CN101413999B - Method for measuring aerial angle under inclined state - Google Patents

Abstract

The invention relates to a technology for measuring inclination angle of an antenna base in the radar detection and microwave communication fields, and a method thereof. The method allows the antenna to work in an inclination state. According to the technical proposal of the invention, the method comprises the following steps: step 1: arranging a sensor: arranging a 2D inclination angle sensor on the plane of the antenna base or the plane parallel to the plane of the antenna base; step 2: measuring the angle of the antenna base: measuring the inclination angle of the plane of the antenna base by the sensor to obtain the angle between the plane of the antenna base and the horizontal plane; step 3: determining the angle of the antenna: after the angle between the plane of the antenna base and the horizontal plane is obtained, converting the antenna angle which is measured by a self measuring system of the antenna in the inclination state of the antenna base and in which a inclined plane is taken as a reference system into a true angle with a horizontal plane as the reference system. The method can be used for correctly and rapidly measuring the angle and ensuring the normal operation of the system, as well as indirectly achieving automatic leveling without a leveling device.

Description

The measuring method of aerial angle under heeling condition

Technical field

The present invention relates to a kind ofly be under the heeling condition when antenna pedestal in radar detection and microwave communication field, to technology and the method that angle is measured, described method allows antenna to work under the state that tilts.

Background technology

At present, no matter be radar detection or microwave communication field, used antenna must level be demarcated the i.e. leveling of antenna base.For this reason, with regard to present classic applications technology, fixed station must be provided with the leveling physical construction with certain intensity to antenna base; Onboard system also needs by artificial or automatic horizontal control system is set adjusts the vehicle lifting jack, and vehicle does not rock and guarantees that antenna base is in horizontality when guaranteeing work; Shipborne system is that antenna is installed on the automatic leveling platform, guarantees system's operate as normal with longitudinal and transverse the waving of offsetting hull.These levelling gears all are to adjust antenna base to be in horizontality and to get off to guarantee system's operate as normal.

For boat-carrying leveling platform and vehicle-mounted automatic horizontal control system, relate to complicated automatic control technology and mechanical actuating mechanism.For vehicle-mounted automatic horizontal control system, except increasing the equipment cost, also increased the weight of equipment greatly, directly influence the useful load of onboard system and the reliability of maneuverability and system.With regard to present technology and method, also can't simplify above-mentioned working method, can't under being in heeling condition, antenna base guarantee system's operate as normal.

Summary of the invention

The objective of the invention is to design a kind of under heeling condition the measuring method of aerial angle, utilize this method can be under need not the prerequisite of above-mentioned levelling device, can carry out correct quick measurement and guarantee system's operate as normal angle, realize automatic leveling indirectly.

According to technical scheme of the present invention, described method comprises the steps:

Step 1 is provided with sensor: the inclination angle class sensor that two dimensions are set in antenna base plane or the plane parallel with base plane;

Step 2, the angle of measurement base: utilize the sensor to measure the pitch angle on antenna base plane, obtain the angle of pitch a and the position angle d of antenna base plane and surface level then according to following formula;

$\left\{\begin{array}{c}a=\arcsin \left(\sqrt{{\sin }^{2}f\·{\cos }^{2}e+{\sin }^{2}e}\right)\\ d=\arccos \left(\frac{\sin e\·\cos e\·{\cos }^{2}f}{\sqrt{{\sin }^{2}f\·{\cos }^{2}e+{\sin }^{2}e}}\right)\end{array}\right.$

Wherein:

A: the angle of pitch of antenna base plane and surface level;

D: the position angle of antenna base plane and surface level;

E: the pitch angle of the Y-axis that inclination angle class sensor is measured;

F: the pitch angle of the X-axis that inclination angle class sensor is measured;

Step 3, determine the angle of antenna: after obtaining position angle (d) and angle of pitch a with respect to the horizontal plane, antenna base plane, what more above-mentioned antenna is measured by the measuring system of antenna self under the state that its base tilts be that the angle of the antenna azimuth c of reference system and angle of pitch b converts to the surface level according to following formula with the clinoplane is the real angle of reference system;

$\left\{\begin{array}{c}\mathrm{\β}=\arcsin (\sin a\·\cos b\·\cos c+\cos a\·\sin b)\\ \mathrm{\α}=\arccos \left(\frac{\cos a\·\cos b\·\cos c-\sin a\·\sin b}{\cos \mathrm{\β}}\right)\±d\end{array}\right.;$

Wherein, β: antenna is the angle of pitch of reference system with the surface level;

α: antenna is the position angle of reference system with the surface level.

Another kind of method of the present invention is that step 3 is different, this comprising the steps: with the difference of said method

Step 1 is provided with sensor: the inclination angle class sensor that two dimensions are set in antenna base plane or the plane parallel with base plane;

Step 2, the angle of measurement base: utilize the sensor to measure the pitch angle on antenna base plane, obtain the angle of pitch a and the position angle d of antenna base plane and surface level then according to following formula;

$\left\{\begin{array}{c}a=\arcsin \left(\sqrt{{\sin }^{2}f\·{\cos }^{2}e+{\sin }^{2}e}\right)\\ d=\arccos \left(\frac{\sin e\·\cos e\·{\cos }^{2}f}{\sqrt{{\sin }^{2}f\·{\cos }^{2}e+{\sin }^{2}e}}\right)\end{array}\right.$

Wherein:

A: antenna base plane and surface level) the angle of pitch;

D: the position angle of antenna base plane and surface level;

E: the pitch angle of the Y-axis that inclination angle class sensor is measured;

F: the pitch angle of the X-axis that inclination angle class sensor is measured;

Step 3, determine the angle of antenna: after obtaining antenna base plane position angle d and angle of pitch a with respect to the horizontal plane, according to what set is the angle (azimuth angle alpha and angle of pitch β) of reference system with the surface level, be converted to antenna under its base heeling condition according to following formula, antenna with this plane inclined is being angle in the reference system;

$\left\{\begin{array}{c}b=\arcsin (\cos a\·\sin \mathrm{\β}+\sin a\·\cos \mathrm{\α}\·\cos \mathrm{\β})\\ c=\arccos \left(\frac{\sin \mathrm{\β}-\cos a\·\sin b}{\sin a\cos b}\right)\±d\end{array}\right.$

Wherein, β: antenna is the angle of pitch of reference system with the surface level;

α: antenna is the position angle of reference system with the surface level;

B: with the clinoplane is the angle of pitch of the antenna of reference system;

C: with the clinoplane is the position angle of the antenna of reference system.

The present invention is by measuring the angle on two planes and the angle between this angle bearing sense and the reference planes upper position index angle, and the sensing angle that is reference system with a plane can be converted to respect to another plane by calculating is the angle of reference system.

At first will measure the plane of antenna base and the relative position of surface level, this can realize by the inclination angle class sensor of two dimensions (axle).As shown in Figure 1, the obliquity sensor of twin shaft can be measured the pitch angle of a plane X transverse axis and the inclination angle of the Y longitudinal axis, can draw the angle of this plane and surface level and the relative position at angle bearing sense and surface level direction reference angle (referring to 0 ° of angle, north) by analytical calculation.

Calculating by above measurement is the angle and the position angle relation of known clinoplane (the residing plane of antenna base) and surface level, calculate again for antenna measured orientation, angle of pitch on plane inclined, can obtain real angle with respect to the horizontal plane.So can under the prerequisite of levelling device that need not be conventional, realize the correct measurement of angle fully.

In addition, antenna be controlled to real angle (angle with respect to the horizontal plane) in plane inclined, also available above-mentioned principle calculates position angle and the angle of pitch of antenna in plane inclined.So in the required control mode of antenna with respect to the horizontal plane, promptly the mode of antenna movement and fixed point only needs an antenna servo system to cooperate in plane inclined, also can realize equally.Being used in the onboard system of this principle can replace automatic horizontal control system, is expected to the substituted ship platform in shipborne system, and prerequisite is that antenna kinematic train and its servo-control system have enough dynamic perfromances.

Description of drawings

Fig. 1: obliquity sensor is measured face and surface level mutual alignment synoptic diagram.

Fig. 2: the spatial relationship synoptic diagram between two different reference plane.

Embodiment

As shown in Figure 1: be in the spherical coordinate of radius with R, obliquity sensor is in sphere center position O point, and OX is the direction of X-axis on the surface level, and OY is the direction of Y-axis on the surface level, and OZ is the Z-direction vertical with surface level.

Straight line A ₂OA ₁Be the line (X-axis) in the surface level, straight line B ₂OB ₁Be the line in the plane inclined, the X-axis of obliquity sensor and straight line B ₂OB ₁Overlap its Y-axis coordinate and straight line A ₂OA ₁Equally be 0.F is the X-axis pitch angle that obliquity sensor measures, and e is the pitch angle of Y-axis.

The camber line of plane inclined and spheres intersect is L ₁, L ₂, the H point is camber line L ₁, L ₂The point of middle Z coordinate the highest (numerical value maximum).

As shown in Figure 2: in the spherical coordinate system 3 that with R is radius, antenna is in sphere center position O point, A ₂OA ₁Be the X-axis in the surface level 1, E ₂OE ₁Be the projection line of the residing clinoplane 2 of antenna base on vertical plane ZOX, a is the angle of clinoplane 2 and surface level 1, when antenna is central shaft with OP in plane inclined 2, is that the angle of pitch is when rotating with b, when turning to position angle c, be oriented to 6, the joining of antenna direction and sphere is projected as the M point on vertical plane ZOX; When the position angle is 0 °, be oriented to 4, with spheres intersect in F ₁When the position angle is 180 °, be oriented to 5, with spheres intersect in F ₂Line segment F ₁F ₂The projection line of crossing camber line on vertical plane ZOX for antenna direction and sphere.N is line segment F ₁F ₂Intersection point with the Z axle.7 for being located at the obliquity sensor in antenna base clinoplane 2 or the parallel with it plane, its X-axis and E ₂OE ₁Parallel.

Specific operation process of the present invention is described below:

Step 1 is provided with sensor: the inclination angle class sensor 7 that two dimensions are set in antenna base plane 2 or the plane parallel with base plane 2;

The inclination angle class sensor of two dimensions (axle) is set in antenna base plane (or parallel with it plane).For the ease of analytical calculation, supposing the system is in the spherical system as shown in Figure 1: O is the centre of sphere (the residing position of class sensor, inclination angle), R is the radius of a ball, OA1 is the direction (pointing to 0 ° in positive north) of X-axis on the surface level, OY is the direction of Y-axis on the surface level, and OZ is the Z-direction vertical with surface level.

The camber line of plane inclined and spheres intersect is L ₁, L ₂, its volume coordinate is: (X, Y, Z), straight line A ₂OA ₁Be the X-axis in the surface level, straight line B ₂OB ₁Be the line in the plane inclined, its Y-axis coordinate is 0, and the X-axis and the straight line B of hypothesis obliquity sensor ₂OB ₁Overlap.

Step 2, the angle of measurement base: utilize the sensor 7 to measure the pitch angle on antenna base planes 2, obtain the angle of pitch a and the position angle d of antenna base plane 2 and surface level 1 then according to following formula.

(1): the pitch angle of measuring clinoplane earlier by inclination angle class sensor: f is the X-axis pitch angle that obliquity sensor measures, and e is the pitch angle of Y-axis.

If op=i (0≤i≤R)

Then: $X=i\cos e-\sqrt{R^2-i^2}\sin f\·\sin e$ (formula 1)

$Z=f\left(i\right)=\sin f\·\cos e\·\sqrt{R^2-i^2}+\sin e\·i$ (formula 2)

(2): calculate the peak coordinate

(formula 1), (formula 2) are calculated and can be obtained camber line L ₁, L ₂The coordinate of middle Z coordinate the highest (numerical value maximum) point (H point):

Promptly work as $i=\frac{k_{2}R}{\sqrt{{k_1}^2+{k_2}^2}}$ The time

$Z_{h\left(\max \right)}=R\·\sqrt{{k_1}^2+{k_2}^2}$ (formula 3)

$X_{\max }=R\·\frac{k_2\·\cos e-k_1\·\sin f\·\sin e}{\sqrt{k_1^2+k_2^2}}$ (formula 4)

(k ₁＝sinf·cose k ₂＝sine)

(3): calculate two plane included angles relation

When calculating camber line L ₁, L ₂Behind the coordinate of middle Z coordinate the highest (numerical value maximum) point (H point), the angle that just can further calculate plane inclined and surface level is that a, orientation angle are d:

Step 3 is determined the angle of antenna.

Step 3 can have two kinds of modes of operation, a kind of mode of operation is: when obtaining antenna base plane 2 with respect to the horizontal plane behind 1 the position angle d and angle of pitch a, what more above-mentioned antenna is measured by the measuring system of antenna self under the state that its base tilts be that the angular transition of the antenna azimuth c of reference system and angle of pitch b becomes with the surface level with clinoplane 2 is the real angle of reference system;

(1): the directly angle of pitch b and the position angle c of measurement target in plane inclined

When system works is in a plane inclined, state as shown in Figure 2: for ease of analytical calculation, suppose that antenna is in R the centre of sphere O place of the spherical coordinate system 3 that is the radius of a ball.A ₂OA ₁Be the X-axis in the surface level 1, E ₂OE ₁Be the projection line of the residing clinoplane 2 of antenna base on vertical plane ZOX, a is the angle of clinoplane 2 and surface level 1, when antenna is central shaft with OP in plane inclined 2, is that the angle of pitch is when rotating with b, when turning to position angle c, be oriented to 6, the joining of antenna direction and sphere is projected as the M point on vertical plane ZOX; When the position angle is 0 °, be oriented to 4, with spheres intersect in F ₁When the position angle is 180 °, be oriented to 5, with spheres intersect in F ₂Line segment F ₁F ₂The projection line of crossing camber line on vertical plane ZOX for antenna direction and sphere.N is line segment F ₁F ₂Intersection point with the Z axle.7 for being located at the obliquity sensor in antenna base clinoplane 2 or the parallel with it plane, its X-axis and E ₂OE ₁Parallel.

To be antenna under the state that its base tilts directly measured by the measuring system of antenna self is the position angle and the angle of pitch of reference system with clinoplane 2 for c and b.

(2) X, the Z coordinate of projection line on the calculating vertical plane

Analyze its spatial relationship, then line segment F ₁F ₂The Z axial coordinate satisfy following formula:

$Z=\mathrm{tga}\·x+R\·\frac{\sin b}{\cos a}=\frac{1}{\cos a}(\sin a\·x+R\·\sin b)$

When system turned to position angle c in plane inclined, the joining of antenna direction and sphere was projected as the M point on vertical plane ZOX, and its X, Z coordinate are:

(3), by X, Z coordinate Calculation target to real azimuth angle alpha of surface level coordinate system and angle of pitch β

Therefore X, Z coordinate, can be obtained for the azimuth angle alpha of surface level and angle of pitch β according to X, Z coordinate figure the surface level coordinate system

Wherein, d is the orientation angle on two planes, and azimuth angle alpha is done corresponding correction.

In actual applications, under the situation of not leveling of vehicle, measure the position angle and the angle of pitch of an airplane such as vehicle-mounted surveillance radar, because the antenna base of vehicle-mounted surveillance radar is in the state of inclination, therefore the position angle of the aircraft that measures and the angle of pitch are not true angle with respect to the horizontal plane, at this moment, utilize method of the present invention, by being arranged on the inclination angle class sensor 7 that two dimensions are set in antenna base plane 2 or the plane parallel with base plane 2; Formula 5 and formula 6 calculate the antenna base of vehicle-mounted surveillance radar and the angle of surface level earlier, pass through the calculating of formula 9 and formula 10 again, real position angle and the angle of pitch of aircraft can be directly obtained, thereby conventional mechanical levelling gear can be saved for the level measurement system.

The another kind of mode of operation of step 3 is: when obtaining antenna base plane 2 with respect to the horizontal plane behind 1 the position angle d and angle of pitch a, according to what set is the azimuth angle alpha and the angle of pitch β of reference system with the surface level, be converted to antenna under its base heeling condition, antenna with this plane inclined 2 is being angle in the reference system; As known two plane included angle a and orientation angle d, requiring antenna is controlled to the surface level is azimuth angle alpha angle of pitch β under the reference system, and then position angle c in the clinoplane reference system and angle of pitch b satisfy following relation:

$\left\{\begin{array}{c}\sin \mathrm{\β}=\sin a\·\cos b\·\cos c+\cos a\·\sin b\\ \cos \mathrm{\α}=\frac{\cos a\·\cos b\·\cos c-\sin a\·\sin b}{\cos \mathrm{\β}}\end{array}\right.$

Can obtain by calculating:

In actual applications, such as shipborne satellite communication system, utilize method of the present invention that expensive plateform system peculiar to vessel can be set.At this moment,, utilize method of the present invention, by being arranged on the inclination angle class sensor 7 that two dimensions are set in antenna base plane 2 or the plane parallel with base plane 2 because satellite is known for the position angle and the angle of pitch of level measurement system; Utilize formula 5 and formula 6 to cooperate boat-carrying compass system that the position angle is revised again earlier, calculate the angle of antenna base and surface level, pass through the calculating of formula 11 and formula 12 again, can directly obtain the angle that antenna base should point under the state that tilts, promptly with the plane inclined be the position angle and the angle of pitch in the reference frame.As long as the antenna kinematic train and the servo-control system of microwave telecommunication system have enough dynamic properties, just can realize this operation.

Claims (2)

1. a method of under heeling condition aerial angle being measured is characterized in that described method comprises the steps:

Step 1 is provided with sensor: the inclination angle class sensor (7) that two dimensions are set in antenna base plane (2) or the plane parallel with base plane (2);

Step 2, the angle of measurement base: utilize the sensor (7) to measure the pitch angle on antenna base plane (2), obtain the angle of pitch (a) and position angle (d) of antenna base plane (2) and surface level (1) then according to following formula;

$\left\{\begin{array}{c}a=\arcsin \left(\sqrt{{\sin }^{2}f{\·\cos }^{2}e{+\sin }^{2}e}\right)\\ d=\arccos \left(\frac{{\sin e\·\cos e\·\cos }^{2}f}{\sqrt{{\sin }^{2}f{\·\cos }^{2}e+{\sin }^{2}e}}\right)\end{array}\right.$

Wherein:

A: the angle of pitch of antenna base plane (2) and surface level (1);

D: the position angle of antenna base plane (2) and surface level (1);

E: the pitch angle of the Y-axis that inclination angle class sensor (7) is measured;

F: the pitch angle of the X-axis that inclination angle class sensor (7) is measured;

Step 3, determine the angle of antenna: when obtaining antenna base plane (2) with respect to the horizontal plane behind the position angle of (1) (d) and the angle of pitch (a), what more above-mentioned antenna is measured by the measuring system of antenna self under the state that its base tilts be that the angle of the antenna azimuth (c) of reference system and the angle of pitch (b) converts to the surface level according to following formula with clinoplane (2) is the real angle of reference system;

$\left\{\begin{array}{c}\mathrm{\β}=\arcsin (\sin a\·\cos b\·\cos c+\cos a\·\sin b)\\ \mathrm{\α}=\arccos \left(\frac{\cos a\·\cos b\·\cos c-\sin a\·\sin b}{\cos \mathrm{\β}}\right)\±d\end{array}\right.;$

Wherein, β: antenna is the angle of pitch of reference system with surface level (1);

α: antenna is the position angle of reference system with surface level (1).

2. a method of under heeling condition aerial angle being measured is characterized in that described method comprises the steps:

Step 1 is provided with sensor: the inclination angle class sensor (7) that two dimensions are set in antenna base plane (2) or the plane parallel with base plane (2);

Step 2, the angle of measurement base: utilize the sensor (7) to measure the pitch angle on antenna base plane (2), obtain the angle of pitch (a) and position angle (d) of antenna base plane (2) and surface level (1) then according to following formula;

$\left\{\begin{array}{c}a=\arcsin \left(\sqrt{{\sin }^{2}f{\·\cos }^{2}e{+\sin }^{2}e}\right)\\ d=\arccos \left(\frac{{\sin e\·\cos e\·\cos }^{2}f}{\sqrt{{\sin }^{2}f{\·\cos }^{2}e+{\sin }^{2}e}}\right)\end{array}\right.$

Wherein:

A: the angle of pitch of antenna base plane (2) and surface level (1);

D: the position angle of antenna base plane (2) and surface level (1);

E: the pitch angle of the Y-axis that inclination angle class sensor (7) is measured;

F: the pitch angle of the X-axis that inclination angle class sensor (7) is measured;

Step 3, determine the angle of antenna: when obtaining antenna base plane (2) with respect to the horizontal plane behind the position angle of (1) (d) and the angle of pitch (a), according to what set is the azimuth angle alpha and the angle of pitch β of reference system with the surface level, be converted to antenna under its base heeling condition according to following formula, antenna with this plane inclined (2) is being angle in the reference system;

$\left\{\begin{array}{c}b=\arcsin (\cos a\·\sin \mathrm{\β}-\sin a\·\cos \mathrm{\α}\·\cos \mathrm{\β})\\ c=\arccos \left(\frac{\sin \mathrm{\β}-\cos a\·\sin b}{\sin a\cos b}\right)\±d\end{array}\right.$

Wherein, β: antenna is the angle of pitch of reference system with surface level (1);

α: antenna is the position angle of reference system with surface level (1);

B: with clinoplane (2) is the angle of pitch of the antenna of reference system;

C: with clinoplane (2) is the position angle of the antenna of reference system.

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