Machine-sweeping radan beam pointing information sampling system, method, equipment and medium
By adding a sampling device between the servo co-controller and the encoder, and using the beam synchronization signal for frequency/time synchronization sampling and clock deviation adjustment, the problem of insufficient beam pointing accuracy in mechanically scanned radar is solved, and high-precision beam pointing information sampling is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- XTR SOLUTIONS
- Filing Date
- 2025-11-28
- Publication Date
- 2026-04-21
AI Technical Summary
In mechanically scanned radar, control deviations in the synchronous rotation of the antenna can lead to insufficient beam pointing accuracy, affecting the accuracy of repeated wide-area scanning.
An independent sampling device is added between the servo co-controller and the encoder. Frequency/time synchronization is achieved through beam synchronization signal for encoder sampling and communication, and clock deviation adjustment is performed to ensure beam pointing consistency.
It achieves high-precision beam pointing information sampling, avoids beam pointing deviation, has wide applicability and low cost, and does not affect the real-time control loop operating frequency of the servo system.
Smart Images
Figure CN121899797A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of radar technology, and in particular to a mechanically scanned radar beam pointing information sampling system, method, device and medium. Background Technology
[0002] In mechanically scanned radar, the antenna head rotation is affected by factors such as actual antenna load inertia, transmission gear backlash, bearing wear, and environmental interference (wind load / vibration). This causes control deviations in the synchronous rotation of the antenna, resulting in pointing deviations in the actual transmit and receive beams, which in turn affects the beam pointing accuracy in repeated wide-area scanning. Summary of the Invention
[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a mechanically scanned radar beam pointing information sampling system, method, device, and medium, which can achieve high-precision position information acquisition through synchronous beam transmission and reception.
[0004] In a first aspect, a mechanically scanned radar beam pointing information sampling system according to an embodiment of the present invention includes: Servo Co-controller; The sampling device is connected to the servo co-controller; A radar clock source is connected to the sampling device; The encoder is connected to the sampling device; The radar clock source is used to send a beam synchronization signal to the sampling device; the sampling device is used to sample data from the encoder according to the beam synchronization signal and buffer the sampled data; the servo coordination controller is used to send a data request packet to the sampling device and receive a response data packet from the sampling device, the response data packet including the sampling data of the sampling device, the sampling timestamp, and the sampling device time information; the servo coordination controller is also used to adjust the clock deviation according to the trigger timestamp of the data request packet, the current clock, and the sampling device time information.
[0005] According to some embodiments of the present invention, the servo cooperative controller includes: Internal clock; A transmitting unit, wherein the input terminal of the transmitting unit is connected to the internal clock, and the output terminal of the transmitting unit is connected to the sampling device; A receiving unit, the input terminal of which is connected to the sampling device; A clock offset adjustment unit is connected to the output terminal of the receiving unit, and the clock offset adjustment unit is also connected to the internal clock. The internal clock is used to send a clock signal to trigger the sending unit to send the data request packet to the sampling device; the receiving unit is used to receive the response data packet sent by the sampling device and send the response data packet to the clock deviation adjustment unit; the clock deviation adjustment unit is used to adjust the clock deviation of the internal clock according to the trigger timestamp, the current clock and the sampling device time information.
[0006] According to some embodiments of the present invention, the sampling device includes: A phase-locked loop clock is connected to the radar clock source; The data sampling unit is connected to the phase-locked loop clock and the encoder, respectively; The data buffer unit is connected to the phase-locked loop clock and the encoder, respectively; The phase-locked loop clock is used to receive the beam synchronization signal and trigger the data sampling unit to sample data from the encoder according to the beam synchronization signal; the data buffer unit is used to buffer the sampled data.
[0007] According to some embodiments of the present invention, the servo co-controller is connected to the sampling device via an Ethernet bus, and the sampling device is connected to the encoder via a serial bus.
[0008] In a second aspect, the mechanically scanned radar beam pointing information sampling method according to embodiments of the present invention is applied to the mechanically scanned radar beam pointing information sampling system as described in the first aspect embodiment, the method comprising: A beam synchronization signal is sent to the sampling device via a radar clock source; According to the beam synchronization signal, the encoder is sampled by the sampling device, and the sampled data is buffered. The servo co-controller sends a data request packet to the sampling device and receives a response data packet from the sampling device. The response data packet includes the sampling data, sampling timestamp, and sampling device time information of the sampling device. Based on the trigger timestamp of the data request packet, the current clock, and the time information of the sampling device, the clock deviation is adjusted by the servo co-controller.
[0009] According to some embodiments of the present invention, the sampling device includes: a phase-locked loop clock, a data sampling unit, and a data buffer unit; the step of sampling the encoder data through the sampling device according to the beam synchronization signal and buffering the sampled data includes: The beam synchronization signal is received through the phase-locked loop clock, and the data sampling unit is triggered to sample data from the encoder according to the beam synchronization signal. The sampled data is cached using the data caching unit.
[0010] According to some embodiments of the present invention, the servo coordination controller includes: an internal clock, a transmitting unit, a receiving unit, and a clock skew adjustment unit; the step of sending a data request packet to the sampling device through the servo coordination controller and receiving a response data packet from the sampling device includes: The internal clock sends a clock signal to the transmitting unit. According to the clock signal, the data request packet is sent to the sampling device through the sending unit; The receiving unit receives the response data packet sent by the sampling device and sends the response data packet to the clock offset adjustment unit.
[0011] According to some embodiments of the present invention, adjusting the clock offset via the servo co-controller based on the trigger timestamp of the data request packet, the current clock, and the sampling device time information includes: Obtain the trigger timestamp of the data request packet and the current clock of the internal clock, and calculate the difference between the current clock and the trigger timestamp to obtain the time deviation value; Obtain the time information of the sampling device, and sum the time information of the sampling device and the time deviation value to obtain the calibration time value; The internal clock is calibrated based on the calibration time value.
[0012] Thirdly, an electronic device according to an embodiment of the present invention includes at least one control processor and a memory for communicatively connecting to the at least one control processor; the memory stores instructions executable by the at least one control processor, the instructions being executed by the at least one control processor to enable the at least one control processor to perform the mechanically scanned radar beam pointing information sampling method described in the second aspect embodiment.
[0013] Fourthly, according to an embodiment of the present invention, a computer-readable storage medium stores computer-executable instructions for causing a computer to perform the mechanically scanned radar beam pointing information sampling method as described in the second aspect embodiment.
[0014] The mechanically scanned radar beam pointing information sampling system, method, device, and medium according to embodiments of the present invention have at least the following beneficial effects: An independent sampling device is added between the existing servo-coordinated controller and the encoder. Frequency / time synchronization is implemented based on the beam synchronization signal for encoder sampling and communication. Simultaneously, the servo-coordinated controller can adjust the clock deviation to ensure beam pointing consistency and avoid beam pointing deviations. This system can be directly embedded into the existing servo system design without affecting the hardware performance of the servo-coordinated controller or the operating frequency of the servo system's real-time control loop. It has wide applicability, low cost, and achieves high-frequency pointing encoding information sampling with a low operating frequency.
[0015] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description
[0016] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the mechanically scanned radar beam pointing information sampling system according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the servo cooperative controller according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the sampling device according to an embodiment of the present invention; Figure 4 This is a flowchart illustrating the steps of the mechanically scanned radar beam pointing information sampling method according to an embodiment of the present invention. Figure 5 This is a schematic diagram illustrating the specific process of the mechanically scanned radar beam pointing information sampling method according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation
[0017] The embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. The step numbers in the following embodiments are set only for ease of explanation, and there is no limitation on the order between the steps. The execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.
[0018] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.
[0019] The terms "first," "second," "third," and "fourth," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.
[0020] In this invention, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.
[0021] Two-dimensional mechanically scanned phased array radar achieves target detection through a hybrid architecture of "phased array electronic scanning + mechanical scanning". The core signals that ensure the radar beam velocity accurately illuminates the target and achieves efficient scanning and tracking include: mechanical turntable azimuth / elevation control signals, phased array electronic scanning phase control signals, transmit and receive beam timing synchronization signals, and feedback correction signals.
[0022] The mechanical turntable's azimuth / pitch control signals are used to meet the angle requirements of the beam pointing towards the target, including pointing command signals and pointing synchronization signals. The pointing command signal is a digital command received by the servo co-controller using a specific communication protocol. The pointing synchronization signal is a fixed-frequency (single-ended / differential) square wave signal received by the servo co-controller, used in the radar's wide-area search mode to provide continuous target angle information.
[0023] A radar servo system typically consists of a pointing position feedback encoder sensor, an electric drive unit, and a servo controller. The servo controller receives scan synchronization signals and feedback signals from the position encoder sensor, and drives the turntable antenna to rotate continuously 360° in azimuth direction via actuators such as motors. It employs control algorithms such as PID feedforward to control the angle deviation between the beam pointing at the target and the actual angle, thereby achieving radar beam pointing synchronization. Currently, the position sensor acquisition in radar mechanical servo systems is usually triggered by a control loop that achieves antenna pointing synchronization, which cannot achieve pointing position sampling synchronized with the radar beam transmission and reception frequency. To address this, embodiments of the present invention provide a mechanically scanned radar beam pointing information sampling system, method, device, and medium. An independent sampling device is added between the existing servo-coordinated controller and encoder. Based on the beam synchronization signal, frequency / time synchronization is implemented for encoder sampling and communication. Simultaneously, the servo-coordinated controller can adjust clock deviations to ensure beam pointing consistency and avoid beam pointing deviations. This system can be directly embedded into existing servo system designs without affecting the hardware performance of the servo-coordinated controller or the operating frequency of the servo system's real-time control loop. It has wide applicability, low cost, and achieves high-frequency pointing encoding information sampling at a low operating frequency.
[0024] The mechanically scanned radar beam pointing information sampling system, method, device, and medium of the present invention will now be described in detail with reference to the accompanying drawings.
[0025] On the one hand, such as Figure 1 As shown in the figure, this embodiment of the invention proposes a mechanically scanned radar beam pointing information sampling system, including a servo-coordinated controller 100, a sampling device 200, a radar clock source 300, and an encoder 400. The servo-coordinated controller 100 is connected to the sampling device 200, the sampling device 200 is connected to the encoder 400, and the radar clock source 300 is connected to the sampling device 200. The radar clock source 300 is used to send a beam synchronization signal to the sampling device 200; the sampling device 200 is used to sample data from the encoder 400 according to the beam synchronization signal and buffer the sampled data; the servo-coordinated controller 100 is used to send a data request packet to the sampling device 200 and receive a response data packet from the sampling device 200. The response data packet includes the sampling data of the sampling device 200, a sampling timestamp, and the sampling device's time information. The servo-coordinated controller 100 is also used to adjust the clock deviation according to the trigger timestamp of the data request packet, the current clock, and the sampling device's time information.
[0026] Specifically, in this example, the servo co-controller 100 is connected to the sampling device 200 via an Ethernet bus, and the sampling device 200 is connected to the encoder 400 via a serial communication bus. When the radar clock source 300 sends a beam synchronization signal to the sampling device 200, the sampling device synchronizes its clock with the beam synchronization signal and begins periodic sampling, sampling the position information of the encoder 400 to obtain sampling data and sampling timestamps, and buffering the sampling data. The servo co-controller 100 periodically sends data request packets to the sampling device 200. When the sampling device 200 receives a data request packet, it sends a response data packet to the servo co-controller 100. This response data packet includes the data sampled by the sampling device 200 and the sampling timestamp, as well as the timestamp information of the sampling device 200 when it received the data request packet. When the servo co-controller 100 receives the response data packet, it can obtain the sampling device's time information and adjust the clock deviation based on the sampling device's time information, the current clock, and the trigger timestamp when the data request packet was triggered.
[0027] According to the mechanically scanned radar beam pointing information sampling system of this application embodiment, an independent sampling device 200 is added between the original servo co-controller 100 and encoder 400. Based on the beam synchronization signal, frequency / time synchronization is implemented for sampling and communication of the encoder 400. Simultaneously, the servo co-controller 100 can also adjust the clock deviation to ensure beam pointing consistency and avoid beam pointing deviation. This system can be directly embedded into the original servo system design, without affecting the hardware performance of the servo co-controller 100 or the operating frequency of the servo system's real-time control loop. It has wide applicability, low cost, and achieves high-frequency pointing encoding information sampling with a low operating frequency.
[0028] Furthermore, such as Figure 2 As shown, in some embodiments of this application, the servo cooperative controller 100 includes: an internal clock 110, a transmitting unit 120, a receiving unit 130, and a clock deviation adjustment unit 140. The input terminal of the transmitting unit 120 is connected to the internal clock 110, and the output terminal of the transmitting unit 120 is connected to the sampling device 200. The input terminal of the receiving unit 130 is connected to the sampling device 200, and the output terminal of the receiving unit 130 is connected to the clock deviation adjustment unit 140. The clock deviation adjustment unit 140 is also connected to the internal clock 110. The internal clock 110 is used to transmit a clock signal, triggering the transmitting unit 120 to send a data request packet to the sampling device 200. The receiving unit 130 is used to receive the response data packet sent by the sampling device 200 and send the response data packet to the clock deviation adjustment unit 140. The clock deviation adjustment unit 140 is used to adjust the clock deviation of the internal clock according to the trigger timestamp, the current clock, and the sampling device time information.
[0029] Specifically, the servo co-controller 100 is responsible for initiating communication, and its internal clock 110 is used to send clock signals, thereby triggering the sending unit 120 to periodically send data request packets to the sampling device 200. When the sampling device 200 receives the data request packet, it sends a response data packet to the servo co-controller 100. The servo co-controller 100 receives the response data packet through the receiving unit 120 and sends it to the clock deviation adjustment unit 140. Through this response data packet, the sampling position encoding information and sampling device time information of the sampling device 200 can be obtained. The clock deviation adjustment unit 140 uses the sampling device time information as a reference, compares the internal clock deviation, calculates the communication delay, and resets the clock. The clock adjustment setting value of the clock deviation adjustment unit 140 is: ,in This refers to the sampling device's time information, specifically the time when the sampling device 200 receives the data request packet. This refers to the local time when the servo co-controller 100 receives the response data packet. This refers to the trigger timestamp when the servo co-controller 100 sends a data request packet.
[0030] Furthermore, such as Figure 3 As shown, in some embodiments of this application, the sampling device 200 includes a phase-locked loop clock 210, a data sampling unit 220, and a data buffer unit 230. The phase-locked loop clock 210 is connected to the radar clock source 300, the data sampling unit 220 is connected to both the phase-locked loop clock 210 and the encoder 400, and the data buffer unit 230 is connected to both the phase-locked loop clock 210 and the encoder 400. The phase-locked loop clock 210 is used to receive beam synchronization signals and, based on the beam synchronization signals, triggers the data sampling unit 220 to sample data from the encoder 400. The data buffer unit 230 is used to buffer the sampled data.
[0031] Specifically, when the beam synchronization signal is input to the phase-locked loop clock 210, the data sampling unit 200 can be periodically triggered to sample the encoder 400 and store the sampled data in the data buffer unit 230. When the sampling device 200 receives the data request packet sent by the servo co-controller 100, it generates a response data packet based on the sampled data and the sampling device time information, and sends the response data packet to the servo co-controller 100.
[0032] According to the mechanically scanned radar beam pointing information sampling system of the embodiments of this application, such as Figure 5 As shown, a specific example of a working process is as follows: (1) After the sampling device 200 is powered on, it receives a beam synchronization signal of 0.1MHz and triggers the encoder 400 to sample by the internal phase-locked loop clock 210; (2) The data sampling unit 220 samples the encoder 400 data at a period of 10us and places the sampled data and sampling timestamp in the data buffer unit 230; (3) The servo co-controller 100 initiates a data request packet; (4) When the sampling device 200 receives the data request packet, it sends the response data packet back to the servo co-controller 100. The response data packet includes the sampling data, the sampling timestamp, and the sampling device time information. (5) The servo co-controller 100 receives the response data packet from the sampling device 200 and extracts the sampling device time information therein; (6) The servo co-controller 100 calculates the communication delay based on the timestamp of the sampling device and then resets the internal clock.
[0033] (7) The servo co-controller 100 sends data request packets at a 1ms cycle based on the local clock.
[0034] (8) After receiving the data request packet, the sampling device 200 encodes the 100 locations in the buffer and the sampling timestamp, sends a response data packet, and then clears the data buffer unit 230.
[0035] (9) The servo co-controller 100 receives the response data packet and extracts 100 position codes and sampling timestamps.
[0036] Among them, the sampling data and sampling timestamp represent the specific pointing position and time information of the transmitted / received beam, which are used for radar back-end data processing, such as target information identification and beam signal processing.
[0037] According to the mechanically scanned radar beam pointing information sampling system of this application embodiment, the sampling device 200 performs high-frequency sampling of pointing position encoding based on the beam synchronization signal; the servo cooperative controller 100 initiates low-frequency Ethernet communication based on the sampling device 200 as the time reference and receives pointing encoding information.
[0038] On the other hand, such as Figure 4 As shown, based on the above-described mechanically scanned radar beam pointing information sampling system, this application also proposes a mechanically scanned radar beam pointing information sampling method, which includes the following steps: Step S100: Send a beam synchronization signal to the sampling device 200 via the radar clock source 300; Step S200: Based on the beam synchronization signal, the encoder 400 is sampled by the sampling device 200, and the sampled data is buffered; Step S300: The servo co-controller 100 sends a data request packet to the sampling device 200 and receives a response data packet from the sampling device 200. The response data packet includes the sampling data, sampling timestamp, and sampling device time information of the sampling device 200. Step S400: Based on the trigger timestamp of the data request packet, the current clock, and the sampling device time information, the clock deviation is adjusted by the servo co-controller 100.
[0039] Specifically, in this example, the servo co-controller 100 is connected to the sampling device 200 via a single point on an Ethernet bus, and the sampling device 200 is connected to the encoder 400 via a serial communication bus. When the radar clock source 300 sends a beam synchronization signal to the sampling device 200, the sampling device 200 synchronizes its clock with the beam synchronization signal and begins periodic sampling to sample the position information of the encoder 400, obtain sampling data, and buffer the sampling data. The servo co-controller 100 periodically sends data request packets to the sampling device 200. When the sampling device 200 receives a data request packet, it sends a response data packet to the servo co-controller 100. This response data packet includes not only the data sampled by the sampling device 200 but also the timestamp information of when the sampling device 200 received the data request packet. When the servo co-controller 100 receives the response data packet, it can obtain the sampling device's time information and adjust the clock deviation based on the sampling device's time information, the current clock, and the trigger timestamp when the data request packet was triggered.
[0040] According to the mechanically scanned radar beam pointing information sampling method of this application embodiment, an independent sampling device 200 is added between the original servo co-controller 100 and encoder 400. Based on the beam synchronization signal, frequency / time synchronization is implemented for sampling and communication of the encoder 400. Simultaneously, the servo co-controller 100 can also adjust the clock deviation to ensure beam pointing consistency and avoid beam pointing deviation. This system can be directly embedded into the original servo system design, without affecting the hardware performance of the servo co-controller 100 or the operating frequency of the servo system's real-time control loop. It has wide applicability, low cost, and achieves high-frequency pointing encoding information sampling with a low operating frequency.
[0041] Furthermore, such as Figure 3 As shown, in some embodiments of this application, the sampling device 200 includes a phase-locked loop clock 210, a data sampling unit 220, and a data buffer unit 230. The above-mentioned step S200: sampling data from the encoder 400 through the sampling device 200 according to the beam synchronization signal and buffering the sampled data, specifically includes the following two steps: The phase-locked loop clock 210 receives the beam synchronization signal and triggers the data sampling unit 220 to sample the encoder 400 based on the beam synchronization signal. The sampled data is cached by the data caching unit 230.
[0042] Specifically, when the beam synchronization signal is input to the phase-locked loop clock 210, the data sampling unit 200 can be periodically triggered to sample the encoder 400 and store the sampled data in the data buffer unit 230. When the sampling device 200 receives the data request packet sent by the servo co-controller 100, it generates a response data packet based on the sampled data, the sampling timestamp, and the sampling device time information, and sends the response data packet to the servo co-controller 100.
[0043] Furthermore, such as Figure 2 As shown, in some embodiments of this application, the servo cooperative controller 100 includes: an internal clock 110, a transmitting unit 120, a receiving unit 130, and a clock offset adjustment unit 140. The aforementioned step S300: sending a data request packet to the sampling device 200 through the servo cooperative controller 100 and receiving a response data packet from the sampling device 200, specifically includes the following three steps: A clock signal is sent to the transmitting unit 120 via the internal clock 110; According to the clock signal, a data request packet is sent to the sampling device 200 through the transmitting unit 120; The receiving unit 130 receives the response data packet sent by the sampling device 200 and sends the response data packet to the clock deviation adjustment unit 140.
[0044] Specifically, the servo co-controller 100 is responsible for initiating communication, and its internal clock 110 is used to send clock signals, thereby triggering the sending unit 120 to periodically send data request packets to the sampling device 200. When the sampling device 200 receives the data request packet, it sends a response data packet to the servo co-controller 100. The servo co-controller 100 receives the response data packet through the receiving unit 120 and sends it to the clock deviation adjustment unit 140. Through this response data packet, the sampling position encoding information, sampling timestamp, and sampling device time information of the sampling device 200 can be obtained. The clock deviation adjustment unit 140 uses the sampling device time information as a reference, compares the internal clock deviation, and then resets the clock.
[0045] In some embodiments of this application, step S400 above, which involves adjusting the clock offset via the servo co-controller 100 based on the trigger timestamp of the data request packet, the current clock, and the sampling device time information, includes the following three steps: Get the trigger timestamp of the data request packet and the current clock of the internal clock, and calculate the difference between the current clock and the trigger timestamp to obtain the time deviation value; Obtain the sampling device time information, and sum the sampling device time information and the time deviation value to obtain the calibration time value; The internal clock is calibrated based on the calibration time value.
[0046] Specifically, the current clock of internal clock 110 is denoted as... The trigger timestamp is The time deviation value obtained by subtracting the current clock from the trigger timestamp is... - Record the sampling device time information as follows: The calibration time value obtained by summing the sampling device time information and the time deviation value is... This calibration time value is set as the local clock to achieve clock calibration.
[0047] An example of the working process of the mechanically scanned radar beam pointing information sampling method according to the embodiments of this application is as follows: Figure 5 As shown: (1) After the sampling device 200 is powered on, it receives a beam synchronization signal of 0.1MHz and triggers the encoder 400 to sample by the internal phase-locked loop clock 210; (2) The data sampling unit 220 samples the encoder 400 data at a period of 10us and places the sampled data and sampling timestamp in the data buffer unit 230; (3) The servo co-controller 100 initiates a data request packet; (4) When the sampling device 200 receives the data request packet, it sends the response data packet back to the servo co-controller 100. The response data packet includes the sampling data, the sampling timestamp, and the sampling device time information. (5) The servo co-controller 100 receives the response data packet from the sampling device 200 and extracts the sampling device time information therein; (6) The servo co-controller 100 calculates the communication delay based on the timestamp of the sampling device and then resets the internal clock.
[0048] (7) The servo co-controller 100 sends data request packets at a 1ms cycle based on the local clock.
[0049] (8) After receiving the data request packet, the sampling device 200 encodes the 100 locations in the buffer and the sampling timestamp, sends a response data packet, and then clears the data buffer unit 230.
[0050] (9) The servo co-controller 100 receives the response data packet and extracts 100 position codes and sampling device timestamps.
[0051] According to the mechanically scanned radar beam pointing information sampling method of this application embodiment, the sampling device 200 performs high-frequency sampling of pointing position encoding based on the beam synchronization signal; the servo cooperative controller 100 initiates low-frequency Ethernet communication based on the sampling device 200 as the time reference and receives pointing encoding information.
[0052] On the other hand, embodiments of the present invention also provide an electronic device, such as... Figure 6 As shown, the electronic device includes: The processor 501 can be implemented using a general-purpose central processing unit (CPU), microprocessor, application specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 502 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 502 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 102 and called and executed by the processor 501 using the mechanically scanned radar beam pointing information sampling method of the embodiments of this application. The input / output interface 503 is used to implement information input and output; The communication interface 504 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 505 transmits information between various components of the device (e.g., processor 501, memory 502, input / output interface 503, and communication interface 504); The processor 501, memory 502, input / output interface 503, and communication interface 504 are connected to each other within the device via bus 505.
[0053] On the other hand, embodiments of the present invention also provide a storage medium, which is a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the above-described mechanically scanned radar beam pointing information sampling method.
[0054] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof. The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate, and may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.
[0055] Although specific embodiments are described herein, those skilled in the art will recognize that many other modifications or alternative embodiments are also within the scope of this disclosure. For example, any of the functions and / or processing capabilities described in connection with a particular device or component can be performed by any other device or component. Furthermore, while various exemplary embodiments and architectures have been described according to embodiments of this disclosure, those skilled in the art will recognize that many other modifications to the exemplary embodiments and architectures described herein are also within the scope of this disclosure.
[0056] The foregoing description, with reference to block diagrams and flowcharts of systems, methods, systems, and / or computer program products according to exemplary embodiments, has described certain aspects of this disclosure. It should be understood that one or more blocks in the block diagrams and flowcharts, as well as combinations of blocks in the block diagrams and flowcharts, can be implemented by executing computer-executable program instructions, respectively. Similarly, according to some embodiments, some blocks in the block diagrams and flowcharts may not need to be executed in the order shown, or may not all need to be executed. Furthermore, additional components and / or operations beyond those shown in the blocks in the block diagrams and flowcharts may exist in some embodiments.
[0057] Therefore, blocks in block diagrams and flowcharts support combinations of means for performing a specified function, combinations of elements or steps for performing a specified function, and program instruction means for performing a specified function. It should also be understood that each block in a block diagram and flowchart, and combinations of blocks in block diagrams and flowcharts, can be implemented by a dedicated hardware computer system or a combination of dedicated hardware and computer instructions that performs a specific function, element, or step.
[0058] The program modules, applications, etc., described herein may include one or more software components, including, for example, software objects, methods, data structures, etc. Each such software component may include computer-executable instructions that, in response to execution, cause at least a portion of the functionality described herein (e.g., one or more operations of the exemplary methods described herein) to be performed.
[0059] Software components can be coded using any of a variety of programming languages. An exemplary programming language could be a low-level programming language, such as assembly language associated with a specific hardware architecture and / or operating system platform. Software components including assembly language instructions may need to be converted into executable machine code by an assembler before being executed by the hardware architecture and / or platform. Another exemplary programming language could be a higher-level programming language that is portable across multiple architectures. Software components including higher-level programming languages may need to be converted into an intermediate representation by an interpreter or compiler before execution. Other examples of programming languages include, but are not limited to, macro languages, shell or command languages, job control languages, scripting languages, database query or search languages, or report writing languages. In one or more exemplary embodiments, a software component containing instructions from one of the above-described programming language examples can be executed directly by the operating system or other software components without first being converted into another form.
[0060] Software components can be stored as files or other data storage structures. Software components of similar type or related function can be stored together in a specific directory, folder, or library. Software components can be static (e.g., pre-defined or fixed) or dynamic (e.g., created or modified at runtime).
[0061] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.
Claims
1. A mechanically scanned radar beam pointing information sampling system, characterized in that, include: Servo Co-controller; The sampling device is connected to the servo co-controller; A radar clock source is connected to the sampling device; The encoder is connected to the sampling device; The radar clock source is used to send a beam synchronization signal to the sampling device; the sampling device is used to sample data from the encoder according to the beam synchronization signal and buffer the sampled data; the servo coordination controller is used to send a data request packet to the sampling device and receive a response data packet from the sampling device, the response data packet including the sampling data of the sampling device, the sampling timestamp, and the sampling device time information; the servo coordination controller is also used to adjust the clock deviation according to the trigger timestamp of the data request packet, the current clock, and the sampling device time information.
2. The mechanically scanned radar beam pointing information sampling system according to claim 1, characterized in that, The servo coordination controller includes: Internal clock; A transmitting unit, wherein the input terminal of the transmitting unit is connected to the internal clock, and the output terminal of the transmitting unit is connected to the sampling device; A receiving unit, the input terminal of which is connected to the sampling device; A clock offset adjustment unit is connected to the output terminal of the receiving unit, and the clock offset adjustment unit is also connected to the internal clock. The internal clock is used to send a clock signal to trigger the sending unit to send the data request packet to the sampling device; the receiving unit is used to receive the response data packet sent by the sampling device and send the response data packet to the clock deviation adjustment unit; the clock deviation adjustment unit is used to adjust the clock deviation of the internal clock according to the trigger timestamp, the current clock and the sampling device time information.
3. The mechanically scanned radar beam pointing information sampling system according to claim 1, characterized in that, The sampling device includes: A phase-locked loop clock is connected to the radar clock source; The data sampling unit is connected to the phase-locked loop clock and the encoder, respectively; The data buffer unit is connected to the phase-locked loop clock and the encoder, respectively; The phase-locked loop clock is used to receive the beam synchronization signal and trigger the data sampling unit to sample data from the encoder according to the beam synchronization signal; the data buffer unit is used to buffer the sampled data.
4. The mechanically scanned radar beam pointing information sampling system according to claim 1, characterized in that, The servo co-controller is connected to the sampling device via an Ethernet bus, and the sampling device is connected to the encoder via a serial bus.
5. A method for sampling beam pointing information of a mechanically scanned radar, applied to the mechanically scanned radar beam pointing information sampling system as described in any one of claims 1-4, characterized in that, The method includes: A beam synchronization signal is sent to the sampling device via a radar clock source; According to the beam synchronization signal, the encoder is sampled by the sampling device, and the sampled data is buffered. The servo co-controller sends a data request packet to the sampling device and receives a response data packet from the sampling device. The response data packet includes the sampling data, sampling timestamp, and sampling device time information of the sampling device. Based on the trigger timestamp of the data request packet, the current clock, and the time information of the sampling device, the clock deviation is adjusted by the servo co-controller.
6. The method for sampling beam pointing information of mechanically scanned radar according to claim 5, characterized in that, The sampling device includes: a phase-locked loop clock, a data sampling unit, and a data buffer unit; the step of sampling the encoder data through the sampling device according to the beam synchronization signal and buffering the sampled data includes: The beam synchronization signal is received through the phase-locked loop clock, and the data sampling unit is triggered to sample data from the encoder according to the beam synchronization signal. The sampled data is cached using the data caching unit.
7. The method for sampling beam pointing information of mechanically scanned radar according to claim 5, characterized in that, The servo coordination controller includes: an internal clock, a transmitting unit, a receiving unit, and a clock offset adjustment unit; the process of sending data request packets to the sampling device through the servo coordination controller and receiving response data packets from the sampling device includes: The internal clock sends a clock signal to the transmitting unit. According to the clock signal, the data request packet is sent to the sampling device through the sending unit; The receiving unit receives the response data packet sent by the sampling device and sends the response data packet to the clock offset adjustment unit.
8. The method for sampling beam pointing information of mechanically scanned radar according to claim 7, characterized in that, The step of adjusting the clock deviation through the servo co-controller based on the trigger timestamp of the data request packet, the current clock, and the sampling device time information includes: Obtain the trigger timestamp of the data request packet and the current clock of the internal clock, and calculate the difference between the current clock and the trigger timestamp to obtain the time deviation value; Obtain the time information of the sampling device, and sum the time information of the sampling device and the time deviation value to obtain the calibration time value; The internal clock is calibrated based on the calibration time value.
9. An electronic device, characterized in that, It includes at least one control processor and a memory for communicatively connecting to the at least one control processor; the memory stores instructions executable by the at least one control processor, which, when executed by the at least one control processor, enable the at least one control processor to perform the mechanically scanned radar beam pointing information sampling method as described in any one of claims 5 to 8.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the mechanically scanned radar beam pointing information sampling method as described in any one of claims 5 to 8.