CN104407326A - Radio-frequency autonomous relative attitude measurement system applied between cluster objects - Google Patents

Radio-frequency autonomous relative attitude measurement system applied between cluster objects Download PDF

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Publication number
CN104407326A
CN104407326A CN201410602701.2A CN201410602701A CN104407326A CN 104407326 A CN104407326 A CN 104407326A CN 201410602701 A CN201410602701 A CN 201410602701A CN 104407326 A CN104407326 A CN 104407326A
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signal
main
frequency
member device
analog
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CN104407326B (en
Inventor
张凤
杨昕欣
曹建文
李喆
王新忠
费智婷
王�华
姚国伟
夏耘
王倩
邓志均
岑小锋
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China Academy of Launch Vehicle Technology CALT
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China Academy of Launch Vehicle Technology CALT
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location

Abstract

The invention relates to a radio-frequency autonomous relative attitude measurement system applied between cluster objects. The system comprises two sets of relative attitude measurement devices with identical structures. Each set of devices include two transmitting antennas, three receiving antennas, two radio-frequency transmitting channels, three radio-frequency receiving channels, an auxiliary radio-frequency receiving channel, two dual-mode auxiliary radio-frequency channels, a baseband processing module, and a high-stability time-based module. The two sets of relative attitude measurement devices respectively receive and sending ranging signals, so that relative attitude measurement of a master member and a slave member can be completed without the need to use observation data provided by other cluster members. Therefore, when parts of members in the target cluster become valid, the relative attitude measurement function can still be provided normally. In addition, with the system, the real-time performance of whole-cycle calculation as well as the real-time performance and operation flexibility of the equipment can be improved.

Description

A kind of radio frequency Autonomous relative attitude measurement system be applicable between complex target
Technical field
The present invention relates to a kind of radio navigation locating device, particularly a kind of radio frequency Autonomous relative attitude measurement system be applicable between complex target, is applicable to the Autonomous relative attitude measurement between complex target, belongs to navigator fix field.
Background technology
Along with the development of measuring technique, an important directions is become to the research of the relative attitude measuring technique between multiple target, relative attitude measurement etc. between docking that its application to comprise between star that relative status is measured, spacecraft crosses and spacecraft.
Radio frequency Autonomous relative attitude measuring, is made up of multiple emitting antenna, receiving antenna, radio frequency sending set, radio-frequency transmitter and baseband processing module.When radio frequency Autonomous relative attitude measuring is used for Autonomous relative attitude measurement between complex target, need each member that a set of Autonomous relative attitude measuring is installed, device on each member launches distance measuring signal through emitting antenna to other members by its multiple transmitter, the distance measuring signal that the device of each member utilizes its receiving antenna and radio-frequency transmitter to collect other member to send simultaneously, and the process of giving that baseband processing module carries out distance measuring signal.Distance measuring signal is modulated on radio-frequency carrier is formed by fixing pseudo-random code sequence, can measure after device receives distance measuring signal and obtain the phase place of pseudo-code sequence and the phase place of carrier signal, carrier signal phase must be used to originate as ranging information to realize high-precision range finding, because each emitting antenna uses unique fixing pseudo-random code sequence, receiving antenna can identify distance measuring signal from different transmit antennas with fixing pseudo-random code sequence.The distance measuring signal that device on each member utilizes it to receive, the distance obtained between its each receiving antenna and each emitting antenna of other member can be resolved, utilize these range informations, can according to spatial intersection's method principle, determine the relative position between each dual-mode antenna, utilize the relative position bonding position cosine formula of dual-mode antenna can extrapolate relative attitude between each member.
At present, the antenna part of radio frequency Autonomous relative attitude measuring often adopts an emitting antenna and a receiving antenna, an emitting antenna and two receiving antennas, three duplexers worked alone, several modes such as a duplexer and two receiving antennas, these devices can realize the measurement of relative distance between two targets or relative position, in these devices, some cannot measure relative attitude, other parts need multiple member mutually measure simultaneously and just can obtain relative attitude information after the measurement data of comprehensive multiple member, these equipment all cannot realize direct relative attitude between two targets and measure.In addition, current radio frequency Autonomous relative attitude measuring all adopts the working method of time-division, namely each time slot only has the measurement mechanism of a member to transmit and other member can only Received signal strength, a measuring period just will can be completed like this through multiple time slot, number of members in cluster more at most measuring period longer, this real-time that impact is measured, or in order to ensure that real-time has to again limit the number of members in cluster.
Summary of the invention
The technical matters that the present invention solves is: overcome the deficiencies in the prior art, provide a kind of be applicable to radio frequency Autonomous relative attitude measurement between complex target without the need to can to realize between a pair member independently directly relative attitude measuring system by other members in cluster.
Technical solution of the present invention is: a kind of radio frequency Autonomous relative attitude measurement system be applicable between complex target, comprise the relative attitude measurement mechanism that two nested structures are identical, be designated as main member device respectively and from member device, main member device and receive and send distance measuring signal from member device respectively and complete relative attitude and measure:
Main member device comprises: main emitting antenna T1, main emitting antenna T2, main receiving antenna R1, main receiving antenna R2, main receiving antenna R3, main radio frequency transmitting channel TC1, main radio frequency transmitting channel TC2, main radio frequency reception channel RC1, main radio frequency reception channel RC2, main radio frequency reception channel RC3, main double mode Assisted RF Plasma CVD passage AC1, main double mode Assisted RF Plasma CVD passage AC2, main auxiliary radio frequency reception channel AC3 and main baseband processing module, wherein:
Main baseband processing module, comprises main digital signal processor unit, main field programmable gate array unit, main D/A converter unit, main AD converter unit;
Main digital signal processor unit, obtains and divided the pseudorange being clipped to main member device three main receiving antennas from member device two from emitting antenna upper epoch, carries out coding and forms transmitting data, transmitting data is delivered to main field programmable gate array unit to pseudorange; Receive the restituted signal that main field programmable gate array unit sends, carry out compiling and to obtain in main member device epoch two main emitting antennas and divide the pseudorange be clipped to from three member device from receiving antenna, then obtain this epoch divides three the main receiving antennas be clipped to main member device from emitting antenna pseudorange from two member device, finally utilize spatial intersection's principle to calculate the integer ambiguity of main member device, relative position and attitude angle;
Main field programmable gate array unit, receive the transmitting data of main digital signal processor unit transmission and carry out spread spectrum, obtain spread-spectrum signal and carry out modulation obtaining modulation signal, then modulation signal filtering obtained digital medium-frequency signal and deliver to main D/A converter unit; Receive the digital medium-frequency signal of main AD converter unit transmission and carry out demodulation, after obtaining restituted signal, delivering to main digital signal processor unit;
Main D/A converter unit, receive the digital medium-frequency signal that main field programmable gate array unit sends, digital medium-frequency signal is converted into analog if signal, and delivers to main radio frequency transmitting channel TC1, main radio frequency transmitting channel TC2, main double mode Assisted RF Plasma CVD passage AC1, main double mode Assisted RF Plasma CVD passage AC2;
Main AD converter unit, receive the analog if signal of main radio frequency reception channel RC1, main radio frequency reception channel RC2, main radio frequency reception channel RC3, main double mode Assisted RF Plasma CVD passage AC1, main double mode Assisted RF Plasma CVD passage AC2, main auxiliary radio frequency reception channel AC3 transmission respectively, analog if signal is converted into digital medium-frequency signal and is sent to main field programmable gate array unit;
Main radio frequency transmitting channel TC1, receives the analog if signal that main D/A converter unit sends, analog if signal is converted to fd frequency and obtains fd frequency RF signal, fd frequency RF signal is delivered to main emitting antenna T1;
Main radio frequency transmitting channel TC2, receives the analog if signal that main D/A converter unit sends, analog if signal is converted to fd frequency and obtains fd frequency RF signal, fd frequency RF signal is delivered to main emitting antenna T2;
Main double mode Assisted RF Plasma CVD passage AC1, receives the analog if signal that main D/A converter unit sends, analog if signal is converted to fad frequency and obtains fad frequency RF signal, fad frequency RF signal is delivered to main emitting antenna T1; Receive main receiving antenna R1 send fau frequency RF signal and be analog if signal by its frequency conversion, the analog if signal obtained is delivered to main AD converter unit;
Main double mode Assisted RF Plasma CVD passage AC2, receives the analog if signal that main D/A converter unit sends, analog if signal is converted to fad frequency and obtains fad frequency RF signal, fad frequency RF signal is delivered to main emitting antenna T2; Receive main receiving antenna R2 send fau frequency RF signal and be analog if signal by its frequency conversion, the analog if signal obtained is delivered to main AD converter unit;
Main auxiliary radio frequency reception channel AC3, receive main receiving antenna R3 send fau frequency RF signal and be analog if signal by its frequency conversion, the analog if signal obtained is delivered to main AD converter unit;
Main emitting antenna T1, receive the fad frequency RF signal of the fd frequency RF signal of main member device main radio frequency transmitting channel TC1 transmission, main double mode Assisted RF Plasma CVD passage AC1 transmission, main emitting antenna T1 is fixed pseudo-random code sequence and fd frequency RF signal, main emitting antenna T1 to fix pseudo-random code sequence and fad frequency RF signal and be modulated to respectively on carrier wave and form two-way distance measuring signal, and by two-way transmitting ranging signals to from member device from receiving antenna;
Main emitting antenna T2, receive the fad frequency RF signal of the fd frequency RF signal of main member device main radio frequency transmitting channel TC2 transmission, main double mode Assisted RF Plasma CVD passage AC2 transmission, main emitting antenna T2 is fixed pseudo-random code sequence and fd frequency RF signal, main emitting antenna T2 to fix pseudo-random code sequence and fad frequency RF signal and be modulated to respectively on carrier wave and form two-way distance measuring signal, and by two-way transmitting ranging signals to from member device from receiving antenna;
Main receiving antenna R1, receive the multichannel distance measuring signal from member device 2 from transmission antennas transmit, demodulation also identifies the different distance measuring signals from member device 2 from emitting antenna, obtain the fu frequency RF signal that sends from member device from emitting antenna T1 and fau frequency RF signal, the fu frequency RF signal sent from member device from emitting antenna T2 and fau frequency RF signal, and the fu frequency RF signal sent from member device is delivered to the main radio frequency reception channel RC1 of main member device, the fau frequency RF signal sent from member device is delivered to the master's double mode Assisted RF Plasma CVD passage AC1 in main member device, described fd and fad is 2 frequencies that each main emitting antenna of main member device can be launched, and fu and fau is each two frequency can launched from emitting antenna from member device,
Main receiving antenna R2, receive the multichannel distance measuring signal from member device 2 from transmission antennas transmit, demodulation also identifies the different distance measuring signals from member device 2 from emitting antenna, obtain the fu frequency RF signal that sends from member device from emitting antenna T1 and fau frequency RF signal, the fu frequency RF signal sent from member device from emitting antenna T2 and fau frequency RF signal, and the fu frequency RF signal sent from device is delivered to the main radio frequency reception channel RC2 of main member device, the fau frequency RF signal sent from member device is delivered to the master's double mode Assisted RF Plasma CVD passage AC2 in this member device,
Main receiving antenna R3, receive the multichannel distance measuring signal from member device 2 from transmission antennas transmit, demodulation also identifies the different distance measuring signals from member device 2 from emitting antenna, obtain the fu frequency RF signal that sends from member device from emitting antenna T1 and fau frequency RF signal, the fu frequency RF signal sent from member device from emitting antenna T2 and fau frequency RF signal, and will from member device from emitting antenna T1, the fu frequency RF signal sent from emitting antenna T2 delivers to the main radio frequency reception channel RC3 of main member device, will from member device from emitting antenna T1, the fau frequency RF signal sent from emitting antenna T2 delivers to main member device main auxiliary radio frequency reception channel AC3,
Main radio frequency reception channel RC1, receive main receiving antenna R1 send two-way fu frequency RF signal and be deliver to main AD converter unit after two-way analog if signal by its frequency conversion;
Main radio frequency reception channel RC2, receive main receiving antenna R2 send two-way fu frequency RF signal and be deliver to main AD converter unit after two-way analog if signal by its frequency conversion;
Main radio frequency reception channel RC3, receive main receiving antenna R3 send two-way fu frequency RF signal and be deliver to main AD converter unit after two-way analog if signal by its frequency conversion;
Comprise from member device: from emitting antenna T1, from emitting antenna T2, from receiving antenna R1, from receiving antenna R2, from receiving antenna R3, from radio frequency transmitting channel TC1, from radio frequency transmitting channel TC2, from radio frequency reception channel RC1, from radio frequency reception channel RC2, from radio frequency reception channel RC3, from double mode Assisted RF Plasma CVD passage AC1, from double mode Assisted RF Plasma CVD passage AC2, from Assisted RF Plasma CVD receiving cable AC3 and baseband processing module, wherein:
From baseband processing module, comprise from DSP unit, from field programmable gate array unit, from D/A converter unit, from AD converter unit;
From DSP unit, obtain main member device upper epoch 2 main emitting antennas to divide and be clipped to from member device from receiving antenna R1, from receiving antenna R2, pseudorange from receiving antenna R3, coding is carried out to pseudorange and forms transmitting data, transmitting data is delivered to from field programmable gate array unit; Receive the restituted signal sent from field programmable gate array unit, carry out compiling and obtain the pseudorange that epoch, two were divided three the main receiving antennas be clipped to main member device from emitting antenna from member device, then 2 the main emitting antennas obtained in this epoch of main member device divide the pseudorange be clipped to from three member device from receiving antenna, finally utilize spatial intersection's principle to calculate from the integer ambiguity of member device, relative position and attitude angle;
From field programmable gate array unit, receive the transmitting data of the coding sent from DSP unit and carry out spread spectrum, obtain spread-spectrum signal and carry out modulation obtaining modulation signal, then modulation signal filtering obtained digital medium-frequency signal and deliver to from D/A converter unit, receive the digital medium-frequency signal from the transmission of AD converter unit and carry out demodulation, delivering to after obtaining restituted signal from DSP unit;
From D/A converter unit, receive the digital medium-frequency signal sent from field programmable gate array unit, digital medium-frequency signal is converted into analog if signal, and delivers to from radio frequency transmitting channel TC1, from radio frequency transmitting channel TC2, from double mode Assisted RF Plasma CVD passage AC1, from double mode Assisted RF Plasma CVD passage AC2;
From AD converter unit, receive respectively from radio frequency reception channel RC1, from radio frequency reception channel RC2, from radio frequency reception channel RC3, from double mode Assisted RF Plasma CVD passage AC1, from double mode Assisted RF Plasma CVD passage AC2, from Assisted RF Plasma CVD receiving cable AC3 send analog if signal, analog if signal is converted into digital medium-frequency signal and is sent to from field programmable gate array unit;
From radio frequency transmitting channel TC1, receive the analog if signal sent from D/A converter unit, analog if signal be converted to fu frequency and obtain fu frequency RF signal, fu frequency RF signal is delivered to from emitting antenna T1;
From radio frequency transmitting channel TC2, receive the analog if signal sent from D/A converter unit, analog if signal be converted to fu frequency and obtain fu frequency RF signal, fu frequency RF signal is delivered to from emitting antenna T2;
From double mode Assisted RF Plasma CVD passage AC1, receive the analog if signal sent from D/A converter unit, analog if signal be converted to fau frequency and obtain fau frequency RF signal, fau frequency RF signal is delivered to from emitting antenna T1, receive from receiving antenna R1 send two-way fad frequency RF signal and be two-way analog if signal by its frequency conversion, the two-way analog if signal obtained is delivered to from AD converter unit;
From double mode Assisted RF Plasma CVD passage AC2, receive the analog if signal sent from D/A converter unit, analog if signal be converted to fau frequency and obtain fau frequency RF signal, fau frequency RF signal is delivered to from emitting antenna T2, receive from receiving antenna R2 send two-way fad frequency RF signal and be two-way analog if signal by its frequency conversion, the two-way analog if signal obtained is delivered to from AD converter unit;
From Assisted RF Plasma CVD receiving cable AC3, receive from receiving antenna R3 send two-way fad frequency RF signal and be two-way analog if signal by its frequency conversion, the two-way analog if signal obtained is delivered to from AD converter unit;
From emitting antenna T1, receive the fu frequency RF signal sent from member device radio frequency transmitting channel TC1, the fau frequency RF signal sent from double mode Assisted RF Plasma CVD passage AC1, pseudo-random code sequence and fu frequency RF signal will be fixed from emitting antenna T1, and fix pseudo-random code sequence and fau frequency RF signal from emitting antenna T1 and be modulated to carrier wave respectively and form two-way distance measuring signal, and by the main receiving antenna in two-way transmitting ranging signals to main member device;
From emitting antenna T2, receive the fu frequency RF signal sent from member device radio frequency transmitting channel TC2, the fau frequency RF signal sent from double mode Assisted RF Plasma CVD passage AC2, pseudo-random code sequence and fu frequency RF signal will be fixed from emitting antenna T2, and fix pseudo-random code sequence and fau frequency RF signal from emitting antenna T2 and be modulated to carrier wave respectively and form two-way distance measuring signal, and by the main receiving antenna in two-way transmitting ranging signals to main member device;
From receiving antenna R1, receive the multichannel distance measuring signal of main member device 2 main transmission antennas transmit, demodulation also identifies the different distance measuring signals of main member device 2 main emitting antennas, obtain fd frequency RF signal and the fad frequency RF signal of the main emitting antenna T1 transmission of main member device, the fd frequency RF signal that the main emitting antenna T2 of main member device sends and fad frequency RF signal, and the fd frequency RF signal sent by main member device is delivered to from member device from radio frequency reception channel RC1, the fad frequency RF signal that main member device is sent deliver to from member device from double mode Assisted RF Plasma CVD passage AC1,
From receiving antenna R2, receive the multichannel distance measuring signal of main member device 2 main transmission antennas transmit, demodulation also identifies the different distance measuring signals of main member device 2 main emitting antennas, obtain fd frequency RF signal and the fad frequency RF signal of the main emitting antenna T1 transmission of main member device, the fd frequency RF signal that the main emitting antenna T2 of main member device sends and fad frequency RF signal, and the fd frequency RF signal filling transmission from member is delivered to from member device from radio frequency reception channel RC2, the fad frequency RF signal that main member device is sent deliver to from member device from double mode Assisted RF Plasma CVD passage AC2,
From receiving antenna R3, receive the multichannel distance measuring signal of main member device 2 main transmission antennas transmit, demodulation also identifies the different distance measuring signals of main member device 2 main emitting antennas, obtain fd frequency RF signal and the fad frequency RF signal of the main emitting antenna T1 transmission of main member device, the fd frequency RF signal that the main emitting antenna T2 of main member device sends and fad frequency RF signal, and the fd frequency RF signal sent by main member device is delivered to from member device from radio frequency reception channel RC3, the fad frequency RF signal sent by main member device is delivered to from member from the Assisted RF Plasma CVD receiving cable AC3 device,
From radio frequency reception channel RC1, receive the two-way fd frequency RF signal that sends from receiving antenna R1 and be deliver to from AD converter unit after two-way analog if signal by its frequency conversion;
From radio frequency reception channel RC2, receive the two-way fd frequency RF signal that sends from receiving antenna R2 and be deliver to from AD converter unit after two-way analog if signal by its frequency conversion;
From radio frequency reception channel RC3, receive the two-way fd frequency RF signal that sends from receiving antenna R3 and be deliver to its frequency conversion from AD converter unit after two-way analog if signal.
Five antennas in described main member device or from the astronomical cycle of five member device in square-shaped planar, an emitting antenna is positioned at the center of square-shaped planar, and all the other four antennas are positioned at four summits of square-shaped planar.
Auxiliary transmission unit, auxiliary reception unit, switch control unit is comprised, wherein in described main member device or from the bimodulus Assisted RF Plasma CVD passage member device
Switch control unit, if the analog if signal receiving the output of corresponding baseband processing unit, then controls auxiliary transmission cell operation, otherwise controls auxiliary reception cell operation;
Auxiliary transmission unit, comprises first order upconverter, filter amplifier, second level upconverter, the first bandpass filter, radio-frequency amplifier, numerical-control attenuator, power amplifier; First order upconverter receives the analog if signal of corresponding baseband processing unit transmission and carries out frequency conversion, by the frequency variation signal obtained after filtering amplifier filtering and amplify after deliver to second level upconverter, signal is sent to the first band-pass filter after the upconverter frequency conversion of the second level, then use radio-frequency amplifier amplifying signal and the signal after amplifying is delivered to the power of numerical-control attenuator control signal, finally use power amplifier to amplify signal and be sent to corresponding emitting antenna;
Auxiliary reception unit, comprises first order low noise amplifier, the second bandpass filter, second level low noise amplifier, local oscillator frequency multiplication and low-converter, first order filter amplifier, second level low-converter, second level filter amplifier, first order low noise amplifier receives the radiofrequency signal of corresponding receiving antenna transmission and carries out removal noise and amplification, deliver to second level low noise amplifier after signal after amplification is used the second band-pass filter remove noise and amplify, then the signal obtained is sent to local oscillator frequency multiplication and low-converter frequency conversion, signal after frequency conversion uses first order filter amplifier remove noise and amplify, signal after amplification delivers to second level filter amplifier after the low-converter frequency conversion of the second level, finally removal noise and the signal after amplifying are sent to corresponding baseband processing unit.
The present invention's advantage is compared with prior art:
(1) present system is installed 23 and is received antenna, be installed on the surface of cluster member, can set up between any pair member about 7 unknown phases the system of equations of attitude parameter, system of equations is made up of 12 effective observation equations, therefore the relative attitude between a pair aircraft can directly be measured, do not need the observation data provided by other cluster member, when few members is invalid, cluster still can provide relative attitude measurement function normally;
(2) present system adopts frequency division to divide with code the mode combined, can effectively distinguish different emitting antennas, avoid complicated sequential control simultaneously, can continue to carry out instead of just can carry out at certain particular time-slot owing to measuring, therefore shorten observation cycle, improve real-time;
(3) present system devises Assisted RF Plasma CVD passage, linked by the Assisted RF Plasma CVD passage of master-slave equipment, one group of supplementary observation amount can be obtained, by supplementary observation amount equation and subjective measurement equations simultaneousness, can integer ambiguity be solved, only need the data of current epoch to calculate integer ambiguity, do not need the complex operations of flight control system, also do not need cumulative data, therefore can improve real-time, the flexibility of operation of real-time that complete cycle resolves and whole device;
(4) present system devises Assisted RF Plasma CVD passage, when breaking down in main radio-frequency channel, can replace main radio-frequency channel, playing backup effect.
Accompanying drawing explanation
Fig. 1 is the general arrangement figure of present system device;
Fig. 2 is the main radio frequency transmitting channel in present system device;
Fig. 3 is the main radio frequency reception channel in present system device;
Fig. 4 is the Assisted RF Plasma CVD receiving cable in present system device;
Fig. 5 is the double mode Assisted RF Plasma CVD receiving cable in present system device;
Fig. 6 is the connected mode of main radio frequency reception channel in present system device and Assisted RF Plasma CVD receiving cable;
Fig. 7 is the connected mode of main radio-frequency channel in present system device and double mode Assisted RF Plasma CVD passage;
Fig. 8 is the baseband processing module composition in present system device;
Fig. 9 is the base band transmission processing flow process in present system device;
Figure 10 is the Baseband Receiver treatment scheme in present system device.
Embodiment
A kind of radio frequency Autonomous relative attitude measurement system be applicable between complex target of the present invention, comprises the relative attitude measurement mechanism that two nested structures are identical, receives and sends distance measuring signal respectively complete relative attitude measurement by two devices.The radio frequency Autonomous relative attitude measurement system device of the present invention's design, as shown in Figure 1, comprise 2 emitting antenna T1, T2, 3 receiving antenna R1, R2, R3, 2 radio frequency transmitting channel TC1, TC2, 3 radio frequency reception channel RC1, RC2, RC3, 3 Assisted RF Plasma CVD passage AC1, AC2, AC3, 1 baseband processing module, and the part composition such as high steady time base module, 3 Assisted RF Plasma CVD passages are wherein divided into again 1 Assisted RF Plasma CVD receiving cable, 2 double mode Assisted RF Plasma CVD passages, double mode Assisted RF Plasma CVD passage can be controlled to make it work in emission state and receiving mode respectively by base band.
2 emitting antennas are connected respectively with 2 radio frequency transmitting channel, 3 receiving antennas are connected respectively with 3 receiving cables, AC1, AC2 two accessory channels are then in parallel from different transmission channels or receiving cable as required, and AC3 Assisted RF Plasma CVD passage is connected with receiving cable.All transmitting radio-frequency channels, receiving RF channel and Assisted RF Plasma CVD passage are all connected to baseband processing module, and high steady time base module output multi-channel time-base signal, supplies each radio-frequency channel and baseband processing module respectively.
This device adopts spatial intersection's principle realize location and determine appearance, namely the distance between the multiple dual-mode antennas between a pair member is measured, utilize the position of spatial intersection's principle determination these antenna under relative coordinate system, finally by the attitude of aerial position determination antenna place member.For determining the relative attitude of two members, need at least 3 transmittings (or reception) antenna is installed on each member, and the installation site of these antenna can not conllinear, each member is upper at least needs installation 2 reception (or transmitting) antenna simultaneously, by measuring a member 3 emitting antennas or receiving antenna and to receive to other member's correspondence or signal transmission time between emitting antenna can drawing distance between these dual-mode antennas, then the relative attitude between member is drawn, namely the upper antenna configuration of each member is at least 3 emitting antennas, 2 receiving antennas or 3 receiving antennas and 2 emitting antennas.
This device adopts the configuration of 3 receptions and 2 emitting antennas, reduces the quantity of emitting antenna like this, the corresponding quantity reducing transmitter, and because the power amplifier part of transmitter consumes larger power usually, the quantity reducing transmitter can reduce power consumption.The multi-access mode that this device adopts frequency division multiple access to be combined with CDMA, for distinguishing different emitting antennas and receiving antenna.The corresponding fixing pseudo-random code sequence of each emitting antenna of the arbitrary member wherein in cluster.
Each member in complex target needs to install this device, arbitrary emitting antenna of the device of a member to other arbitrary member three receiving antennas between can obtain 3 range finding amounts, each device has two emitting antennas, therefore 6 range finding amounts can be obtained, other arbitrary member contrary to this member device between can have 6 range finding amounts, 12 range finding amounts can be obtained between arbitrary like this pair member.The relative attitude measurement of cluster aircraft needs to measure 7 unknown parameters such as the clock correction between X-axis coordinate, Y-axis coordinate, Z axis coordinate, three Eulerian angle and aircraft between aircraft under relative coordinate system.Each range finding amount above-mentioned is determined by 7 unknown parameters, namely can list the system of equations be made up of 12 equations, and each equation is the equation about above-mentioned 7 unknown parameters.Namely each equation can be expressed as:
R i＝R Gi+R τ＝(r i Tr i) 1/2+c·Δτ (1)
Wherein R i, i=1,2 ... 12 is 12 range finding amounts, R gi=(r i tr i) 1/2, i=1,2 ... 12 is the distance of signal corresponding to the space true propagation time, the actual distance namely between antenna, r i, i=1,2 ... 12 is the vector that under relative coordinate system, the location point of a pair dual-mode antenna is formed, R τ=c Δ τ is the measuring error that causes of clock correction between the device of two members, and Δ τ is the clock correction value between device.And wherein r ican be expressed as again
r i＝[p R+Q(ψ R,θ R,φ R)μ R]-[p T+Q(ψ T,θ T,φ T)μ T] (2)
Wherein p rfor the coordinate vector of certain receiving antenna place cluster member under relative coordinate system, three attitude angle of this member use ψ respectively r, θ r, φ rrepresent, Q (ψ r, θ r, φ r) refer to the attitude angle direction cosine matrix of receiving antenna place target, the wherein all available ψ of each array element r, θ r, φ rrepresent, p tfor the coordinate vector of certain emitting antenna place cluster member under relative coordinate system, three attitude angle of this member use ψ respectively t, θ t, φ trepresent, Q (ψ t, θ t, φ t) refer to the attitude angle direction cosine matrix of emitting antenna place target, the wherein all available ψ of each array element t, θ t, φ trepresent.Because relative measurement is the relative coordinate determining above-mentioned two members, therefore the relative coordinate of one of them member is known, and another one is unknown, and might as well suppose that the relative coordinate of certain emitting antenna place member is known, then unknown quantity is exactly p r, ψ r, θ r, φ r, wherein vectorial p rbe made up of three unknown elements, and μ rfor certain receiving antenna is relative to the body coordinate of the member at its place, be known quantity, same μ tfor certain emitting antenna is relative to the body coordinate of its place member, it is also known quantity.In sum, (1) relation of the Representation Equation shown between 7 unknown parameters and each range finding amount, 12 range finding amounts can be obtained between arbitrary a pair member, just can obtain the system of equations of 12 equations composition, utilize the principle of least square to solve value that above-mentioned equation can obtain 7 unknown parameters.The initial point of described relative coordinate system is the barycenter of a member device, and x-axis, y-axis, z-axis are pointed to and specified arbitrarily.
R in above system of equations i, i=1,2 ... 12 these 12 range finding amounts can be obtained by pseudo-random sequence, but the result obtained is relative attitude is slightly worth, and the initial value calculated as next step brings system of equations into, and accurate relative attitude value is obtained by carrier phase measurement, and process is as follows.
The corresponding fixing pseudo-random code sequence of each emitting antenna of the main member in cluster, each emitting antenna can launch two frequency f d and fad, other in cluster can receive the signal of all emitting antennas of main member from arbitrary receiving antenna of member, receiving antenna connects two receiving cables, receive the signal of fd and fad two frequency bins respectively, baseband processing module distinguishes transmission frequency according to receiving cable, distinguishes the signal of autonomous member's different transmit antennas according to the pseudo random code information comprised in Received signal strength.Arbitrary pseudo-random sequence fixing from each emitting antenna correspondence one of member in cluster, difference can not take identical pseudo-random sequence from the emitting antenna of member, but identical pseudo-random sequence can be taken with the emitting antenna of main member from the emitting antenna of member, each emitting antenna from member can launch two frequency f u and fau, arbitrary receiving antenna of main member can receive the signal of all emitting antennas from member, receiving antenna connects two receiving cables, receive the signal of fu and fau two frequency bins respectively, baseband processing module distinguishes transmission frequency according to receiving cable, distinguish from the signal of difference from the different transmit antennas of member according to the pseudo random code information comprised in Received signal strength.
The accurate relative attitude of cluster aircraft is measured based on carrier phase measurement, carrier-phase measurement can be divided into carrier phase integral part and carrier phase fraction part, wherein integral part needs to obtain by resolving ambiguity of carrier in full period, and fraction part can record at receiving cable place.This device links with the Assisted RF Plasma CVD passage of other member by controlling main member, can calculate ambiguity of carrier in full period easily.
Resolve main member when sending the integer ambiguity of signal, two on the device of main member main transmission channels adopt fd carrier transmit distance measuring signal, 2 bimodulus Assisted RF Plasma CVD passages work in emission mode through coordinated signals and adopt fad to launch distance measuring signal, now from 3 device of member, a main receiving cable receives the main member's signal in fd frequency, 1 Assisted RF Plasma CVD receiving cable is in parallel with 1 main radio frequency reception channel and in fad frequency, receive the signal that main member launches, 2 bimodulus Assisted RF Plasma CVD passages work in receiving mode through coordinated signals and in fad frequency, receive the signal of main member transmitting.
Resolve when sending the integer ambiguity of signal from member, fu carrier transmit distance measuring signal is adopted from the main transmission channel of two device of member, 2 bimodulus Assisted RF Plasma CVD passages work in emission mode through coordinated signals and adopt fau to launch distance measuring signal, 3 on the device of now main member main receiving cables receive in fu frequencies from member's signal, 1 Assisted RF Plasma CVD receiving cable is in parallel with 1 main radio frequency reception channel and in fau frequency, receive the signal launched from member, 2 bimodulus Assisted RF Plasma CVD passages work in receiving mode through coordinated signals and in fau frequency, receive the signal launched from member.
Main member based on the Assisted RF Plasma CVD structure Carrier Phase Ambiguity Resolution process that transmits is suppose in t epoch, and certain receiving cable obtains 4 observed readings (carrier wave f d, carrier wave f adcarrier phase fraction part observed reading), ρ d, ρ ad(code phase pseudo range observed reading), above four numerical value directly can obtain at receiving cable.If transmit, initial phase is 0, only considers ionosphere delay error and time error, can list following equation:
Φ d = ρ d c · f d = R c · f d + A c f d + f d · Δt - - - ( 3 )
Φ ad = ρ ad c · f ad = R c · f ad + A c f ad + f ad · Δt - - - ( 4 )
Wherein, R is the true distance between two members; Δ t is the clock correction between two members; Φ d, Φ adfor corresponding to pseudorange ρ d, ρ adcarrier phase observation data; N d, N adfor f d, f adthe integer ambiguity of carrier phase in frequency; for the error of ionosphere delay in phase place, A is the range error that ionosphere delay causes, and is given value, and the ionospheric error of code and carrier wave equal and opposite in direction on same frequency, symbol is contrary.The equation between all dual-mode antennas can being set up in order to upper type, all integer ambiguities transmitted can be calculated by resolving.Utilize Assisted RF Plasma CVD passage to resolve data that integer ambiguity only relies on current epoch, do not need former cumulative observations amount, resolving of integral circumference ambiguity can be carried out flexibly, and lasting time division way both can have been adopted to carry out, the working method that also can adopt as required regularly or irregularly upgrade.
The structure of a kind of better embodiment of apparatus of the present invention as shown in Figure 1, comprises the part compositions such as 2 emitting antennas, 3 receiving antennas, 2 radio frequency transmitting channel, 3 radio frequency reception channel, 3 Assisted RF Plasma CVD passages, 1 baseband processing module and high steady time base module.Realize apparatus of the present invention to need to realize the parts such as Antenna Design, antenna arrangement, the design of main radio frequency transmitting channel, the design of main radio frequency reception channel, the design of Assisted RF Plasma CVD receiving cable, bimodulus Assisted RF Plasma CVD channels designs and baseband processing module design.
Apparatus of the present invention are that the Position and orientation parameters realized between any pair target based on the principle of tellurometer survey and spatial intersection is measured, and the flow process of its work can be divided into transmitting ranging signals flow process and ranging signal reception flow process.
Transmitting ranging signals flow process is:
1) the DSP digital signal processing unit of the machine produces transmitting data, the data of launching mainly comprise the travel-time that the machine receiving antenna transmits upper the other side recorded epoch, namely go up one epoch the other side's emitting antenna to the pseudorange of each receiving antenna of the machine, the data of launching in dsp layout are frame format, and encode;
2) treat transmitted data symbols in the machine FPGA unit to carry out spread spectrum and obtain spread-spectrum signal, spread-spectrum signal carries out BPSK modulation and obtains modulation signal, by modulation afterwards signal filtering obtain digital medium-frequency signal;
3) digital medium-frequency signal is converted into analog if signal by the machine D/A converter unit;
4) analog if signal up-conversion is obtained radiofrequency signal by the machine radio frequency transmitting channel, if adopt two-frequency operation pattern, double mode Assisted RF Plasma CVD passage is configured to emission mode simultaneously, and analog if signal is connected double mode Assisted RF Plasma CVD passage, obtain two-way radiofrequency signal, i.e. two-frequency signal;
5) two-frequency signal that a road simple signal or two-way merge into a road is transmitted to the other side's receiving antenna by the machine emitting antenna.
Ranging signal reception flow process is:
1) the machine receiving antenna receives a road simple signal or the two-way two-frequency signal of the other side member's transmission antennas transmit;
2) radiofrequency signal is down-converted to analog if signal by the machine radio frequency reception channel, if what the other side launched is two-frequency signal, then the machine then needs double mode Assisted RF Plasma CVD passage to be configured to receiving mode, the signal received is decomposed into two paths of signals through power splitter, deliver to main receiving cable and auxiliary reception passage or bimodulus accessory channel respectively, after down coversion, obtain two-way analog intermediate frequency signal.
3) road or two-way analog intermediate frequency simulating signal are transformed to digital intermediate frequency signal by the machine A/D transducer.
4) the machine FPGA unit is to a road digital intermediate frequency signal or carry out acquisition and tracking to two-way digital intermediate frequency signal respectively, locks its carrier wave and pseudo-code phase, and carries out BPSK demodulation to signal.
5) the machine DSP carries out decoding to BPSK restituted signal and recovers transmitting data, the pseudo-range information that the other side provides is extracted according to known form, the pseudo-range information that DSP utilizes the machine pseudo-range information of having extracted in FPGA and the other side to provide, adopts spatial intersection's principle to carry out settling accounts the information such as the phase position that can obtain between the machine and the other side and attitude.
The design conditions of each several part is as follows:
Antenna Design: Antenna Design depends primarily on the requirement of system ovelay range, can select electromagnetic horn or Waveguide slot antenna.
Device antenna arrangement: astronomical cycle is in a plane, and one of them emitting antenna is in planar central, another one emitting antenna and other 3 antennas are then in foursquare four summits.
Main radio frequency transmitting channel: transmitter unit adopts multistage frequency conversion scheme to reduce the difficulty of design of filter, reduces the impact of harmonic wave and local oscillator leakage.The realization of main radio frequency transmitting channel as shown in Figure 2, forms primarily of parts such as one-level upconverter, filter amplifier, secondary upconverter, bandpass filter, radio-frequency amplifier, numerical-control attenuator, power amplifier, emission control switches.When main transmission channel cisco unity malfunction, provide control signal by baseband processing module, control emission control switch and close, thus cut off main transmission channel.
Main radio frequency reception channel: main radio frequency reception channel as shown in Figure 3, is made up of reception gauge tap, first order low noise amplifier, bandpass filter, second level low noise amplifier, local oscillator frequency multiplication and low-converter, first order filter amplifier, second level low-converter, second level filter amplifier.When main radio frequency reception channel breaks down, control signal can be provided by baseband processing module, close main radio frequency reception channel.
Assisted RF Plasma CVD receiving cable: Assisted RF Plasma CVD receiving cable as shown in Figure 4, is made up of reception gauge tap, first order low noise amplifier, bandpass filter, second level low noise amplifier, local oscillator frequency multiplication and low-converter, first order filter amplifier, second level low-converter, second level filter amplifier.Assisted RF Plasma CVD receiving cable is connected with receiving antenna by gauge tap, and when main radio-frequency channel is connected receiving antenna with Assisted RF Plasma CVD passage simultaneously, both connect receiving antenna jointly by power splitter.Main radio-frequency channel and accessory channel are connected the structure of receiving antenna as shown in Figure 6 simultaneously
Bimodulus Assisted RF Plasma CVD passage: bimodulus Assisted RF Plasma CVD passage comprises auxiliary transmission part, auxiliary reception part, switching control section and shared inverter unit and is grouped into, the syndeton of double mode Assisted RF Plasma CVD passage and main radio frequency transmitting channel and main radio frequency reception as shown in Figure 5, by base band gauge tap and Transmit enable, realize transmitting-receiving two kinds of mode of operations.
The radiating portion of bimodulus Assisted RF Plasma CVD passage as shown in Figure 5, forms primarily of parts such as one-level upconverter, filter amplifier, secondary upconverter, bandpass filter, radio-frequency amplifier, numerical-control attenuator, power amplifier, emission control switches.Transmitter unit adopts multistage frequency conversion scheme to reduce the difficulty of design of filter, reduces the impact of harmonic wave and local oscillator leakage.Auxiliary transmission passage is connected with baseband processing unit; receive the intermediate-freuqncy signal that baseband processing unit exports; when working in auxiliary transmission pattern; dual-mode mixer introduces emission medium-frequency local oscillation signal 1 by switching over; intermediate frequency local oscillator signal 1 mixing obtains modulation signal; after filtering after the process such as amplifier, second level upconverter, be connected with emitting antenna through emission control switch.
The receiving unit of double mode Assisted RF Plasma CVD receiving cable as shown in Figure 5, is made up of reception gauge tap, first order low noise amplifier, bandpass filter, second level low noise amplifier, local oscillator frequency multiplication and low-converter, first order filter amplifier, second level low-converter, second level filter amplifier.Receiving cable is connected with receiving antenna by receiving gauge tap, receive the distance measuring signal that other member launches, after first order low noise amplifier, bandpass filtering, second level low noise amplifier process, input to local oscillator machine down-converter unit, through first order filter and amplification, when working in auxiliary reception pattern, bimodulus frequency converter, introduced by switching over and receive intermediate frequency local oscillator signal 2, mixing obtains intermediate-freuqncy signal, and intermediate-freuqncy signal is sent to baseband processing unit and processed.
The effect of Assisted RF Plasma CVD passage assists main radio-frequency channel to carry out the process of solution integer ambiguity when carrying out carrier wave and measuring, and Assisted RF Plasma CVD passage comprises Assisted RF Plasma CVD receiving cable and double mode Assisted RF Plasma CVD passage.The main radio frequency reception channel RC3 of Assisted RF Plasma CVD receiving cable AC3 and device forms dual frequency reception passage, and as shown in Figure 6, dual frequency reception passage connects an antenna by power splitter to its connected mode jointly, and the double frequency that can receive other member transmitting transmits.Double mode Assisted RF Plasma CVD passage AC1/AC2 can be configured to receiving mode and also can be configured to emission mode, be connected with main transmission channel TC1/TC2 or main receiving cable RC1/RC2 respectively and form double frequency transmission channel or dual frequency reception passage, its connected mode is as shown in Figure 7: when bimodulus Assisted RF Plasma CVD passage is configured to emission mode, bimodulus Assisted RF Plasma CVD passage AC1 and main radio-frequency channel TC1 forms double frequency transmission channel, and bimodulus Assisted RF Plasma CVD passage AC2 and main radio-frequency channel TC2 forms double frequency transmission channel; When bimodulus Assisted RF Plasma CVD passage is configured to receiving mode, bimodulus Assisted RF Plasma CVD passage AC1 and main radio-frequency channel TC1 forms dual frequency reception passage, and bimodulus Assisted RF Plasma CVD passage AC2 and main radio-frequency channel TC2 forms dual frequency reception passage.
Baseband processing module: as shown in Figure 8, baseband processing module is by AD converter, D/A converter, field programmable gate array (FPGA), digital signal processor (DSP), clock circuit, various interface circuit (comprise the interface with the needs such as the synchronous RS422 circuit of two-way communication, asynchronous 422 circuit, LAN circuit, 1553B bus interface, and for outside pulse per second (PPS) (1PPS) interface of reception of time synchronized measurement), power circuit etc.AD converter has 6 tunnels, respectively receiving cable RC1, RC2, RC3 main with three roads, and a road auxiliary reception passage AC3 and two-way double mode accessory channel AC1, AC2 are connected, in order to receive the distance measuring signal that other member launches.D/A converter has 6 tunnels, respectively main radio frequency reception channel TC1, TC2 with two-way, and two-way double mode auxiliary transmission passage AC1, AC2 are connected.Field programmable gate array (FPGA) is connected with AD converter and receives base-band input signal, calculate pseudo-code phase and carrier phase, obtain the range information of other member's emitting antenna to local reception antenna, be connected with D/A converter simultaneously, local distance measuring signal is exported to transmission channel, gives other member through antenna transmission.Digital signal processor is connected with field programmable gate array (FPGA), 12 pseudo-code phase between all dual-mode antennas receiving a pair member and 12 ranging by measuring carrier phase, positioning calculation algorithm is adopted to obtain phase position between member and attitude, when accessory channel and main transmitting or main receiving cable be connected to form double frequency launch or dual frequency reception time, the integer ambiguity resolving carrier phase can be utilized.Interface circuit is used for the communication of the inner other parts of member, can be connected with member's inner computer by interfaces such as synchronous RS422 circuit, asynchronous 422 circuit, LAN circuit, 1553B buses, navigation control program is submitted in the position of member and attitude data, realizes the control to member.
Base-Band Processing flow process: the transmission flow of Base-Band Processing as shown in Figure 9, data to be sent are formed through formatting and send symbol stream, the content sent mainly comprises the distance between each emitting antenna of the other side member that local member's measurement obtains to local each receiving antenna, send symbol to flow through pseudo-code and carry out direct sequence spread spectrum and obtain Pseudo Code Spread Spectrum signal, Pseudo Code Spread Spectrum signal adopts BPSK modulation system to form modulation signal, digital medium-frequency signal is obtained through molding filtration, digital medium-frequency signal is sent to DA transducer and sends to other member via radio frequency transmitting channel and emitting antenna.The reception flow process of Base-Band Processing as shown in Figure 10, analog if signal obtains digital medium-frequency signal after AD sampling, through catching locking carrier frequency and pseudo-code phase, carrier phase and pseudo-code phase is kept through tracking circuit, the output signal of acquisition and tracking is carried out demodulation by BPSK demodulation and is obtained data message, data content comprises the distance between its each receiving antenna that the other side member records to local emitting antenna, the local ranging information such as pseudo-code phase and carrier phase information can be obtained simultaneously, local ranging information constitutes observation data jointly with the ranging information of other member received, 12 pseudo-codes and carrier phase information can be obtained altogether between a pair member, utilize above-mentioned observed reading to resolve to obtain the relative position between member and attitude.
The content be not described in detail in instructions of the present invention belongs to the known technology of those skilled in the art.

Claims (3)

1. one kind is applicable to the radio frequency Autonomous relative attitude measurement system between complex target, comprise the relative attitude measurement mechanism that two nested structures are identical, be designated as main member device respectively and from member device, main member device and receive respectively from member device and send distance measuring signal complete relative attitude measure, it is characterized in that:
Main member device comprises: main emitting antenna T1, main emitting antenna T2, main receiving antenna R1, main receiving antenna R2, main receiving antenna R3, main radio frequency transmitting channel TC1, main radio frequency transmitting channel TC2, main radio frequency reception channel RC1, main radio frequency reception channel RC2, main radio frequency reception channel RC3, main double mode Assisted RF Plasma CVD passage AC1, main double mode Assisted RF Plasma CVD passage AC2, main auxiliary radio frequency reception channel AC3 and main baseband processing module, wherein:
Main baseband processing module, comprises main digital signal processor unit, main field programmable gate array unit, main D/A converter unit, main AD converter unit;
Main digital signal processor unit, obtains and divided the pseudorange being clipped to main member device three main receiving antennas from member device two from emitting antenna upper epoch, carries out coding and forms transmitting data, transmitting data is delivered to main field programmable gate array unit to pseudorange; Receive the restituted signal that main field programmable gate array unit sends, carry out compiling and to obtain in main member device epoch two main emitting antennas and divide the pseudorange be clipped to from three member device from receiving antenna, then obtain this epoch divides three the main receiving antennas be clipped to main member device from emitting antenna pseudorange from two member device, finally utilize spatial intersection's principle to calculate the integer ambiguity of main member device, relative position and attitude angle;
Main field programmable gate array unit, receive the transmitting data of main digital signal processor unit transmission and carry out spread spectrum, obtain spread-spectrum signal and carry out modulation obtaining modulation signal, then modulation signal filtering obtained digital medium-frequency signal and deliver to main D/A converter unit; Receive the digital medium-frequency signal of main AD converter unit transmission and carry out demodulation, after obtaining restituted signal, delivering to main digital signal processor unit;
Main D/A converter unit, receive the digital medium-frequency signal that main field programmable gate array unit sends, digital medium-frequency signal is converted into analog if signal, and delivers to main radio frequency transmitting channel TC1, main radio frequency transmitting channel TC2, main double mode Assisted RF Plasma CVD passage AC1, main double mode Assisted RF Plasma CVD passage AC2;
Main AD converter unit, receive the analog if signal of main radio frequency reception channel RC1, main radio frequency reception channel RC2, main radio frequency reception channel RC3, main double mode Assisted RF Plasma CVD passage AC1, main double mode Assisted RF Plasma CVD passage AC2, main auxiliary radio frequency reception channel AC3 transmission respectively, analog if signal is converted into digital medium-frequency signal and is sent to main field programmable gate array unit;
Main radio frequency transmitting channel TC1, receives the analog if signal that main D/A converter unit sends, analog if signal is converted to fd frequency and obtains fd frequency RF signal, fd frequency RF signal is delivered to main emitting antenna T1;
Main radio frequency transmitting channel TC2, receives the analog if signal that main D/A converter unit sends, analog if signal is converted to fd frequency and obtains fd frequency RF signal, fd frequency RF signal is delivered to main emitting antenna T2;
Main double mode Assisted RF Plasma CVD passage AC1, receives the analog if signal that main D/A converter unit sends, analog if signal is converted to fad frequency and obtains fad frequency RF signal, fad frequency RF signal is delivered to main emitting antenna T1; Receive main receiving antenna R1 send fau frequency RF signal and be analog if signal by its frequency conversion, the analog if signal obtained is delivered to main AD converter unit;
Main double mode Assisted RF Plasma CVD passage AC2, receives the analog if signal that main D/A converter unit sends, analog if signal is converted to fad frequency and obtains fad frequency RF signal, fad frequency RF signal is delivered to main emitting antenna T2; Receive main receiving antenna R2 send fau frequency RF signal and be analog if signal by its frequency conversion, the analog if signal obtained is delivered to main AD converter unit;
Main auxiliary radio frequency reception channel AC3, receive main receiving antenna R3 send fau frequency RF signal and be analog if signal by its frequency conversion, the analog if signal obtained is delivered to main AD converter unit;
Main emitting antenna T1, receive the fad frequency RF signal of the fd frequency RF signal of main member device main radio frequency transmitting channel TC1 transmission, main double mode Assisted RF Plasma CVD passage AC1 transmission, main emitting antenna T1 is fixed pseudo-random code sequence and fd frequency RF signal, main emitting antenna T1 to fix pseudo-random code sequence and fad frequency RF signal and be modulated to respectively on carrier wave and form two-way distance measuring signal, and by two-way transmitting ranging signals to from member device from receiving antenna;
Main emitting antenna T2, receive the fad frequency RF signal of the fd frequency RF signal of main member device main radio frequency transmitting channel TC2 transmission, main double mode Assisted RF Plasma CVD passage AC2 transmission, main emitting antenna T2 is fixed pseudo-random code sequence and fd frequency RF signal, main emitting antenna T2 to fix pseudo-random code sequence and fad frequency RF signal and be modulated to respectively on carrier wave and form two-way distance measuring signal, and by two-way transmitting ranging signals to from member device from receiving antenna;
Main receiving antenna R1, receive the multichannel distance measuring signal from member device 2 from transmission antennas transmit, demodulation also identifies the different distance measuring signals from member device 2 from emitting antenna, obtain the fu frequency RF signal that sends from member device from emitting antenna T1 and fau frequency RF signal, the fu frequency RF signal sent from member device from emitting antenna T2 and fau frequency RF signal, and the fu frequency RF signal sent from member device is delivered to the main radio frequency reception channel RC1 of main member device, the fau frequency RF signal sent from member device is delivered to the master's double mode Assisted RF Plasma CVD passage AC1 in main member device, described fd and fad is 2 frequencies that each main emitting antenna of main member device can be launched, and fu and fau is each two frequency can launched from emitting antenna from member device,
Main receiving antenna R2, receive the multichannel distance measuring signal from member device 2 from transmission antennas transmit, demodulation also identifies the different distance measuring signals from member device 2 from emitting antenna, obtain the fu frequency RF signal that sends from member device from emitting antenna T1 and fau frequency RF signal, the fu frequency RF signal sent from member device from emitting antenna T2 and fau frequency RF signal, and the fu frequency RF signal sent from device is delivered to the main radio frequency reception channel RC2 of main member device, the fau frequency RF signal sent from member device is delivered to the master's double mode Assisted RF Plasma CVD passage AC2 in this member device,
Main receiving antenna R3, receive the multichannel distance measuring signal from member device 2 from transmission antennas transmit, demodulation also identifies the different distance measuring signals from member device 2 from emitting antenna, obtain the fu frequency RF signal that sends from member device from emitting antenna T1 and fau frequency RF signal, the fu frequency RF signal sent from member device from emitting antenna T2 and fau frequency RF signal, and will from member device from emitting antenna T1, the fu frequency RF signal sent from emitting antenna T2 delivers to the main radio frequency reception channel RC3 of main member device, will from member device from emitting antenna T1, the fau frequency RF signal sent from emitting antenna T2 delivers to main member device main auxiliary radio frequency reception channel AC3,
Main radio frequency reception channel RC1, receive main receiving antenna R1 send two-way fu frequency RF signal and be deliver to main AD converter unit after two-way analog if signal by its frequency conversion;
Main radio frequency reception channel RC2, receive main receiving antenna R2 send two-way fu frequency RF signal and be deliver to main AD converter unit after two-way analog if signal by its frequency conversion;
Main radio frequency reception channel RC3, receive main receiving antenna R3 send two-way fu frequency RF signal and be deliver to main AD converter unit after two-way analog if signal by its frequency conversion;
Comprise from member device: from emitting antenna T1, from emitting antenna T2, from receiving antenna R1, from receiving antenna R2, from receiving antenna R3, from radio frequency transmitting channel TC1, from radio frequency transmitting channel TC2, from radio frequency reception channel RC1, from radio frequency reception channel RC2, from radio frequency reception channel RC3, from double mode Assisted RF Plasma CVD passage AC1, from double mode Assisted RF Plasma CVD passage AC2, from Assisted RF Plasma CVD receiving cable AC3 and baseband processing module, wherein:
From baseband processing module, comprise from DSP unit, from field programmable gate array unit, from D/A converter unit, from AD converter unit;
From DSP unit, obtain main member device upper epoch 2 main emitting antennas to divide and be clipped to from member device from receiving antenna R1, from receiving antenna R2, pseudorange from receiving antenna R3, coding is carried out to pseudorange and forms transmitting data, transmitting data is delivered to from field programmable gate array unit; Receive the restituted signal sent from field programmable gate array unit, carry out compiling and obtain the pseudorange that epoch, two were divided three the main receiving antennas be clipped to main member device from emitting antenna from member device, then 2 the main emitting antennas obtained in this epoch of main member device divide the pseudorange be clipped to from three member device from receiving antenna, finally utilize spatial intersection's principle to calculate from the integer ambiguity of member device, relative position and attitude angle;
From field programmable gate array unit, receive the transmitting data of the coding sent from DSP unit and carry out spread spectrum, obtain spread-spectrum signal and carry out modulation obtaining modulation signal, then modulation signal filtering obtained digital medium-frequency signal and deliver to from D/A converter unit, receive the digital medium-frequency signal from the transmission of AD converter unit and carry out demodulation, delivering to after obtaining restituted signal from DSP unit;
From D/A converter unit, receive the digital medium-frequency signal sent from field programmable gate array unit, digital medium-frequency signal is converted into analog if signal, and delivers to from radio frequency transmitting channel TC1, from radio frequency transmitting channel TC2, from double mode Assisted RF Plasma CVD passage AC1, from double mode Assisted RF Plasma CVD passage AC2;
From AD converter unit, receive respectively from radio frequency reception channel RC1, from radio frequency reception channel RC2, from radio frequency reception channel RC3, from double mode Assisted RF Plasma CVD passage AC1, from double mode Assisted RF Plasma CVD passage AC2, from Assisted RF Plasma CVD receiving cable AC3 send analog if signal, analog if signal is converted into digital medium-frequency signal and is sent to from field programmable gate array unit;
From radio frequency transmitting channel TC1, receive the analog if signal sent from D/A converter unit, analog if signal be converted to fu frequency and obtain fu frequency RF signal, fu frequency RF signal is delivered to from emitting antenna T1;
From radio frequency transmitting channel TC2, receive the analog if signal sent from D/A converter unit, analog if signal be converted to fu frequency and obtain fu frequency RF signal, fu frequency RF signal is delivered to from emitting antenna T2;
From double mode Assisted RF Plasma CVD passage AC1, receive the analog if signal sent from D/A converter unit, analog if signal be converted to fau frequency and obtain fau frequency RF signal, fau frequency RF signal is delivered to from emitting antenna T1, receive from receiving antenna R1 send two-way fad frequency RF signal and be two-way analog if signal by its frequency conversion, the two-way analog if signal obtained is delivered to from AD converter unit;
From double mode Assisted RF Plasma CVD passage AC2, receive the analog if signal sent from D/A converter unit, analog if signal be converted to fau frequency and obtain fau frequency RF signal, fau frequency RF signal is delivered to from emitting antenna T2, receive from receiving antenna R2 send two-way fad frequency RF signal and be two-way analog if signal by its frequency conversion, the two-way analog if signal obtained is delivered to from AD converter unit;
From Assisted RF Plasma CVD receiving cable AC3, receive from receiving antenna R3 send two-way fad frequency RF signal and be two-way analog if signal by its frequency conversion, the two-way analog if signal obtained is delivered to from AD converter unit;
From emitting antenna T1, receive the fu frequency RF signal sent from member device radio frequency transmitting channel TC1, the fau frequency RF signal sent from double mode Assisted RF Plasma CVD passage AC1, pseudo-random code sequence and fu frequency RF signal will be fixed from emitting antenna T1, and fix pseudo-random code sequence and fau frequency RF signal from emitting antenna T1 and be modulated to carrier wave respectively and form two-way distance measuring signal, and by the main receiving antenna in two-way transmitting ranging signals to main member device;
From emitting antenna T2, receive the fu frequency RF signal sent from member device radio frequency transmitting channel TC2, the fau frequency RF signal sent from double mode Assisted RF Plasma CVD passage AC2, pseudo-random code sequence and fu frequency RF signal will be fixed from emitting antenna T2, and fix pseudo-random code sequence and fau frequency RF signal from emitting antenna T2 and be modulated to carrier wave respectively and form two-way distance measuring signal, and by the main receiving antenna in two-way transmitting ranging signals to main member device;
From receiving antenna R1, receive the multichannel distance measuring signal of main member device 2 main transmission antennas transmit, demodulation also identifies the different distance measuring signals of main member device 2 main emitting antennas, obtain fd frequency RF signal and the fad frequency RF signal of the main emitting antenna T1 transmission of main member device, the fd frequency RF signal that the main emitting antenna T2 of main member device sends and fad frequency RF signal, and the fd frequency RF signal sent by main member device is delivered to from member device from radio frequency reception channel RC1, the fad frequency RF signal that main member device is sent deliver to from member device from double mode Assisted RF Plasma CVD passage AC1,
From receiving antenna R2, receive the multichannel distance measuring signal of main member device 2 main transmission antennas transmit, demodulation also identifies the different distance measuring signals of main member device 2 main emitting antennas, obtain fd frequency RF signal and the fad frequency RF signal of the main emitting antenna T1 transmission of main member device, the fd frequency RF signal that the main emitting antenna T2 of main member device sends and fad frequency RF signal, and the fd frequency RF signal filling transmission from member is delivered to from member device from radio frequency reception channel RC2, the fad frequency RF signal that main member device is sent deliver to from member device from double mode Assisted RF Plasma CVD passage AC2,
From receiving antenna R3, receive the multichannel distance measuring signal of main member device 2 main transmission antennas transmit, demodulation also identifies the different distance measuring signals of main member device 2 main emitting antennas, obtain fd frequency RF signal and the fad frequency RF signal of the main emitting antenna T1 transmission of main member device, the fd frequency RF signal that the main emitting antenna T2 of main member device sends and fad frequency RF signal, and the fd frequency RF signal sent by main member device is delivered to from member device from radio frequency reception channel RC3, the fad frequency RF signal sent by main member device is delivered to from member from the Assisted RF Plasma CVD receiving cable AC3 device,
From radio frequency reception channel RC1, receive the two-way fd frequency RF signal that sends from receiving antenna R1 and be deliver to from AD converter unit after two-way analog if signal by its frequency conversion;
From radio frequency reception channel RC2, receive the two-way fd frequency RF signal that sends from receiving antenna R2 and be deliver to from AD converter unit after two-way analog if signal by its frequency conversion;
From radio frequency reception channel RC3, receive the two-way fd frequency RF signal that sends from receiving antenna R3 and be deliver to its frequency conversion from AD converter unit after two-way analog if signal.
2. a kind of radio frequency Autonomous relative attitude measuring be applicable between complex target according to claim 1, it is characterized in that: five antennas in described main member device or from the astronomical cycle of five member device in square-shaped planar, an emitting antenna is positioned at the center of square-shaped planar, and all the other four antennas are positioned at four summits of square-shaped planar.
3. a kind of radio frequency Autonomous relative attitude measurement system be applicable between complex target according to claim 1, it is characterized in that: comprise auxiliary transmission unit, auxiliary reception unit, switch control unit in described main member device or from the bimodulus Assisted RF Plasma CVD passage member device, wherein
Switch control unit, if the analog if signal receiving the output of corresponding baseband processing unit, then controls auxiliary transmission cell operation, otherwise controls auxiliary reception cell operation;
Auxiliary transmission unit, comprises first order upconverter, filter amplifier, second level upconverter, the first bandpass filter, radio-frequency amplifier, numerical-control attenuator, power amplifier; First order upconverter receives the analog if signal of corresponding baseband processing unit transmission and carries out frequency conversion, by the frequency variation signal obtained after filtering amplifier filtering and amplify after deliver to second level upconverter, signal is sent to the first band-pass filter after the upconverter frequency conversion of the second level, then use radio-frequency amplifier amplifying signal and the signal after amplifying is delivered to the power of numerical-control attenuator control signal, finally use power amplifier to amplify signal and be sent to corresponding emitting antenna;
Auxiliary reception unit, comprises first order low noise amplifier, the second bandpass filter, second level low noise amplifier, local oscillator frequency multiplication and low-converter, first order filter amplifier, second level low-converter, second level filter amplifier, first order low noise amplifier receives the radiofrequency signal of corresponding receiving antenna transmission and carries out removal noise and amplification, deliver to second level low noise amplifier after signal after amplification is used the second band-pass filter remove noise and amplify, then the signal obtained is sent to local oscillator frequency multiplication and low-converter frequency conversion, signal after frequency conversion uses first order filter amplifier remove noise and amplify, signal after amplification delivers to second level filter amplifier after the low-converter frequency conversion of the second level, finally removal noise and the signal after amplifying are sent to corresponding baseband processing unit.
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