CN111273224B - Measurement method based on visual array antenna - Google Patents

Measurement method based on visual array antenna Download PDF

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CN111273224B
CN111273224B CN201911366821.6A CN201911366821A CN111273224B CN 111273224 B CN111273224 B CN 111273224B CN 201911366821 A CN201911366821 A CN 201911366821A CN 111273224 B CN111273224 B CN 111273224B
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array antenna
phase
signal source
signal
phase difference
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CN111273224A (en
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王浩
冉立新
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Zhejiang University ZJU
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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
    • G01S5/04—Position of source determined by a plurality of spaced direction-finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/023—Monitoring or calibrating
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/04—Details
    • G01S3/043—Receivers
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
    • G01S3/48—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems the waves arriving at the antennas being continuous or intermittent and the phase difference of signals derived therefrom being measured
    • 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
    • G01S5/0205—Details
    • G01S5/021—Calibration, monitoring or correction
    • 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
    • G01S5/0205—Details
    • G01S5/0221—Receivers
    • 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
    • G01S5/0257—Hybrid positioning

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Abstract

The invention discloses a measurement method based on a visual array antenna. Shooting an image of a signal source at a fixed position through a CMOS image sensor, and obtaining coordinate information of the signal source through image analysis processing; the signal phase detection system based on the array antenna is adopted to detect the phase difference information of the current of the receiving antenna in real time, finally, the phase difference information and the coordinate information are combined to establish an incidence relation, the phase difference information acquired by a signal source to be detected is processed by the incidence relation, the position of the signal source is acquired, and the positioning measurement of the signal source is realized. The invention can realize the positioning and calibration of a plurality of signal source positions in the image, and can realize the direction finding and the positioning of signal sources at any positions in the image by applying a neural network algorithm.

Description

Measurement method based on visual array antenna
Technical Field
The invention discloses a signal source positioning and measuring method of a visual array antenna, which relates to two ways for realizing direction finding/calibration of the visual array antenna.
Background
Conventional positioning methods include rotating or switching directional antennas, Watson-Watt direction finding, time difference of arrival (TDOA), sum and difference analysis, Doppler analysis (Doppler), and multiple signal classification (MUSIC), signal parameter estimation based on rotation invariance (ESPRIT), direction of arrival angle estimation (DOA) methods such as Maximum Likelihood Estimation (MLE) applied in more complex phased array systems and Multiple Input Multiple Output (MIMO) systems. However, these methods have certain limitations in the application process. For example, when the coupling effect between the array antenna elements is large, the above positioning method is difficult to separate the coupling components, which brings great difficulty in accurate positioning. In addition, in a complex environment, due to the reflection of electromagnetic waves from buildings, earth, trees, and the like, signals received by the array antenna have multipath effects, and effective positioning is more difficult to achieve.
Disclosure of Invention
In order to solve the problems in the prior art, the invention discloses a visual array antenna calibration and measurement method for direction finding.
The technical scheme adopted by the invention is as follows:
the invention shoots the image of the signal source through the CMOS image sensor at a fixed position, displays the position of the signal source in the image in real time, and obtains the visual angle coordinate of the signal source in the image through image analysis and processing
Figure GDA0003331766550000011
Or pixel coordinate (p)i,pj) As coordinate information;
in addition, a signal phase detection system based on the array antenna is adopted to detect the phase difference information of the current of the receiving antenna in real time, namely the phase value when the electromagnetic wave signal sent by the signal source enters the array antenna unit to be received
Figure GDA0003331766550000012
Figure GDA0003331766550000013
Where L represents the total number of array antenna elements in the array antenna based signal phase detection system,
Figure GDA0003331766550000014
is the phase of the signal received by the 1 st array antenna element in the array antenna,
Figure GDA0003331766550000015
is the phase of the signal received by the 2 nd array antenna element in the array antenna,
Figure GDA0003331766550000016
is the signal phase received by the L-th array antenna element in the array antenna; the signal phase detection system normalizes the phases of the received currents on all the array antenna units to obtain phase difference information;
and finally, establishing an incidence relation by combining the phase difference information and the coordinate information, processing the phase difference information acquired by the signal source to be detected by using the incidence relation, acquiring the position of the signal source, realizing the positioning measurement of the signal source, and further calibrating the inside of the system required by the signal source by using the position.
According to the invention, the direction-finding calibration process of the visual array antenna is realized by combining the phase information of the electromagnetic wave signals emitted by the signal source when the electromagnetic wave signals enter the array antenna with the pixel or view angle coordinates of the signal source in the image collected by the image sensor.
The direction-finding calibration process comprises two modes.
A first method of direction finding, the method comprising:
1) dividing images collected by a CMOS image sensor shooting signal source into Li×LjEach grid, the intersection points and the corner points of the grid are grid points, and each grid point obtains a view angle coordinate according to the space position of the CMOS image sensor
Figure GDA0003331766550000021
Or pixel coordinate (p)i,pj) As coordinate information;
said pixel coordinate (p)i,pj) Is the position coordinate of the signal source in the image coordinate system, the image coordinate system is the two-dimensional coordinate with the upper left corner of the image as the origin, the image horizontal direction as the x-axis, the image vertical direction as the y-axis, pi,pjRespectively, the x-axis and y-axis coordinates at which the source is located in the image.
The said visual angle coordinate
Figure GDA0003331766550000022
The image position coordinate relative to the optical center of the CMOS image sensor is arranged under a visual angle coordinate system of the signal source, the visual angle coordinate system takes the optical center of the CMOS image sensor as an original point, takes the horizontal direction passing through the center of an imaging plane as an x-axis, takes the vertical direction passing through the center of the imaging plane as a y-axis, and takes the optical center of the CMOS image sensor and the center of the imaging planeThe connecting line is taken as the three-dimensional coordinate of the z axis, the imaging plane is the coincidence of the two images, and thetacIs an included angle between a connecting line from a projection point of a signal source in an image, which is projected to an x-axis, to an optical center of a CMOS image sensor and a connecting line from the center of an imaging surface to the optical center of the CMOS image sensor,
Figure GDA0003331766550000028
the included angle between the connecting line from the projection point of the signal source in the image position projecting to the y axis to the optical center of the CMOS image sensor and the connecting line from the center of the imaging surface to the optical center of the CMOS image sensor.
2) Arranging signal sources on different grid points for measurement respectively, and synchronously obtaining each calibration phase difference information through a signal phase detection system based on an array antenna; when the signal source is at one grid point, the phase of the receiving current when the electromagnetic wave signal emitted by the signal source is incident to the array antenna unit and is received is
Figure GDA0003331766550000023
Figure GDA0003331766550000024
L represents the total number of array antenna units in the signal phase detection system based on the array antenna, then the signal phase detection system based on the array antenna is adopted to detect the phase difference information between the receiving currents in real time, when the 1 st array antenna unit is taken as the reference, the receiving current phases on the rest L-1 array antenna units are subtracted from the receiving current phase on the 1 st array antenna unit for normalization, and the obtained phase differences are respectively
Figure GDA0003331766550000025
May be used as a set of calibration phase difference information,
Figure GDA0003331766550000026
is the signal phase received by the ith array antenna unit in the array antenna; the signal source has the calibration phase information on one grid point;
3) for a signal source to be detected, acquiring phase difference information of the signal source to be detected through a signal phase detection system based on an array antenna;
signal phase detection system based on array antenna detects received current phase when electromagnetic wave signal sent by signal source is incident to array antenna unit and received in real time
Figure GDA0003331766550000027
The phase difference information between the two antenna arrays is that when the 1 st array antenna unit is taken as a reference, the receiving current phases on the rest L-1 array antenna units are subtracted from the receiving current phase on the 1 st array antenna unit for normalization, and the difference is respectively
Figure GDA0003331766550000031
Figure GDA0003331766550000032
As the phase difference information of the signal source to be measured,
Figure GDA0003331766550000033
the phase of a signal to be detected received by the ith array antenna unit in the array antenna;
4) inputting phase difference information of a signal source to be detected into the following correlation coefficient formula for calculation, obtaining an image position where a grid point with the maximum correlation coefficient is the signal source by matching, scanning the whole image calibration space, and taking coordinate information of the grid point corresponding to the phase information with the maximum correlation coefficient C as the position of the signal source to be detected:
Figure GDA0003331766550000034
wherein the content of the first and second substances,
Figure GDA0003331766550000035
an ith phase difference in the phase difference information representing the signal source to be measured,
Figure GDA0003331766550000036
indicating calibrated phase differenceI-th phase difference in information.
A second method of direction finding, the method comprising:
1) dividing images collected by a CMOS image sensor shooting signal source into Li×LjEach grid, the intersection points and the corner points of the grid are grid points, and each grid point obtains a view angle coordinate according to the space position of the CMOS image sensor
Figure GDA0003331766550000037
Or pixel coordinate (p)i,pj) As coordinate information of the grid points;
2) arranging signal sources on different grid points for measurement respectively, and synchronously obtaining each calibration phase difference information through a signal phase detection system based on an array antenna; when the signal source is at one grid point, the phase of the receiving current when the electromagnetic wave signal emitted by the signal source is incident to the array antenna unit and is received is
Figure GDA0003331766550000038
Figure GDA0003331766550000039
L represents the total number of array antenna units in the signal phase detection system based on the array antenna, then the signal phase detection system based on the array antenna is adopted to detect the phase difference information between the receiving currents in real time, when the 1 st array antenna unit is taken as the reference, the receiving current phases on the rest L-1 array antenna units are subtracted from the receiving current phase on the 1 st array antenna unit for normalization, and the obtained phase differences are respectively
Figure GDA00033317665500000310
Can be used as a set of calibration phase difference information; the signal source has the calibration phase information on one grid point;
3) establishing a calibration model, and obtaining coordinate information of each grid point or a complex vector V constructed based on the coordinate information in step 1)nAs the output of the calibration model, the calibration phase of the signal source at each grid point is obtained in step 2)Phase difference information or complex vector I 'constructed based on phase difference information'nAs the input of the calibration model, training processing is carried out by adopting a back propagation algorithm to obtain a trained calibration model;
the calibration model is a real number and complex number form neural network based on a back propagation algorithm, and the model structure is a three-layer neural network comprising an input layer, a hidden layer and an output layer. For a real number form neural network, calibration phase difference information of a signal source at each grid point is input in an input layer, a hidden layer is used for improving the learning and fitting capacity of the neural network, and coordinate information of each grid point is output in an output layer. For a complex neural network, a complex form of the calibration phase difference information of the signal source at each grid point is input in the input layer
Figure GDA0003331766550000041
The hidden layer is used for improving the learning and fitting capability of the neural network, and a complex vector V containing coordinate information of each grid point is output in the output layern＝[V1,V2,...,VL]T。
4) For a signal source to be detected, acquiring phase difference information of the signal source to be detected through a signal phase detection system based on an array antenna;
the phase of the receiving current when the electromagnetic wave signal emitted by the signal source is incident to the array antenna unit and is received is
Figure GDA0003331766550000042
Then, a signal phase detection system based on the array antenna is adopted to detect phase difference information among the receiving currents in real time, when the 1 st array antenna unit is taken as a reference, the receiving current phases on the rest L-1 array antenna units are subtracted from the receiving current phase on the 1 st array antenna unit for normalization, and the obtained phase differences are respectively
Figure GDA0003331766550000043
As phase difference information of the signal source to be detected;
5) phase difference signal of signal source to be measuredOr a complex vector I 'constructed based on the phase difference information'nInputting the predicted output coordinate information into the trained calibration model or constructing a complex vector V based on the coordinate informationnIs the position of the signal source to be measured.
In the second mode, a calibration model based on a neural network optimization algorithm is optimized and established based on coordinate information of grid points and phase difference information corresponding to the grid points, and signal source positioning at any position in an image can be realized after measured phase difference information to be measured is calculated through the calibration model.
In the direction finding process, the coordinates of the grid point where the signal source is located are calculated by using the measured phase difference information, and the process can be considered as a forward propagation process. The calibration model adopts a neural network, and a back propagation algorithm is generally adopted to optimize the neural network structure.
When the method is applied to the neural network, the phase difference information and the grid point coordinates can be directly used as optimization data. The back propagation algorithm optimization in this case is either using phase difference information as input during the forward propagation or a complex vector I 'constructed based on the phase difference information'nAnd grid point coordinate information or a complex vector V constructed based on the coordinate information as an outputnThe unknown weights and biases present in the neural network structure are optimized.
Any phase difference information obtained by measurement can realize signal source positioning at any position in the image according to the two calibration methods.
The invention has the innovation points that the coordinate information of the image and the phase information of the electromagnetic wave signal are respectively acquired and obtained by the CMOS image sensor and the signal phase detection system based on the array antenna, the connection is established, and the direction-finding positioning of the antenna is realized by the connection of the CMOS image sensor and the signal phase detection system. The method is simple in principle, can establish a model according to an actual scene for positioning, can tolerate fixed and unchangeable interference signals such as reflection of the ground and a house, and solves the problem of positioning by adopting the array antenna with the coupling effect among the array antenna units.
The method adopts the following direction-finding system, wherein the direction-finding system comprises a CMOS image sensor, a signal phase detection system based on an array antenna, a signal source and a computer, the CMOS image sensor shoots towards the signal source, the signal source is positioned in the visual field range of the CMOS image sensor, and the output of the CMOS image sensor is connected to the computer; the signal phase detection system based on the array antenna comprises the array antenna, a receiver module, a phase detection module and a single chip microcomputer; the array antenna is formed by regularly arranging L array antenna units, the receiver module is formed by L receivers, the phase detection module is formed by L-1 phase detection chip circuits, the number of the array antenna units is the same as that of the receivers, the number of the phase detection chip circuits is one less than that of the array antenna units and the receivers, the array antenna units are connected to the input ends of the rest L-1 phase detection chip circuits through the receivers, the rest L-1 array antenna units are sequentially connected to the other input end of the phase detection chip circuits through the respective receivers, the output ends of the rest L-1 phase detection chip circuits are connected to the input end of the single chip microcomputer, and the output end of the single chip microcomputer is connected to a computer.
The signal source sends out electromagnetic wave signals, the electromagnetic wave signals are received by the array antenna unit of the array antenna of the signal phase detection system, and then the signals are sent to the single chip microcomputer after passing through L receivers of the receiver module and the phase detection chip circuits of the L-1 phase detection modules, and the signals are sent to a computer for analysis and processing through the single chip microcomputer.
The relative positions of the CMOS image sensor and the array antenna in the signal phase detection system based on the array antenna are kept fixed.
The CMOS image sensor is directly connected with the computer through a USB port, and the single chip microcomputer is directly connected with the computer through a serial port-USB interface.
The signal source is positioned in the far field area range of the array antenna.
The receiver comprises a low noise amplifier, a first-stage radio frequency band-pass filter, a radio frequency power amplifier, a second-stage radio frequency band-pass filter, a frequency mixer, a phase-locked loop, an intermediate frequency band-pass filter and an intermediate frequency power amplifier; the low noise amplifier, the first stage radio frequency band-pass filter, the radio frequency power amplifier, the second stage radio frequency band-pass filter, the mixer, the intermediate frequency band-pass filter, the intermediate frequency power amplifier connect gradually, the phase-locked loop is connected to the mixer, second stage radio frequency band-pass filter and mixer are connected to two input ends of mixer respectively, the signal that array antenna unit received is low noise amplifier amplification processing in proper order, first stage radio frequency band-pass filter filtering processing, radio frequency power amplifier amplification processing, the signal of second stage radio frequency band-pass filter after filtering processing and the signal of phase-locked loop input to the mixer and mix, the mixer output signal exports to phase detection module after intermediate frequency band-pass filter filtering, intermediate frequency power amplifier amplifies in proper order.
The input of the phase detection module in the invention is the intermediate frequency output of the receiver module, and the intermediate frequency output of the receiver module of a certain unit in the array antenna is required to be used as a normalized reference signal, in this case, the phase detection module can measure the phase difference between the intermediate frequency output of the receiver module of other units in the array antenna and the array antenna unit. The chip mainly applied to each phase detection chip circuit in the phase detection module is an AD8302 amplitude-phase detection chip.
The method provided by the invention can overcome the limitations of the existing positioning system to a certain extent. The matching calibration mode and the calibration mode adopting neural network optimization both need to establish an image calibration space and a calibration model by using the prior phase difference and the image position information obtained by measurement in a positioning environment, and the influence of multipath effect is overcome to a certain extent. For array antennas with large coupling effect between units, the a priori phase difference information for calibration already contains coupling information, so the obtained calibration model is robust to the coupling effect.
The method of the invention has the following beneficial effects:
1. compared with the traditional positioning method, the method can overcome the influence of multipath effect to a certain extent.
2. Compared with the traditional positioning method, the method can be applied to the array antenna with stronger coupling effect among the array antenna units, and has certain robustness to the coupling effect.
Drawings
Fig. 1 is a block diagram of a visual array antenna calibration system.
In the figure: 1 denotes a signal source, 2, 3, 4, 5, 6, 7 denotes an array antenna unit, 8, 9, 10, 11, 12, 13 denotes a receiver, 14, 15, 16, 17, 18 denotes a phase detection instrument, 19 denotes a single chip microcomputer, 20 denotes a computer, and 21 denotes a CMOS image sensor.
Fig. 2 is a detailed composition of a receiver.
In the figure: 22 denotes a low noise amplifier, 23 denotes a first stage rf band pass filter, 24 denotes an rf power amplifier, 25 denotes a second stage rf band pass filter, 26 denotes a mixer, 27 denotes a phase locked loop, 28 denotes an if band pass filter, and 29 denotes an if power amplifier.
Fig. 3 is a software calibration platform for a visual array antenna calibration system.
Fig. 4 is a neural network structure employed in embodiment 2.
FIG. 5 is view angle coordinates in example 2
Figure GDA0003331766550000061
The calculated values are compared with the actual values.
Fig. 6 is a neural network structure employed in embodiment 3.
FIG. 7 is view angle coordinates in example 3
Figure GDA0003331766550000062
The calculated values are compared with the actual values.
Detailed Description
The invention is further illustrated by the following figures and examples.
A signal source 1 in fig. 1 is a linear polarization antenna working in a GSM frequency band, array antenna units 2, 3, 4, 5, 6, and 7 are all circular polarization inverted F antennas working in a GSM frequency band, current signals received by the circular polarization inverted F antennas are input into receiver modules 8, 9, 10, 11, 12, and 13 through receiving ports, intermediate frequency outputs of the receiver modules are input into phase detection modules 14, 15, 16, 17, and 18, and the phase detection modules all use the intermediate frequency outputs of the receiver module 12 as reference signals for normalizing phases, that is, the intermediate frequency outputs of the receiver modules 8, 9, 10, 11, and 13 and the intermediate frequency outputs of the receiver module 12 are subjected to subtraction normalization. The voltage signal output by the phase detection module is sampled by the single chip 19 and transmitted to the computer 20, and then the phase difference information can be displayed in the software calibration platform shown in fig. 3. The image acquired by the CMOS image sensor 21 in real time is divided into 25 × 13 grid points, as shown in fig. 3.
The radio frequency signal received by the receiver module passes through a low noise amplifier 22, a first stage radio frequency band pass filter 23, a radio frequency power amplifier 24, a second stage radio frequency band pass filter 25, a mixer 26, an intermediate frequency band pass filter 28, and an intermediate frequency power amplifier 29 to obtain a relatively pure intermediate frequency output, as shown in fig. 2. Furthermore, the local oscillator signal required by the mixer is generated by a phase locked loop 27.
When the direction-finding system works, the calibration data can be collected in real time in the software calibration platform shown in fig. 3, and Phase 1 in the figure is the stage of collecting the calibration data. The calibration data being formed from phase difference information
Figure GDA0003331766550000071
Figure GDA0003331766550000072
And corresponding view angle coordinates
Figure GDA0003331766550000073
And (4) forming.
Example 1:
example 1 a first method of direction finding was demonstrated using the direction finding system shown in figures 1, 2 and 3.
The software calibration platform shown in fig. 3 also has a direction finding function. After calibration data corresponding to all the grid points are obtained, when the software calibration platform is used for actual positioning, the signal phase detection system automatically detects phase difference information when the signal source moves to a certain image position, as shown in the figure as-97102-81-97-100. The measured phase difference information and all phase difference information in the calibration data are one by oneCalculating by using a correlation coefficient formula, and when the calculated correlation coefficient is maximum, corresponding visual angle coordinates
Figure GDA0003331766550000074
I.e. the position of the image where the signal source is located, as indicated by the square cursor in fig. 3. The maximum correlation coefficient that can be calculated by the signal source at this image position using the phase difference information-97102-81-97-100 is 1.
Example 2:
example 2 a second method of direction finding was demonstrated using the direction finding system shown in figures 1, 2 and 3 and the neural network architecture shown in figure 4.
After the calibration data corresponding to all the grid points are obtained, the neural network shown in fig. 4 can be optimally established by adopting a back propagation algorithm. The input of the neural network is phase difference information, and the output is a visual angle coordinate
Figure GDA0003331766550000075
The calculated value of (a). The operation process from left to right in fig. 4 can be regarded as a forward propagation process of the neural network, in the forward propagation process, the phase difference information is input, and the calculated view angle coordinate
Figure GDA0003331766550000076
Is the output. In the embodiment, the back propagation algorithm is to calculate the view angle coordinate according to the phase difference information of the calibration data
Figure GDA0003331766550000077
View angle coordinates corresponding to calibration data
Figure GDA0003331766550000078
The error between them is propagated back to each weight and bias according to the connection in fig. 4.
FIG. 5 shows view angle coordinates
Figure GDA0003331766550000079
Is compared with the actual value of thetacThe mean absolute error of (a) is 0.96 degrees, the root mean square error is 1.04 degrees;
Figure GDA00033317665500000710
has an average absolute error of 0.64 DEG and a root mean square error of 0.82 deg. The results demonstrate the effectiveness of the proposed visual array antenna calibration method for direction finding.
Example 3:
example 3 a second method of direction finding was demonstrated using the direction finding systems shown in figures 1, 2 and 3 and the neural network architecture shown in figure 6.
After calibration data corresponding to all grid points are obtained, the view angle coordinates
Figure GDA0003331766550000081
The incident angle of the electromagnetic wave signal can be obtained by utilizing the coordinate transformation principle according to the position relation between the CMOS image sensor and the array antenna
Figure GDA0003331766550000082
Angle of incidence
Figure GDA0003331766550000083
Can be used to construct a complex vector I 'constructed based on phase difference information as input in a neural network'nAnd as an output a complex vector V constructed based on the coordinate informationn。
The operation process from left to right in fig. 6 can be regarded as a forward propagation process of the neural network. In the present embodiment, the back propagation algorithm is to back propagate the calculation error of each forward propagation process to each weight and bias according to the connection relationship in fig. 6. After the neural network is optimized, V is obtained according to calculationnThe incident angle can be obtained
Figure GDA0003331766550000084
The calculated value of (2) can also be used for obtaining the coordinate of the visual angle by utilizing the coordinate transformation principle
Figure GDA0003331766550000085
FIG. 7 coordinates the viewing angle
Figure GDA0003331766550000086
Is compared with the actual value of thetacThe mean absolute error of (a) is 1.06 °, the root mean square error is 1.19 °;
Figure GDA0003331766550000087
has an average absolute error of 0.88 DEG and a root mean square error of 0.99 deg. The results demonstrate the effectiveness of the proposed visual array antenna calibration method for direction finding.

Claims (6)

1. A measurement method based on a visual array antenna is characterized in that: shooting an image of the signal source (1) at a fixed position through a CMOS image sensor (21), and obtaining coordinate information of the signal source (1) through image analysis processing; in addition, a signal phase detection system based on an array antenna is adopted to detect the phase difference information of the current of the receiving antenna in real time, namely the phase value when the electromagnetic wave signal sent by the signal source (1) is received
Figure FDA0003396150680000011
Where L represents the total number of array antenna elements in the array antenna based signal phase detection system,
Figure FDA0003396150680000012
is the phase of the signal received by the 1 st array antenna element in the array antenna,
Figure FDA0003396150680000013
is the phase of the signal received by the 2 nd array antenna element in the array antenna,
Figure FDA0003396150680000014
is the signal phase received by the L-th array antenna element in the array antenna; finally, the phase difference information and the coordinate information are combined to establish an incidence relation, and the incidence relation is utilized to acquire the signal source (1) to be detectedThe obtained phase difference information is collected and processed to obtain the position of the signal source (1), so that the positioning measurement of the signal source (1) is realized;
the method comprises the following steps:
1) dividing an image collected by a CMOS image sensor (21) shooting signal source (1) into Li×LjEach grid, the intersection points and the corner points of the grid are grid points, and each grid point obtains a view angle coordinate according to the space position of the CMOS image sensor (21)
Figure FDA0003396150680000015
Or pixel coordinate (p)i,pj) As coordinate information;
2) arranging a signal source (1) on different grid points for measurement respectively, and synchronously obtaining each calibration phase difference information through a signal phase detection system based on an array antenna; when the signal source (1) is on each grid point, the phase of the receiving current when the electromagnetic wave signal sent by the signal source (1) is received is equal to
Figure FDA0003396150680000016
L represents the total number of array antenna units in the signal phase detection system based on the array antenna, then the signal phase detection system based on the array antenna is adopted to detect the phase difference information between the receiving currents in real time, when the 1 st array antenna unit is taken as the reference, the receiving current phases on the rest L-1 array antenna units are subtracted from the receiving current phase on the 1 st array antenna unit for normalization, and the obtained phase differences are respectively
Figure FDA0003396150680000017
Figure FDA0003396150680000018
May be used as a set of calibration phase difference information,
Figure FDA0003396150680000019
is the signal phase received by the ith array antenna unit in the array antenna;
3) for a signal source to be detected, acquiring phase difference information of the signal source to be detected through a signal phase detection system based on an array antenna;
signal phase detection system based on array antenna detects received current phase when electromagnetic wave signal sent by signal source (1) is received in real time
Figure FDA00033961506800000110
The phase difference information between the two antenna arrays is that when the 1 st array antenna unit is taken as a reference, the receiving current phases on the rest L-1 array antenna units are subtracted from the receiving current phase on the 1 st array antenna unit for normalization, and the difference is respectively
Figure FDA00033961506800000111
Figure FDA00033961506800000112
As the phase difference information of the signal source to be measured,
Figure FDA00033961506800000113
the phase of a signal to be detected received by the ith array antenna unit in the array antenna;
4) inputting the phase difference information of the signal source to be detected into the following correlation coefficient formula for calculation, scanning the whole image calibration space, and taking the coordinate information of the grid point corresponding to the phase difference information when the correlation coefficient C is maximum as the position of the signal source to be detected:
Figure FDA0003396150680000021
wherein the content of the first and second substances,
Figure FDA0003396150680000022
an ith phase difference in the phase difference information representing the signal source to be measured,
Figure FDA0003396150680000023
representing an ith phase difference in the calibration phase difference information;
or the method comprises the following steps:
1) dividing an image collected by a CMOS image sensor (21) shooting signal source (1) into Li×LjEach grid, the intersection points and the corner points of the grid are grid points, and each grid point obtains a view angle coordinate according to the space position of the CMOS image sensor (21)
Figure FDA0003396150680000024
Or pixel coordinate (p)i,pj) As coordinate information of the grid points;
2) arranging a signal source (1) on different grid points for measurement respectively, and synchronously obtaining each calibration phase difference information through a signal phase detection system based on an array antenna; when the signal source (1) is on each grid point, the phase of the receiving current when the electromagnetic wave signal sent by the signal source (1) is received is equal to
Figure FDA0003396150680000025
L represents the total number of array antenna units in the signal phase detection system based on the array antenna, then the signal phase detection system based on the array antenna is adopted to detect the phase difference information between the receiving currents in real time, when the 1 st array antenna unit is taken as the reference, the receiving current phases on the rest L-1 array antenna units are subtracted from the receiving current phase on the 1 st array antenna unit for normalization, and the obtained phase differences are respectively
Figure FDA0003396150680000026
Figure FDA0003396150680000027
Can be used as a set of calibration phase difference information;
3) establishing a calibration model, and obtaining coordinate information of each grid point or a complex vector V constructed based on the coordinate information in step 1)nAs the output of the calibration model, the calibration phase difference signals of the signal source (1) at each grid point are obtained in step 2)Or a complex vector I 'constructed based on the phase difference information'nAs the input of the calibration model, training processing is carried out by adopting a back propagation algorithm to obtain a trained calibration model;
4) for a signal source to be detected, acquiring phase difference information of the signal source to be detected through a signal phase detection system based on an array antenna;
the phase of the receiving current when the electromagnetic wave signal emitted by the signal source (1) is received is
Figure FDA0003396150680000028
Then, a signal phase detection system based on the array antenna is adopted to detect phase difference information among the receiving currents in real time, when the 1 st array antenna unit is taken as a reference, the receiving current phases on the rest L-1 array antenna units are subtracted from the receiving current phase on the 1 st array antenna unit for normalization, and the obtained phase differences are respectively
Figure FDA0003396150680000029
As phase difference information of the signal source to be detected;
5) phase difference information of signal source to be measured or complex vector I 'constructed based on the phase difference information'nInputting the predicted output coordinate information into the trained calibration model or constructing a complex vector V based on the coordinate informationnIs the position of the signal source to be measured.
2. The measurement method based on the visual array antenna according to claim 1, characterized in that:
the method adopts a direction-finding system, wherein the direction-finding system comprises a CMOS image sensor (21), a signal phase detection system based on an array antenna, a signal source (1) and a computer (20), the CMOS image sensor (21) shoots towards the signal source (1), the signal source (1) is positioned in the visual field range of the CMOS image sensor (21), and the output of the CMOS image sensor (21) is connected to the computer (20); the signal phase detection system based on the array antenna comprises the array antenna, a receiver module, a phase detection module and a single chip microcomputer (19); the array antenna is formed by regularly arranging L array antenna units, the receiver module is formed by L receivers, the phase detection module is formed by L-1 phase detection chip circuits, the array antenna unit (6) is connected to the input ends of the rest L-1 phase detection chip circuits through the receivers, the rest L-1 array antenna units are sequentially connected to the other input end of the phase detection chip circuit through the respective receivers, the output ends of the rest L-1 phase detection chip circuits are connected to the input end of the singlechip (19), and the output end of the singlechip (19) is connected to the computer (20).
3. A measurement method based on a visual array antenna according to claim 1 or 2, characterized in that: the relative positions of the CMOS image sensor (21) and the signal phase detection system based on the array antenna are kept fixed.
4. The measurement method based on the visual array antenna according to claim 2, characterized in that:
the CMOS image sensor (21) is directly connected with the computer (20) through a USB port, and the single chip microcomputer (19) is directly connected with the computer (20) through a serial-to-USB interface.
5. The measurement method based on the visual array antenna according to claim 2, characterized in that:
the signal source (1) is positioned in the far field area range of the array antenna.
6. The measurement method based on the visual array antenna according to claim 2, characterized in that:
the receiver comprises a low noise amplifier (22), a first-stage radio frequency band-pass filter (23), a radio frequency power amplifier (24), a second-stage radio frequency band-pass filter (25), a mixer (26), a phase-locked loop (27), an intermediate frequency band-pass filter (28) and an intermediate frequency power amplifier (29); a low noise amplifier (22), a first-stage radio frequency band-pass filter (23), a radio frequency power amplifier (24), a second-stage radio frequency band-pass filter (25), a mixer (26), an intermediate frequency band-pass filter (28) and an intermediate frequency power amplifier (29) are sequentially connected, a phase-locked loop (27) is connected to the mixer (26), the second-stage radio frequency band-pass filter (25) and the mixer (26) are respectively connected to two input ends of the mixer (26), signals received by the array antenna unit are sequentially subjected to low noise amplifier (22) amplification processing, first-stage radio frequency band-pass filter (23) filtering processing, radio frequency power amplifier (24) amplification processing, second-stage radio frequency band-pass filter (25) filtering processing and then are input into the mixer (26) together with signals of the phase-locked loop (27) for mixing, output signals of the mixer (26) are sequentially filtered by the intermediate frequency band-pass filter (28), The intermediate frequency power amplifier (29) amplifies and outputs the amplified signal to the phase detection module.
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