CN102262236A - Motional carrier azimuth calibrating device and calibrating method - Google Patents
Motional carrier azimuth calibrating device and calibrating method Download PDFInfo
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Abstract
The invention discloses a motional carrier azimuth calibrating device, which can be extensively applied to the fields of surveying and mapping, geological exploration, weather radars and the like. The device comprises antennae, a cable, a sum signal and difference signal network, a sum signal and difference signal receiving module, a power module, a serial port data wire and a display control module, wherein the antennae comprise two paths of array antennae; the sum signal and difference signal receiving module is connected with the display control module through the serial port data wire; sigma signals and delta signals of satellite signals received by the two paths of antennae form the sum signal and difference signal network by the cable; and the sigma signals and the delta signals are resolved by the sum signal and difference signal receiving module and sent into the display control module. The motional carrier azimuth calibrating device has the characteristics of high interference resistance, high degree of intelligence, reliable orientating results and the like, and has the advantages of small volume, light weight, low price, all-whether service, no accumulation of errors along with time, no requirement on initial alignment for a long time and the like.
Description
Technical field
The present invention relates to radio direction finding device and orientation calibration method, specifically a kind of its scaling method of device that utilizes Beidou satellite navigation and positioning system to carry out the motion carrier orientation calibration.
Background technology
GPS is by the Aerospace Satellite navigation positioning system of U.S.'s development, and its space segment is made up of 24 work satellites, and it is positioned at apart from the sky of face of land 20200km, is evenly distributed on (4 of each orbital planes) on 6 orbital planes, and orbit inclination is 55 °.At present, motion carrier attitude calibration system mainly is to utilize GPS to the high-precision relative locating signal of carrier phase, determines the relative position of two antenna phase centers, to calculate position angle, the angle of pitch and the roll angle of carrier.This system needs the receiving antenna more than 3 usually, masks 1 or more antenna when rotating to prevent motion carrier, and all the other extra antennas provide the measurement redundance; The carrier phase receiver of each antenna duplexer is measured abundant gps satellite carrier wave instantaneous phase in the system, and compares phase differential, finally finishes the direction in space of accurate establishment of base line; To being not parallel to each other and not coplanar three baseline direction findings, then can measure the motion carrier spatial direction, that is determine its attitude.Concrete assay method is with an antenna (O
1) be reference point, accurately measure two other antenna (O under the WGS84 coordinate system
2, O
3) with respect to O
1Coordinate poor (Δ X2, Δ Y2, Δ Z2) and (Δ X3, Δ Y3, Δ Z3).Calculate three attitude angle according to the coordinate difference.(length is about 3～30m) to two short baselines of the phase center of three antennas formation in the system.The precision that system surveys appearance depends primarily on the length of baseline and the relative positioning precision of baseline.When baseline b=3.0m, survey the appearance precision and can reach 0.2 °～0.5 °; When baseline during, survey the appearance precision and can reach 0.02 ° greater than 30m.The observed reading of carrier phase relative positioning is the phase value of L-band carrier wave, and it comprises that complete cycle counts the phase value Δ ф in N (having blur level) and 1 week of less than, and the measuring accuracy of Δ ф is very high, and generally its equivalent distances has only (2～3) mm.Therefore, how to determine accurately that integer ambiguity just becomes the key of carrier wave relative positioning.The static for a long time observation of conventional static immobilization general using makes the satellite geometry figure produce enough big variation, thereby solves integer ambiguity.In Kinematic Positioning, (OnThe Fly) method of resolving in boat of integer ambiguity mainly contains quick ambiguity resolution method (FARA), least square blur level search procedure (LSAST), ambiguity function method (AFM) etc.This shows the motion carrier attitude calibration technique comparative maturity that utilizes GPS.This shows, utilize its technology of motion carrier attitude calibration system of GPS relatively ripe.
Beidou satellite navigation and positioning system is the positioning system of China's development.The Beidou I navigation positioning system of enabling at present belongs to regional positioning system, and it is made up of three big-dipper satellites, is satellite.Because what this system adopted is the geo-stationary orbit geostationary satellite, its number of satellite is less and only send the descending carrier of a frequency, and therefore, GPS motion carrier attitude calibration technique also is not suitable for the Beidou I navigation positioning system.
At present, utilize the Beidou I navigation positioning system to carry out attitude measurement and mainly adopt the rotating antenna method.There are problems in this method, as finds the solution the algorithm complexity of integer ambiguity, checks difficulty, and directed result reliability is low; The time delay consistance of two-way radio frequency part is difficult to guarantee that directed resultant error is big; Interference free performance is poor, and the anti-multipath design can increase the complicacy of antenna and back-end processing greatly.
Purpose of the present invention will provide a kind of good in anti-interference performance exactly, intelligent degree height, directed result reliability is high, be applicable to the motion carrier orientation calibration device of Beidou I navigation positioning system, provide a kind of simultaneously and be particularly useful for utilizing the Beidou I navigation positioning system to carry out the method for motion carrier orientation calibration.
Summary of the invention
The objective of the invention is to be achieved through the following technical solutions:
Motion carrier orientation calibration device provided by the present invention includes antenna, cable and difference signal network and difference signal receiver module, power module, serial port data line, shows the control module; Antenna is a two-way rectangular antenna; Be connected with apparent control module by serial port data line with the difference signal receiver module; The satellite-signal that the two-way antenna receives constitutes ∑ signal and Δ signal and the difference signal network by cable, and ∑, Δ signal show the control module by resolving to send into the difference signal receiver module.
Apparatus of the present invention receive Big Dipper satellite signal simultaneously by two-way rectangular antenna, adopt the multi-mode concurrent working, after process and difference are handled, send into apparent control module; Compare, when handling, find out power minimum at the power data that antenna is received, find direction thus comparatively accurately over against satellite; According to the space geometry relation of current coordinate of this machine and satellite, calculate the position angle between antenna direction and the geographical north again.
Apparatus of the present invention have good in anti-interference performance, intelligent degree height, characteristics such as directed reliable results.The present invention has also simultaneously that volume is little, in light weight, low price, round-the-clock, error does not accumulate in time, need not plurality of advantages such as long-time initial alignment.
Apparatus of the present invention can be widely used in fields such as mapping, geologic prospecting, weather radar.
The method of utilizing the Beidou I navigation positioning system to carry out the motion carrier orientation calibration provided by the present invention, be to receive two groups of phase informations respectively from big-dipper satellite by the two-way rectangular antenna in apparatus of the present invention, by with the difference signal network switch be the single channel signal that comprises amplitude information, in the measurement that realizes the orientation by amplitude measurement.
More specifically the method for motion carrier orientation calibration is:
A, start-up logging: import on-site terrestrial coordinate LBH of this machine or rectangular coordinate XYZ greatly;
B, obtain co-ordinates of satellite: rotary antenna, this machine of unlatching, by with difference signal receiver module locking big-dipper satellite in a satellite beams and calculate power enough strong the time, antenna stops operating, with signal processing module in the difference signal receiver module begin to export receive with the difference signal network in the branch power data, treat complete receive co-ordinates of satellite after, stop output; Repeat said process and receive, the volume coordinate of satellite is preserved as the parameter of subsequent calculations until the coordinate of three satellites;
C, obtain ∑ signal and Δ signal: the antenna receiving satellite signal, by obtaining Δ, ∑ signal with the difference signal network, through and the difference signal receiver module to the despreading of input signal, demodulation, decoding etc., solve signal power and navigation message, send into to show and control module.
D, calculate satellite position: its flow process comprise show the control module to the difference signal receiver module in send pass power commands, handle six wave beam satellite-signal power with difference signal receiver module parallel search and in real time signal power is sent to apparent control module, show the bearing data that the control module receives peripheral input simultaneously, with receive from corresponding one by one with bearing data with the power data of difference signal receiver module; Marking, and data are handled; After antenna rotated for two weeks, show the transmission of control module and cease and desist order to stopping output with difference signal receiver module and difference signal receiver module; Then through calculating a stack orientations angular data at 3 satellite places; Can obtain one group of true north bit data by calculating; After the wild value of this group true north bit data rejecting, averaging to obtain the true north bit data;
E, transmission true north bit data.
Apparatus of the present invention and method thereof have following outstanding substantive distinguishing features and beneficial effect compared with prior art:
(1) utilize the minimum value of the received power difference of two-way rectangular antenna to determine the satellite-signal orientation, with received power and maximal value solve the fuzzy of orientation, avoid finding the solution of ambiguity of carrier in full period thus, simplified computing method, improved the operational efficiency of device.
(2) satellite ∑, Δ signal are obtaining with the difference signal network egress, and the time-delay of radio frequency part determines not have influence to the orientation, greatly reduces thus the conforming overcritical condition of equipment, has improved directed result's reliability, reduces cost of products.
(3) multipath effect is little to signal power valuation influence, so also little to the influence of orientation accuracy.
∑ signal among the present invention is meant and tributary signal; The Δ signal is meant poor tributary signal;
Description of drawings
Fig. 1 is the structural representation of apparatus of the present invention.
Fig. 2 is the antenna structure view in apparatus of the present invention.
Fig. 3 is in apparatus of the present invention and the circuit theory diagrams difference signal network
Fig. 4 is in apparatus of the present invention and the functional block diagram difference signal receiver module.
Fig. 5 be in apparatus of the present invention and the difference signal receiver module in the function and the structured flowchart of signalling channel processing module.
Fig. 6 shows control module peripheral hardware structural representation in apparatus of the present invention.
Fig. 7 is apparatus of the present invention antenna receiving satellite signal schematic diagram.
Below in conjunction with accompanying drawing the present invention is done further detailed description.
Specific embodiment
Apparatus of the present invention include antenna 1, cable 2 and difference signal network 3 and difference signal receiver module 4, power module 5, serial port data line 6, show control module 7 as shown in Figure 1; Antenna 1 is two-way rectangular antenna (101,102), is connected with apparent control module 7 by serial port data line 6 with difference signal receiver module 4; Antenna 1 is two-way rectangular antenna (101,102), and the satellite-signal that two-way antenna (101,102) receives constitutes ∑ signal and Δ signal and difference signal network 3 by cable 2; Show control module 7 with difference signal receiver module 4 receives and difference signal network 3 is imported ∑, Δ signal through resolving to send into.
As shown in Figure 2, the preferred micro-strip antenna array of the two-way antenna of apparatus of the present invention (101,102), azimuth plane adopts 16 a period of time (A
1～A
8, A
9～A
16), every road antenna bearingt face adopts 8 a period of time; Two parts (being 8 a period of time of the left side, 8 a period of time of the right) about being divided on the physical arrangement, the satellite-signal of reception constitutes ∑ signal and Δ signal and difference signal network 3 by cable 2.Import and difference signal receiver module 4 by ∑ signaling interface and Δ signaling interface with ∑, Δ signal in the difference signal network 3, obtain an orientation and wave beam and gun parallax wave beam and send into showing control module 7 through resolving.So, effectively improved the receptivity of antenna by strengthening the antenna plane dead size.
The major function with difference signal network 3 in apparatus of the present invention is to move the phase place of microwave signal.
Its functional block diagram as shown in Figure 3, microwave phase shifter 301, microwave power synthesizer 302, formation and difference signal network 3.No. one antenna 101 signals are walked transmission line a and transmission line b respectively, can walk 2 quarter-waves (λ/2) than walking transmission line a when it selects transmission line b more.Therefore, antenna 101 is walked transmission line b just than walking transmission line a phase lag 180 degree.The mould value of antenna 101 signals remains unchanged, phase change 180 degree, and then antenna 101 signals will become negative value, and the signal that microwave phase shifter 301 is exported is given microwave power synthesizer 302 then.Another road antenna 102 signals directly enter microwave power synthesizer 302 by the c transmission line.Microwave power synthesizer 302 will be synthetic with the signal of another road antenna 102 transmission respectively by two tributary signals of No. one antenna 101 transmission, promptly do sum operation, output two-way numerical value.
Be used to realize the catching of input signal, tracking, despreading, demodulation, decoding function are solved signal power and navigation message with difference signal receiver module 4 in apparatus of the present invention.Its concrete circuit design as shown in Figure 4, this module is by A/D converter (401,404) and passage processing module (402,403) and signal processing module 405 formations, A/D converter wherein (401,404) links to each other with signal processor module 405 by passage processing module (402,403) respectively, signal processing module 405 extracts the data that the passage processing module is sent here, and treated sending into shows control module 7.A/D converter (401,403) analog signal conversion that will send here with difference signal network 3 is a digital signal, and then by passage processing module (402,403) to digital medium-frequency signal and reproduction carrier wave and information such as relevant treatment output power value that reappears sign indicating number and navigation message, extract passage processing module (402 by signal processing module 405,403) performance number of sending here and navigation message information are sent into and are shown control module 7, the performance number data that then apparent 7 pairs of modules of control receive compare, numerical value is more for a short time to show that the angle between antenna and the satellite is more little, when numerical value reached relative minimum, antenna was over against satellite.
The function of above-mentioned passage processing module (402,403), structure as shown in Figure 5, this module includes local digital carrier generator, NCO (carrier number controlled oscillator), I branch road code correlator, Q branch road code correlator.Passage processing module (402,403) receives the digital medium-frequency signal that sum-difference network 3 is sent here, the reproduction carrier wave and the reproduction sign indicating number that are produced by local digital carrier generator, NCO multiply each other with the digital intermediate frequency carrier signal and the coded signal that receive, carry out relevant treatment through I branch road correlator, Q branch road correlator then, obtain performance number and navigation message information view and measure.
I in above-mentioned is meant In-phase (in-phase component); Q is meant Quadrature (quadrature component).
Adopt apparatus of the present invention, utilize the Beidou I navigation positioning system to carry out the motion carrier orientation calibration: at first to receive two groups of phase informations respectively from big-dipper satellite by two-way rectangular antenna (101,102), by being converted to the single channel signal that comprises amplitude information, realize the measurement in orientation again by amplitude measurement with difference signal network 3.
Its more specifically step be:
A, start-up logging: mainly be from keyboard 711 input on-site terrestrial coordinate LBH of this machine or rectangular coordinate XYZ greatly.
B, obtain co-ordinates of satellite: rotary antenna, this machine of unlatching, by with difference signal receiver module 4 locking big-dipper satellites in the particular satellite wave beam and calculate power enough strong the time, antenna stops operating, signalling channel processor 405 begin to export receive with difference signal network 3 in the branch power data, treat complete receive co-ordinates of satellite after, stop output; Repeat said process and receive, the volume coordinate of satellite is preserved as the parameter of subsequent calculations until the coordinate of three satellites;
C, obtain orientation wave beam and signal and orientation wave beam difference signal: receiving antenna send with the branch power data, receive the bearing data of peripheral input and will form mapping relations simultaneously with branch power data and antenna bearingt data, after determining that according to the bearing data that receives antenna has rotated a week, antenna output difference branch power data are set;
D, calculating satellite position:
Show control module 7 to difference signal receiver module 4 in send pass power commands, handle six wave beam satellite-signal power with difference signal receiver module 4 parallel searches and in real time signal power is sent to apparent control module 7, show control module 7 take over party's bit data simultaneously, and will receive from corresponding one by one with bearing data with the power data of difference signal receiver module 4; Marking, and data are handled; After antenna rotated for two weeks, show 7 transmissions of control module and cease and desist order to stopping output with difference signal receiver module 4 and difference signal receiver module 4; Then through calculating a stack orientations angular data at 3 satellite places; Can obtain one group of true north bit data by calculating; After the wild value of this group true north bit data rejecting, averaging to obtain the true north bit data;
E, transmission true north bit data.
5, transmit true north bit stream journey: artificial or automatic.
Apparatus of the present invention antenna receiving satellite signal principle as shown in Figure 7, the two paths of signals that rotating in time two-way antenna (101,102) receives, two-way antenna phase center distance is L, satellite and center of antenna plane included angle are α, can obtain the signal transmission distance difference s that two-way antenna (101,102) receives, if antenna (101,102) is isotropy and performance is identical, can obtain an envelope signal through phase shift with after switching, by to envelope signal to the differential of α as can be known: the variation dP of envelope is proportional to L, is inversely proportional to λ.Extreme point according to envelope can be determined satellite position, according to putting coordinate and the satellite position coordinate is determined the baseline fix of this machine to satellite in this seat in the plane, and then orientation, definite geographical north.
Its concrete operation mode is as follows:
At first carry out and difference operation, two-way antenna (101,102) phase center distance (being base length) is L, and satellite and center of antenna plane included angle are α, and then the signal transmission distance difference that receives of two-way antenna (101,102) is:
S＝Lcosα＝Φλ/2π (1)
Be Φ=2 π Lcos α/λ (2)
If antenna (101,102) is isotropy and performance is identical, make antenna (101) received signal be:
PA＝Acosω0t (3)
Then antenna (102) received signal is
PB＝Acos(ω0t+Φ) (4)
Obtain ∑+Δ and ∑-Δ behind process and the difference operation
∑＝PA+PB＝Acosω0t+Acos(ω0t+Φ)
＝2Acos(ω0t+Φ/2)cosΦ/2 (5)
Δ＝PA-PB＝Acosω0t-Acos(ω0t+Φ)
Expression formula is=2Asin (ω 0t+ Φ/2) sin Φ/2 (6) difference branch roads through phase shift with after switching:
ΔM＝I(t)2Acos(ω0t+Φ/2)sinΦ/2 (7)
Wherein I (t) value is 1 ,-1, then has:
∑+ΔM＝2Acos(ω0t+Φ/2)×〔cosΦ/2+I(t)sinΦ/2〕 (8)
Be an envelope signal, its envelope variation amplitude is:
P＝4AsinΦ/2
For investigating envelope variation, ask the differential of envelope P to α:
dP＝-4Acos(πLcosα/λ)*πLsinα/λ*dα (9)
By (9) formula as can be known: the variation dP of envelope is proportional to L, is inversely proportional to λ
Extreme point according to envelope can be determined satellite position, according to putting coordinate and the satellite position coordinate is determined the baseline fix of this machine to satellite in this seat in the plane, and then orientation, definite geographical north.
Claims (6)
1. a motion carrier orientation calibration device is characterized in that this device includes antenna (1), cable (2) and difference signal network (3) and difference signal receiver module (4), power module (5), serial port data line (6), shows control module (7); Antenna (1) is two-way rectangular antenna (101,102); Be connected with apparent control module (7) by serial port data line (6) with difference signal receiver module (4); The satellite-signal that the two-way antenna receives constitutes ∑ signal and Δ signal and difference signal network (3) by cable (2), ∑, Δ signal by and difference signal receiver module (4) resolve and send into the apparent module (7) of controlling.
2. motion carrier orientation calibration device according to claim 1 is characterized in that said two-way antenna (101,102) is a micro-strip antenna array, and every road antenna bearingt face adopts 8 a period of time.
3. motion carrier orientation calibration device according to claim 1 and 2, it is characterized in that said and difference signal network (3) is made of microwave phase shifter (301) and microwave power synthesizer (302), one road aerial signal (101) enters microwave power synthesizer (302) by transmission line through microwave phase shifter (301), and another road aerial signal (102) directly enters microwave power synthesizer (302) by transmission line.
4. motion carrier orientation calibration device according to claim 1 and 2, it is characterized in that including in the said and difference signal receiver module (4) and be provided with A/D converter (401,404), passage processing module (402,403), signal processing module (405), wherein A/D converter (401,404) is connected with signal processing module (405) by channel processor (402,403) respectively, and the data that signal processing module (405) extraction passage processing module (402,403) is sent here are sent into and shown control module (7).
5. method of utilizing the Beidou I navigation positioning system to carry out the motion carrier orientation calibration, it is characterized in that the two-way rectangular antenna (101,102) in the described motion carrier orientation calibration of its employing claim 1 device receives two groups of phase informations from big-dipper satellite respectively, by being converted to the single channel signal that comprises amplitude information, realize the measurement in orientation again by amplitude measurement with difference signal network (3).
6. method of utilizing the Beidou I navigation positioning system to carry out the motion carrier orientation calibration, its feature is adopting the described motion carrier orientation calibration of claim 4 device, carries out according to following steps:
A, start-up logging: import on-site terrestrial coordinate LBH of this machine or rectangular coordinate XYZ greatly;
B, obtain co-ordinates of satellite: rotary antenna, this machine of unlatching, by with difference signal receiver module (4) locking big-dipper satellite in a satellite beams and calculate power enough strong the time, antenna stops operating, with signal processing module (405) in the difference signal receiver module (4) begin to export receive with difference signal network (3) in the branch power data, treat complete receive co-ordinates of satellite after, stop output; Repeat said process and receive, the volume coordinate of satellite is preserved as the parameter of subsequent calculations until the coordinate of three satellites;
C, obtain ∑ signal and Δ signal: antenna (101,102) receiving satellite signal, by obtaining Δ, ∑ signal with difference signal network (3), through and difference signal receiver module (4) to despreading, the demodulation of input signal, decipher, solve signal power and navigation message, send into to show and control module (7);
D, calculate satellite position: its flow process comprise show control module (7) to difference signal receiver module (4) in the transmission pass power commands, handle six wave beam satellite-signal power with difference signal receiver module (4) parallel search and in real time signal power is sent to apparent control module (7), show control module (7) and receive the peripheral bearing data of importing simultaneously, with receive from corresponding one by one with bearing data with the power data of difference signal receiver module (4); Marking, and data are handled; After antenna rotated for two weeks, show control module (7) transmission and cease and desist order to stopping output with difference signal receiver module (4) and difference signal receiver module (4); Then through calculating a stack orientations angular data at 3 satellite places; Can obtain one group of true north bit data by calculating; After the wild value of this group true north bit data rejecting, averaging to obtain the true north bit data;
E, transmission true north bit data.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110537102A (en) * | 2017-02-24 | 2019-12-03 | 阿斯泰克斯有限责任公司 | For carrying out the method for object classification using polarimetric radar data and being suitable for this equipment |
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| US6018315A (en) * | 1998-05-04 | 2000-01-25 | Motorola, Inc. | Method and system for attitude sensing using monopulse GPS processing |
| CN101900821A (en) * | 2009-05-27 | 2010-12-01 | 优伯劳克斯有限公司 | A kind of method that is used for determining the mobile device position |
| CN202025090U (en) * | 2011-04-26 | 2011-11-02 | 石家庄市经纬度科技有限公司 | Motion carrier orientation calibrating apparatus |
-
2011
- 2011-04-26 CN CN 201110104673 patent/CN102262236B/en active Active
Patent Citations (3)
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|---|---|---|---|---|
| US6018315A (en) * | 1998-05-04 | 2000-01-25 | Motorola, Inc. | Method and system for attitude sensing using monopulse GPS processing |
| CN101900821A (en) * | 2009-05-27 | 2010-12-01 | 优伯劳克斯有限公司 | A kind of method that is used for determining the mobile device position |
| CN202025090U (en) * | 2011-04-26 | 2011-11-02 | 石家庄市经纬度科技有限公司 | Motion carrier orientation calibrating apparatus |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110537102A (en) * | 2017-02-24 | 2019-12-03 | 阿斯泰克斯有限责任公司 | For carrying out the method for object classification using polarimetric radar data and being suitable for this equipment |
| US12111414B2 (en) | 2017-02-24 | 2024-10-08 | Cruise Munich Gmbh | Method for object classification using polarimetric radar data and device suitable therefor |
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