CN114877857A - Three-dimensional absolute direction laser warning device - Google Patents
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Abstract
The invention belongs to the technical field of laser warning devices, and particularly relates to a three-dimensional absolute direction laser warning device which comprises an optical system, a three-dimensional electronic compass and a measurement and data processing circuit, wherein the optical system is electrically connected with the measurement and data processing circuit, and the three-dimensional electronic compass is electrically connected with the measurement and data processing circuit. The three-dimensional electronic compass introduced by the invention consists of the following two parts, wherein the magneto-resistive sensor is used for measuring a course angle of the laser alarm device relative to a geomagnetic field, and an absolute azimuth angle of an incoming laser can be obtained by combining the course angle with an azimuth angle measured by the laser alarm device; the tilt angle sensor is used for measuring the pitch angle and the roll angle of the laser warning device relative to the horizontal plane, the measured pitch angle and roll angle are combined with the pitch angle data measured by the laser warning device to obtain the absolute pitch angle of the incoming laser, and the problems that the azimuth angle and the pitch angle measured by the conventional laser warning device are relative to the device and the like are effectively solved.
Description
Technical Field
The invention belongs to the technical field of laser warning devices, and particularly relates to a three-dimensional absolute direction laser warning device.
Background
With the rapid development of laser weapons in various countries, the laser weapons pose serious threats to important strategic facilities of our army, so that it is very important to develop a three-dimensional laser warning system capable of measuring the azimuth angle, the pitch angle and the wavelength of the laser. The three-dimensional laser warning system needs to measure and calculate the azimuth angle and the pitch angle of the incoming laser. The laser warning system at the present stage can only measure and calculate the azimuth angle and the pitch angle relative to the laser warning system, and cannot measure and calculate the azimuth angle and the pitch angle in the absolute direction by combining the roll angle. In the actual use process, the azimuth angle measured and calculated by the existing laser warning system is determined based on the diffraction image of the incoming laser after passing through the grating, namely the azimuth angle measured and calculated by the laser warning system is relative to the system and not relative to the geomagnetic field, so that the judgment of the azimuth of the incoming laser is not facilitated; meanwhile, in reality, the laser warning system cannot be guaranteed to be in a horizontal state, the azimuth angle obtained by measurement and calculation under the condition is not relative to the horizontal plane, the measurement and calculation of the azimuth angle and the pitch angle can be influenced by the roll angle, and the judgment of the incoming laser pitch angle is not facilitated.
Disclosure of Invention
Aiming at the technical problems that the laser warning system at the present stage can only measure and calculate the azimuth angle and the pitch angle relative to the laser warning system and cannot measure and calculate by combining with the roll angle, the invention provides the three-dimensional absolute direction laser warning device.
In order to solve the technical problems, the invention adopts the technical scheme that:
the utility model provides a three-dimensional absolute direction laser alarm device, includes optical system, three-dimensional electron compass, measurement and data processing circuit, optical system and measurement and data processing circuit electric connection, three-dimensional electron compass and measurement and data processing circuit electric connection.
The optical system comprises a view field compression system, a grating, a lens and an area array detector, wherein the grating, the lens and the area array detector are sequentially arranged in the light path direction of the view field compression system, and the area array detector is electrically connected with the measurement and data processing circuit through a wire.
The three-dimensional electronic compass comprises a magnetic resistance sensor, an inclination angle sensor and an MCU (microprogrammed control unit), wherein the magnetic resistance sensor and the inclination angle sensor are both electrically connected to the MCU through leads, and the MCU is electrically connected to a measurement and data processing circuit through leads.
A measuring and calculating method of a three-dimensional absolute direction laser warning device comprises the following steps
S1, enabling the incoming laser to pass through a field compression system;
s2, obtaining 0-level and +/-1-level spectrums after grating diffraction, obtaining light spots on an area array detector, and finally entering a measurement and data processing circuit;
s3, the three-dimensional electronic compass measures and calculates a direction angle, a pitch angle and a roll angle of the laser warning device in the absolute direction based on a geomagnetic vector measurement angle theory and a Newton' S second law, and finally enters a measurement and data processing circuit;
and S4, combining the data of the optical system and the three-dimensional electronic compass by the measuring and data processing circuit to obtain the direction angle and the pitch angle of the incoming laser in the absolute direction.
The method for measuring and calculating the direction angle, the pitch angle and the roll angle of the laser warning device in the absolute direction in the step S3 includes: comprises the following steps:
s3.1, specifying a reference coordinate system as X 0 The axis points to the north horizontal coordinate system, and X is established by right hand rule 0 Y 0 Z 0 A rectangular space coordinate system, when the laser alarm device is positioned in the northern hemisphere and is coincided with the reference coordinate system, the initial acceleration reading G of the tilt sensor 0 Comprises the following steps:
s3.2, setting the laser alarm device to surround X respectively 0 Rotation of the shaft
To obtain X 1 Axis, around Y 0 Axis rotation gamma 1 To obtain Y 1 Axial, about Z 0 Rotation of the shaft alpha 1 To obtain Z 1 Axis, the tilt sensor then obtains acceleration readings of:
in the above formula, the first and second carbon atoms are,
R y (γ 1 )、R z (α 1 ) Comprises the following steps:
s3.3, mixing
R y (γ 1 )、R z (α 1 ) Substitution into G p In the method, the roll angle of the laser alarm device relative to the horizontal plane is obtained
And a pitch angle gamma 1 Comprises the following steps:
the above-mentioned
R y (γ 1 )、R z (α 1 ) Respectively representing a rotation matrix for rotating the electric compass about three axes in a coordinate system, G px 、G py 、G pz Respectively, representing the triaxial output of the accelerometer.
The method for obtaining the direction angle and the pitch angle of the incoming laser in the absolute direction in S4 includes: comprises the following steps:
s4.1, setting delta as geomagnetic field vectors B and Z 0 The initial magnetic force reading of the magnetic resistance sensor is B at the included angle of the axial directions 0 Comprises the following steps:
then, magnetometer reading B p The following formula:
b is px 、B py 、B pz Respectively representing the three-axis output of the magnetometer;
s4.2, obtaining the course angle alpha of the laser warning device relative to the geomagnetic direction 1 Comprises the following steps:
s4.3, setting the laser wavelength of an incoming laser as lambda and the incident angle of the incoming laser to the laser alarm device as alpha 0 The pitch angle of the laser alarm device by the incoming laser is gamma 0 0 th order spectral position x obtained by diffraction 0 , +1 st order spectral positionPut x +1 -1 order spectral position x -1 (ii) a Wherein, grating constant is d in the known laser alarm device, and the blaze angle of grating is theta, and the focus of lens group is f, then obtain:
diffraction angle of 0 order being equal to the angle of incidence α 0 + -1 order diffraction angle beta +1 、β -1 Respectively satisfy the following formula:
the area array detector is arranged at the focal plane of the lens with the focal length of f, and acquires the diffracted image for subsequent data processing, wherein the 0 order, +1 order and-1 order diffraction positions are as follows:
calculating the incident angle alpha of the laser to the laser alarm device 0 Then the pitch angle gamma of the laser alarm device is influenced by the incoming laser 0 And wavelength λ is:
the direction angle alpha and the pitch angle gamma of the incoming laser in the absolute direction are obtained as follows:
α＝α 0 +α 1
γ＝γ 0 +γ 1 。
compared with the prior art, the invention has the following beneficial effects:
the invention introduces a three-dimensional electronic compass to solve the problem that the measurement of the azimuth angle and the pitch angle of the incoming laser is not in the absolute direction in the original laser alarm device. The three-dimensional electronic compass introduced by the invention consists of the following two parts, wherein the magneto-resistive sensor is used for measuring a course angle of the laser alarm device relative to a geomagnetic field, and an absolute azimuth angle of an incoming laser can be obtained by combining the course angle with an azimuth angle measured by the laser alarm device; the tilt angle sensor is used for measuring the pitch angle and the roll angle of the laser warning device relative to the horizontal plane, and the measured pitch angle and roll angle are combined with the pitch angle data measured by the laser warning device to obtain the absolute pitch angle of the incoming laser. Compared with the prior art, the invention breaks through the bottleneck of the traditional laser alarm, introduces the three-dimensional electronic compass, and effectively solves the problems that the azimuth angle and the pitch angle measured and calculated by the traditional laser alarm device are relative to the device per se, and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so that those skilled in the art can understand and read the present invention, and do not limit the conditions for implementing the present invention, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the functions and purposes of the present invention, should still fall within the scope of the present invention.
FIG. 1 is a laser pattern of the present invention;
FIG. 2 is a schematic structural view of the present invention;
fig. 3 is a schematic structural view of the three-dimensional electronic compass of the present invention.
Wherein: the system comprises an optical system 1, a three-dimensional electronic compass 2, a measurement and data processing circuit 3, a field compression system 101, a grating 102, a lens 103, an area array detector 104, a magnetoresistive sensor 201, a tilt sensor 202 and an MCU 203.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below, obviously, the described embodiments are only a part of the embodiments of the present application, but not all embodiments, and the description is only for further explaining the features and advantages of the present invention, and not for limiting the claims of the present invention; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Throughout the description of the present application, it is to be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
As shown in FIG. 1, the laser beam to be measured is OB, OB 1 Is OB at x 1 Oz 1 Projection of a surface, and 1 the angle of the axes being alpha 0 The direction angle of the incoming laser relative to the laser warning device; OB 2 OB at y1Oz 1 Projection of a surface, and 1 included angle of axis being gamma 0 I.e. the pitch angle of the incoming laser relative to the laser warning device. The direction angle alpha can be obtained according to the principle of light splitting of the grating and the principle of light diffraction 0 Angle of pitch gamma 0 And a wavelength lambda.
As shown in fig. 2, the incoming laser passes through a field compression system, and then is diffracted by a grating to obtain 0-level and ± 1-level spectra, and then a light spot is obtained on an area array detector, and finally enters a measurement and data processing circuit; the three-dimensional electronic compass calculates and calculates a direction angle, a pitch angle and a roll angle of the laser warning device in an absolute direction based on a geomagnetic vector measurement angle theory and a Newton's second law, and finally enters a measurement and data processing circuit; and the measurement and data processing circuit is combined with the optical system and the data of the three-dimensional electronic compass to obtain the direction angle and the pitch angle of the incoming laser in the absolute direction.
Specifying a reference coordinate system of X 0 The axis points to the horizontal coordinate system of the north, and the initial acceleration reading G of the tilt sensor is given when the device is located in the northern hemisphere and coincides with the reference coordinate system 0 The following formula:
the laser alarm devices are respectively arranged around the X 0 Rotation of the shaft
Get, surround Y 0 Axis rotation gamma 1 To obtain the Y axis around Z 0 Rotation of the shaft alpha 1 Obtaining the Z axis, the tilt sensor obtains acceleration readings as follows:
in the above formula, the first and second carbon atoms are,
R y (γ 1 )、R z (α 1 ) The following formula:
the formula (3), (4) and (5) are substituted into the formula (2) to obtain the roll angle of the laser alarm device relative to the horizontal plane
And a pitch angle gamma 1 The following formula:
let delta be the earth magnetic field vectors B and Z 0 The initial magnetic force reading of the magnetic resistance sensor is B at the included angle of the axial directions 0 The following formula:
then, magnetometer reading B p The following formula:
b is px 、B py 、B pz Respectively representing the three-axis output of the magnetometer;
the course angle alpha of the laser warning device relative to the geomagnetic direction can be obtained 1 The following formula:
let the wavelength of the incident laser be lambda and the incident angle of the incident laser to the laser alarm device be alpha 0 The pitch angle is gamma 0 0 th order spectral position x obtained by diffraction 0 , +1 st order spectral position x +1 -1 order spectral position x -1 (ii) a Wherein, the grating constant in the known laser warning device is d, the blaze angle of the grating is theta, the focal length of the lens group is f, then:
diffraction angle of 0 order being equal to the angle of incidence α 0 + -1 order diffraction angle beta +1 、β -1 Respectively satisfy the following formula:
the area array detector is arranged at the focal plane of the lens with the focal length of f, and acquires the diffracted image for subsequent data processing, wherein the 0 order, +1 order and-1 order diffraction positions are as follows:
therefore, the incident angle alpha can be obtained 0 Angle of pitch γ 0 And wavelength λ is:
in summary, the direction angle α and the pitch angle γ of the incoming laser in the absolute direction can be obtained as shown in the following formula:
α＝α 0 +α 1 (11)
γ＝γ 0 +γ 1 (12)
although only the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art, and all changes are encompassed in the scope of the present invention.
Claims (6)
1. A three-dimensional absolute direction laser warning device is characterized in that: the device comprises an optical system (1), a three-dimensional electronic compass (2) and a measurement and data processing circuit (3), wherein the optical system (1) is electrically connected with the measurement and data processing circuit (3), and the three-dimensional electronic compass (2) is electrically connected with the measurement and data processing circuit (3).
2. The three-dimensional absolute direction laser warning device according to claim 1, wherein: the optical system (1) comprises a field compression system (101), a grating (102), a lens (103) and an area array detector (104), wherein the grating (102), the lens (103) and the area array detector (104) are sequentially arranged in the light path direction of the field compression system (101), and the area array detector (104) is electrically connected with the measurement and data processing circuit (3) through a lead.
3. The three-dimensional absolute direction laser warning device according to claim 1, wherein: the three-dimensional electronic compass (2) comprises a magnetoresistive sensor (201), a tilt angle sensor (202) and an MCU (microprogrammed control unit) (203), wherein the magnetoresistive sensor (201) and the tilt angle sensor (202) are both electrically connected to the MCU (microprogrammed control unit) (203) through leads, and the MCU (microprogrammed control unit) (203) is electrically connected to a measurement and data processing circuit (3) through leads.
4. The method for measuring and calculating the three-dimensional absolute direction laser warning device according to any one of claims 1 to 3, wherein: comprises the following steps
S1, enabling the incoming laser to pass through a field compression system;
s2, obtaining 0-level and +/-1-level spectrums after grating diffraction, obtaining light spots on an area array detector, and finally entering a measurement and data processing circuit;
s3, the three-dimensional electronic compass measures and calculates a direction angle, a pitch angle and a roll angle of the laser warning device in the absolute direction based on a geomagnetic vector measurement angle theory and a Newton' S second law, and finally enters a measurement and data processing circuit;
and S4, combining the data of the optical system and the three-dimensional electronic compass by the measuring and data processing circuit to obtain the direction angle and the pitch angle of the incoming laser in the absolute direction.
5. The measuring method of the three-dimensional absolute direction laser warning device according to claim 4, wherein: the method for measuring and calculating the direction angle, the pitch angle and the roll angle of the laser warning device in the absolute direction in the step S3 includes: comprises the following steps:
s3.1, specifying a reference coordinate system as X 0 The axis points to the north horizontal coordinate system, and X is established by right hand rule 0 Y 0 Z 0 A rectangular space coordinate system, when the laser alarm device is positioned in the northern hemisphere and is coincided with the reference coordinate system, the initial acceleration reading G of the tilt sensor 0 Comprises the following steps:
s3.2, setting the laser alarm device to surround X respectively 0 Rotation of the shaft
To obtain X 1 Axis, around Y 0 Axis rotation gamma 1 To obtain Y 1 Axial, about Z 0 Rotation of the shaft alpha 1 To obtain Z 1 Axis, the tilt sensor then obtains acceleration readings of:
in the above formula, the first and second carbon atoms are,
R y (γ 1 )、R z (α 1 ) Comprises the following steps:
s3.3, mixing
R y (γ 1 )、R z (α 1 ) Substitution into G p In the method, the roll angle of the laser alarm device relative to the horizontal plane is obtained
And a pitch angle gamma 1 Comprises the following steps:
the above-mentioned
R y (γ 1 )、R z (α 1 ) Respectively representing a rotation matrix for rotating the electric compass about three axes in a coordinate system, G px 、G py 、G pz Respectively, representing the triaxial output of the accelerometer.
6. The measuring method of the three-dimensional absolute direction laser warning device according to claim 4, wherein: the method for obtaining the direction angle and the pitch angle of the incoming laser in the absolute direction in S4 includes: comprises the following steps:
s4.1, setting delta as geomagnetic field vectors B and Z 0 The initial magnetic force reading of the magnetic resistance sensor is B at the included angle of the axial directions 0 Comprises the following steps:
then, magnetometer reading B p The following formula:
b is px 、B py 、B pz Respectively representing the three-axis output of the magnetometer;
s4.2, obtaining the course angle alpha of the laser warning device relative to the geomagnetic direction 1 Comprises the following steps:
(-180°≤α 1 ≤180°)
s4.3, setting the laser wavelength of an incoming laser as lambda and the incident angle of the incoming laser to the laser alarm device as alpha 0 The pitch angle of the laser alarm device by the incoming laser is gamma 0 0 th order spectral position x obtained by diffraction 0 , +1 st order spectral position x +1 -1 order spectral position x -1 (ii) a Wherein, grating constant is d in the known laser alarm device, and the blaze angle of grating is theta, and the focus of lens group is f, then obtain:
diffraction angle of 0 order being equal to the angle of incidence α 0 + -1 order diffraction angle beta +1 、β -1 Respectively satisfy the following formula:
the area array detector is arranged at the focal plane of the lens with the focal length of f, and acquires the diffracted image for subsequent data processing, wherein the 0 order, +1 order and-1 order diffraction positions are as follows:
calculating the incident angle alpha of the laser to the laser alarm device 0 Then the pitch angle gamma of the laser alarm device is influenced by the incoming laser 0 And wavelength λ is:
the direction angle alpha and the pitch angle gamma of the incoming laser in the absolute direction are obtained as follows:
α＝α 0 +α 1
γ＝γ 0 +γ 1 。
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| CN113916207A (en) * | 2021-08-27 | 2022-01-11 | 嘉兴市纳杰微电子技术有限公司 | High-precision electronic compass calibration method with inclination angle compensation |
| CN114136443A (en) * | 2021-11-23 | 2022-03-04 | 中北大学 | Broadband symmetrical blazed grating structure for laser warning |
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