used in the fully autonomous multi-target rotating intermittent irradiation guidance system as described in any one of claims 1 to 5, characterized in that, include: Control the high-speed rotation of the illumination array to complete the full airspace division while meeting the target illumination data rate requirements; During the high-speed rotation of the illumination array, the control and frequency synthesis components receive the normal azimuth information collected by the servo system, and complete the prediction of the array normal azimuth and the identification and screening of the illuminability of multiple targets in the entire airspace. The control and frequency synthesis components prioritize targets based on their threat level, generate a queue of targets to be illuminated on the illumination array, and the control and guidance system completes the transmission of radiation timing and commands, including 1Hz, 8Hz and >8Hz. The control and frequency synthesis components perform anti-sway processing and coordinate transformation on the target information based on real-time navigation information and normal azimuth information, and finally complete the precise control of the illumination array beam.

7. The fully autonomous multi-target rotating intermittent irradiation guidance method as described in claim 6, characterized in that, The control and frequency synthesis components further include the following for target visibility determination and screening: Based on the execution sequence, determine the target execution cycle and complete the calculation of the target data extrapolation time; The latest sets of data on the normal direction are taken, and the sliding window method is used to predict the normal orientation of the illumination array surface, thus obtaining the normal orientation corresponding to the midpoint of the execution cycle. The target position information corresponding to the midpoint of the execution cycle is obtained by using a target motion trajectory prediction and filtering algorithm; The coordinate system transformation of the target position information is completed, and the target position information is subjected to coordinate transformation and anti-sway processing to make it be in the same coordinate system as the normal azimuth of the array surface; the target is screened according to the radiation range of the phased array antenna, and the target falling within the radiation range is regarded as the target that can be illuminated, while the target not falling within the radiation range is the target that cannot be illuminated.

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