CN102062852A - Method for realizing rapid orientation by utilizing multiple antennae - Google Patents
Method for realizing rapid orientation by utilizing multiple antennae Download PDFInfo
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- CN102062852A CN102062852A CN 201010543271 CN201010543271A CN102062852A CN 102062852 A CN102062852 A CN 102062852A CN 201010543271 CN201010543271 CN 201010543271 CN 201010543271 A CN201010543271 A CN 201010543271A CN 102062852 A CN102062852 A CN 102062852A
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Abstract
The invention discloses a method for realizing rapid orientation by utilizing multiple antennae. The method comprises the following steps: mounting more than two antennae which are same on the same base line, wherein the maximum radiation direction is vertical to the base line; rotating the base line, driving the antennae to simultaneously rotate, and receiving satellite signals; rotating the base line for a circle, and acquiring a sum signal of the satellite signals received by the two antennae and a difference signal of the satellite signals received by the two antennae to form a sum-difference directional diagram; aligning the antennae to a satellite in the orientation when the sum signal is maximum and the difference signal is close to zero; and measuring the azimuth angle of the base line, and calculating true north in which the antennae are located by utilizing the real-time position of a known satellite positioning system as reference, so as to realize the rapid positioning.
Description
Technical field
The invention belongs to communication technical field, relate to a kind of orientation method, particularly a kind of method of utilizing plurality of antennas to realize slewing.
Background technology
Orientation method commonly used at present has two kinds: at first be the constellation measuring method.This method precision is very high, but orientation equipment costs an arm and a leg, and needed orientation time is longer, is unfavorable for the specific (special) requirements of slewing.Another kind method is the inertial navigation orientation, and the bearing accuracy of inertial navigation orientation is also higher, but also has long and cost issues such as equipment price, Equipment Alignment and daily servicing consuming time simultaneously.
Summary of the invention
Fundamental purpose of the present invention provides a kind of method of utilizing plurality of antennas to realize slewing.This method can be utilized the mutual relationship of the satellite-signal of plurality of antennas reception, realizes slewing comparatively accurately.
The present invention is by finishing with technical scheme:
Two pairs of duplicate antennas are installed on the same baseline, and its greatest irradiation direction is perpendicular to baseline.When directed, the rotation baseline drives two pairs of antennas and rotates simultaneously, and receiving satellite signal.Baseline rotates a circle, get two antennas receive satellite-signal and (hereinafter to be referred as " and signal "), and two antennas receive to such an extent that poor (hereinafter to be referred as " difference signal ") of satellite-signal constitutes " with differing from directional diagram ".When " and signal " gets maximal value, and " difference signal " leveled off to 0 o'clock, and then antenna has just been aimed at satellite on the orientation.Measure the position angle of baseline, utilize the real time position of known global position system to be reference, just can calculate the on-site real north of antenna, thereby realize slewing.
Under noise circumstance, utilize method for processing signals (as auto adapted filtering, Kalman filtering etc.) can effectively suppress noise in " and signal " and " difference signal ", match obtains smooth " with the difference directional diagram ", thereby realizes comparatively accurate directed.
The mutual relationship that above-mentioned measure can expand between the satellite-signal that utilizes two pairs of above antennas receptions is finished slewing.Can utilize the mutual relationship of the satellite-signal that plurality of antennas receives, include but is not limited to the plurality of antennas received signal and, poor, position.Under noise circumstance, utilize the noise in the method for processing signals suppressing antenna received signal.
Fast orienting method provided by the invention, the price and the maintenance cost of orientation equipment are lower, and directed velocity is very fast, can find real north in the time (hundreds of second-time) that baseline rotates a circle.So this method can be brought into play good effect in the lower slightly concrete application of accuracy requirement.
Description of drawings
Fig. 1 is quick direction finding geometric relationship figure;
Fig. 2 is " difference signal " synoptic diagram;
Fig. 3 is that adaptive noise suppresses design sketch.
Embodiment
Below in conjunction with accompanying drawing and instantiation, the present invention is further described.
According to technical scheme of the present invention, provide a kind of satellite-signal and method difference relation realization slewing of utilizing two pairs of antennas to receive.
5.1 satellite-signal and concrete grammar difference relation realization slewing that utilizes two pairs of antennas to receive
Two pairs of duplicate antennas are installed on the same baseline, and its greatest irradiation direction is perpendicular to baseline.When directed, the rotation baseline drives two pairs of antennas and rotates simultaneously, and receiving satellite signal.Baseline rotates a circle, when two antennas receive satellite-signal and (hereinafter to be referred as " and signal ") for maximal value, this moment two antennas receive poor (hereinafter to be referred as " difference signal ") of satellite-signal when being minimum value (leveling off to 0), then antenna has just been aimed at satellite on the orientation.
Consider or be convenient to vehicle-mountedly that the size of antenna is often smaller portable, so it is less to gain, " and signal " directional diagram beam angle broad, positioning error is bigger, so also need to obtain the minimum value of " difference signal ".Utilize " and signal " and " difference signal " formation " with the difference directional diagram "; When " and signal " greatest irradiation direction perpendicular to baseline, and the minimum value of " difference signal ", i.e. " zero is dark ", during also perpendicular to baseline, baseline is perpendicular to satellite-signal.
Existing global position system is received this global position system and big-dipper satellite positioning system etc. as gps satellite positioning system, Gray, and the real time position of its position location satellite all is as can be known.When the geographic position at antenna place as can be known the time, the position angle of measuring baseline just can utilize geometric relationship to make the real north at place, antenna position.As shown in Figure 1.Arrow 1 is a real north, and arrow 2 is the satellite-signal direction, and 3 is antenna and baseline.
In certain angle, because " difference signal " is too little, be lower than receiver threshold-signal level near " zero is dark " occurring, so be difficult to this direction of mensuration, as shown in Figure 2, curve is a difference signal, and horizontal line is a threshold level.
In " zero is dark " angle far away in addition, can record " difference signal " level.Under the symmetrical fully situation of two lobe patterns of this direction,, can calculate the smallest point direction by sampling, match.
5.2 Noise Suppression method in the antenna receiving signal
Described in 5.1, need obtain " and signal " and " difference signal " formation " with the difference directional diagram "; Actual measurement to " and signal " and " difference signal " in bigger noise is all arranged.With " difference signal " is example, and " difference signal " that measures is that smooth curve shown in Figure 2 is superimposed with white Gaussian noise.In order to simulate accurate curve, need before the match noise is suppressed.Use the modern signal processing method, can address this problem effectively as auto adapted filtering etc.
Generally speaking, expect that antenna " difference signal " d (n) that obtains meets the narrow band process hypothesis; Noise v
1(n) be the broadband process.With x (n) time-delay back k
0, as the input of p rank sef-adapting filter, then sef-adapting filter is output as:
The iterative formula of sef-adapting filter is:
w
n+1＝w
n+μe(n)x
*(n-k
0)(2)
Fig. 3 is the result that adaptive noise suppresses, and wherein gets time-delay k
0=25, the exponent number p=8 of sef-adapting filter, step size mu=0.0001.The signal to noise ratio (S/N ratio) of observation signal x (n) is-40dB noise v
1(n) be white Gaussian noise.
As seen from Figure 3, auto adapted filtering is the measurement noise in the suppressing antenna " difference signal " effectively, thereby realizes accurate " difference signal " curve fitting, finally reaches pinpoint purpose.
5.3 the concerning with difference of satellite-signal of utilizing two pairs of antennas to receive realizes the required time of slewing
In the position fixing process of this programme, if about orientation, geographical north is known, then the antenna baseline rotates half-turn and measures directed required antenna " and signal " and antenna " difference signal ", uses said method can realize determining of directional angle then.Under the unknowable prerequisite of real north, baseline need rotate a week, can finish orientation, determines real north.
In experiment, the baseline test part of being done rotates a week approximately needs 240 seconds.That is to say that this quick positioning system can be realized directed in 120 seconds to 240 seconds time.
Should be understood that, for those of ordinary skills, can be improved according to the above description or conversion, and all these improvement and conversion all should belong to the protection domain of claims of the present invention.
Claims (3)
1. a method of utilizing plurality of antennas to realize slewing is characterized in that, identical antenna more than two pairs is installed on the same baseline, and its greatest irradiation direction is perpendicular to baseline; The rotation baseline drives two pairs of antennas and rotates simultaneously, and receiving satellite signal; Baseline rotates a circle, get two satellite-signals that antenna received and signal, and two antennas receive to such an extent that the difference signal of satellite-signal constitutes and the difference directional diagram; When getting maximal value with signal, and difference signal leveled off to 0 o'clock, and then antenna has just been aimed at satellite on the orientation; Measure the position angle of baseline, utilize the real time position of known global position system to be reference, just can calculate the on-site real north of antenna, thereby realize slewing.
2. method according to claim 1 is characterized in that, under noise circumstance, utilizes method for processing signals to suppress noise in described and signal and the described difference signal, and match obtains smooth and poor directional diagram, thereby realizes orientation comparatively accurately.
3. method according to claim 2 is characterized in that, described signal processing method is auto adapted filtering or Kalman filtering.
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| CN 201010543271 CN102062852A (en) | 2010-11-15 | 2010-11-15 | Method for realizing rapid orientation by utilizing multiple antennae |
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| CN 201010543271 CN102062852A (en) | 2010-11-15 | 2010-11-15 | Method for realizing rapid orientation by utilizing multiple antennae |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019509479A (en) * | 2016-02-12 | 2019-04-04 | フラウンホッファー−ゲゼルシャフト ツァ フェルダールング デァ アンゲヴァンテン フォアシュンク エー．ファオ | Apparatus and method for determining the position of a transmitter relative to a detection area |
| CN113640844A (en) * | 2021-08-30 | 2021-11-12 | 重庆两江卫星移动通信有限公司 | Novel north-seeking device and north-seeking method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1632465A (en) * | 2003-12-23 | 2005-06-29 | 许其凤 | Satellite direction finder and direction finding method |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1632465A (en) * | 2003-12-23 | 2005-06-29 | 许其凤 | Satellite direction finder and direction finding method |
Non-Patent Citations (1)
| Title |
|---|
| 《国防科技大学学报》 20051231 郑冲等 单星定向原理及GPS仿真试验 第20页第1.1节～第21页第1.2节 1-3 第27卷, 第1期 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019509479A (en) * | 2016-02-12 | 2019-04-04 | フラウンホッファー−ゲゼルシャフト ツァ フェルダールング デァ アンゲヴァンテン フォアシュンク エー．ファオ | Apparatus and method for determining the position of a transmitter relative to a detection area |
| US11346915B2 (en) | 2016-02-12 | 2022-05-31 | Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. | Device and method for determining the position of a transmitter relative to a detection region |
| CN113640844A (en) * | 2021-08-30 | 2021-11-12 | 重庆两江卫星移动通信有限公司 | Novel north-seeking device and north-seeking method |
| CN113640844B (en) * | 2021-08-30 | 2024-05-28 | 重庆两江卫星移动通信有限公司 | Novel north-seeking device and north-seeking method |
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Application publication date: 20110518 |