CN104807435A - Attitude measurement system and method for base station antenna - Google Patents
Attitude measurement system and method for base station antenna Download PDFInfo
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- G01—MEASURING; TESTING
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Abstract
The invention discloses an attitude measurement system and method for a base station antenna. The system comprises at least one distance sensor, a chip and a data processing module, wherein the at least one distance sensor is used for measuring distance information between the corresponding distance sensor and the base station antenna; the chip is used for acquiring absolute attitude information of a plane, which the at least distance sensor is located on or which is determined by the at least one distance sensor, relative to terrestrial magnetism or fixed star; the data processing module is used for acquiring corresponding distance information from the at least one distance sensor, receiving the absolute attitude information acquired from the chip and acquiring the attitude information of the base station antenna based on the distance information and the absolute attitude information, and the attitude information of the base station antenna comprises relative attitude information of the base station antenna and/or the absolute attitude information of the base station antenna. According to the attitude measurement system and method for the base station antenna, the attitude information of the base station antenna can be acquired accurately, the implementation difficulty of measurement by a technician can be reduced, and the maintenance cost is greatly reduced.
Description
Technical field
The present invention relates to field of measuring technique, particularly relate to a kind of attitude measurement system and method for antenna for base station.
Background technology
The electromagnetism coverage of base station and the angle of pitch of antenna for base station, position angle, roll angle, antenna hang high, the parameter such as the antenna diversity distance and isolation distance is closely bound up.Because base station is disposed in the outdoor for a long time, the parameter such as the angle of pitch, position angle of antenna for base station is easily subject to extraneous factor impact and changes, the change of parameter can affect the expection electromagnetism coverage of base station, and then portion can be caused to produce signal blind zone and cause frequency interferences in serious system.
In order to avoid the generation of above-mentioned situation, just need periodic measurement antenna for base station attitude, and adjust in time after antenna parameter changes.At present, technician often adopts contact attitude measurement equipment to measure antenna for base station attitude.The process that technician measures antenna attitude is: first away from tested antenna for base station, and by the place of other interference, attitude measurement equipment is not calibrated, then measure and record position angle and the angle of pitch of original state, again attitude measurement equipment is attached on tested antenna for base station, survey record attitude measurement equipment from original state to the related data of the whole change procedure of tested state, and goes out position angle and the angle of pitch of tested antenna for base station by correlation data calculation.
But there are the following problems for above-mentioned antenna for base station attitude measurement mode: 1) be arranged on tested antenna for base station by attitude measurement equipment and measure, attitude measurement equipment is easily subject to neighbouring metalwork or other external interference, measuring accuracy reduces; 2) on antenna for base station, Installation posture measuring equipment requires high, and difficulty is large, and technician needs work high above the ground, and danger coefficient is high, and the maintenance cost of antenna for base station is high.
Summary of the invention
The present invention is intended to solve one of technical matters in correlation technique at least to a certain extent.
For this reason, first object of the present invention is the attitude measurement system proposing a kind of antenna for base station, and this system accurately can obtain the attitude information of antenna for base station, and can reduce technician measure implement difficulty little, greatly reduce maintenance cost.
Second object of the present invention is the attitude measurement system proposing a kind of antenna for base station.
For reaching above-mentioned purpose, first aspect present invention embodiment proposes a kind of attitude measurement system of antenna for base station, comprising: at least one range sensor, for measuring the range information between respective distances sensor and described antenna for base station; Chip, for obtain at least one range sensor place described or determined plane relative to the absolute pose information of earth magnetism, fixed star; And data processing module, for the absolute pose information obtaining corresponding range information from least one range sensor described and receive from described chip, and based on the attitude information of antenna for base station described in described range information and described absolute pose information acquisition, wherein, the attitude information of described antenna for base station comprises the relative attitude information of antenna for base station and/or the absolute pose information of antenna for base station.
The attitude measurement system of the antenna for base station of the embodiment of the present invention, by the range information between at least one range sensor measuring distance sensor and antenna for base station, then chip obtains antenna for base station relative to earth magnetism, the absolute angle information of fixed star, and data processing module obtains from least one range sensor the attitude information that corresponding range information and receiving chip obtain, and based on range information and range sensor place or the relative attitude information of absolute pose information acquisition antenna for base station of determined plane and/or the absolute pose information of antenna for base station, thus, make technician can obtain the exact posture information of antenna for base station from data processing module, this device measures the attitude information of antenna for base station by contactless mode, improve the accuracy of measurement data, avoid the work high above the ground of technician, reduce maintenance cost.
For reaching above-mentioned purpose, second aspect present invention embodiment proposes a kind of attitude measurement method of antenna for base station, comprising: obtain the range information between at least one range sensor and described antenna for base station; Obtain at least one range sensor place described or determined plane relative to the absolute pose information of earth magnetism, fixed star; And based on the attitude information of antenna for base station described in described range information and described absolute pose information acquisition, wherein, the attitude information of described antenna for base station comprises relative attitude information and/or the absolute pose information of described antenna for base station.
The attitude measurement method of the antenna for base station of the embodiment of the present invention, the range information between corresponding range sensor and antenna for base station is obtained by least one range sensor, then obtain at least one range sensor place or determined plane relative to the absolute pose information of earth magnetism, fixed star, and based on the relative attitude information of range information and absolute pose information acquisition antenna for base station and/or absolute pose information, thus, the angle change information of antenna for base station can accurately be obtained.
Accompanying drawing explanation
Fig. 1 is the structural representation of the attitude measurement system of the antenna for base station of one embodiment of the invention.
Fig. 2 is the structural representation of the attitude measuring of the antenna for base station of one embodiment of the invention.
Fig. 3 is the structural representation of the attitude measurement system of the antenna for base station of another embodiment of the present invention.
Fig. 4 is the structural representation of the attitude measuring of the antenna for base station of another embodiment of the present invention.
Fig. 5 is the structural representation of the attitude measuring of the antenna for base station of another embodiment of the present invention.
Fig. 6 is the space schematic diagram one between the range sensor of one embodiment of the invention and antenna for base station.
Fig. 7 is the space schematic diagram two between the range sensor of one embodiment of the invention and antenna for base station.
Fig. 8 is the space schematic diagram of the reference field of one embodiment of the invention.
Fig. 9 is that antenna for base station rotates the rear space schematic diagram obtained around Y-axis or the straight line parallel with Y-axis.
Figure 10 is that antenna for base station rotates the rear space schematic diagram obtained around Z axis or the straight line parallel with Z axis.
Figure 11 is that antenna for base station does not overlap with Y-axis with Z axis in Z-Y plane or parallel straight line rotates the rear space schematic diagram obtained.
Figure 12 is the process flow diagram of the attitude measurement method of the antenna for base station of one embodiment of the invention.
Embodiment
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the present invention, and can not limitation of the present invention be interpreted as.
Below with reference to the accompanying drawings attitude measurement system and the method for the antenna for base station of the embodiment of the present invention are described.
Fig. 1 is the structural representation of the attitude measurement system of the antenna for base station of one embodiment of the invention.
As shown in Figure 1, the attitude measurement system of this antenna for base station comprises at least one range sensor 10, chip 20 and data processing module 30, wherein:
At least one range sensor 10, for measuring the range information between respective distances sensor 10 and antenna for base station; Chip 20 for obtain at least one range sensor 10 place or determined plane relative to the absolute pose information of earth magnetism, fixed star; And data processing module 30 is for the attitude information obtaining corresponding range information from least one range sensor 10 and receive from chip, and based on the attitude information of range information and absolute pose information acquisition antenna for base station, wherein, the attitude information of antenna for base station can comprise the relative attitude information of antenna for base station and/or the absolute pose information of antenna for base station, the absolute pose information of antenna for base station refer to antenna for base station relative to range sensor 10 place or the absolute pose information of determined plane.
Wherein, said chip 20 can include but not limited to gyroscope, gravity accelerometer and magnetoresistive sensitivity device.
Particularly, data processing module 30 obtains the range information that range sensor 10 obtains, and the information of adjusting the distance processes, and the relative attitude information of antenna for base station can be calculated according to the range information after process, and then range sensor 10 place obtained in conjunction with chip 20 or the absolute pose information of determined plane calculate antenna for base station relative to range sensor 10 place or the absolute pose information of determined plane.Wherein, the relative attitude information of above-mentioned antenna for base station can be the relative angle change information of antenna for base station, i.e. the relative angle of pitch of antenna for base station and azimuthal variation value.The absolute pose information of above-mentioned antenna for base station can antenna for base station relative to range sensor 10 place or the absolute angle change information of determined plane, i.e. absolute pitch angle and azimuthal variation value.
Wherein, at least one range sensor 10 above-mentioned can include but not limited to one or more in infrared ray, sound wave, probe and feeler range sensor, that is, range sensor 10 in this system can comprise polytype, when measuring the attitude information of antenna for base station in different measuring environment, user can adjust the type of used range sensor 10 as required, to obtain measurement data accurately.
In an embodiment of the present invention, at least one range sensor 10, chip 20 and data processing module 30 in this system can be integrated in same device, also can by least one range sensor 10 and chip 20 in the same apparatus integrated, and data processing module 30 is arranged in another device, range sensor 10 can also be arranged in one apparatus, and chip 20 and data processing module 30 are arranged in another device.
Such as, data processing module 30 in system can be arranged in the such as equipment such as mobile phone, server, the related data of the antenna for base station obtained by the device processes such as mobile phone, server to facilitate technician, to reduce the cost of the attitude information measuring antenna for base station.
Wherein, the schematic diagram of a range sensor 10, chip 20 and data processing module 30 is comprised in the attitude measuring of antenna for base station, as shown in Figure 2, when at least one range sensor 10, chip 20 and data processing module 30 are integrated in same device, said apparatus can be positioned to be measured on carrier, measurement carrier mentioned here can be measuring technique personnel, namely the hand-holdable attitude measuring of measuring technique personnel carries out antenna for base station attitude measurement at the scene, and checks the measurement result of tested antenna for base station on the interface of attitude measuring.In addition, above-mentioned measurement carrier also can be the equipment such as unmanned plane, can attitude measuring be arranged on unmanned plane, measuring technique personnel complete surveying work by the peripherals attitude measuring that such as mobile phone controls on unmanned plane, thus, without the need to technician's Installation posture measuring equipment on antenna for base station, technician's work high above the ground can be avoided, reduce to measure and implement difficulty.
It should be noted that, the chip 20 of this embodiment can be integrated in the attitude measuring of antenna for base station with at least one range sensor 10 and data processing module 30, also can not be included in the attitude measuring of antenna for base station.Such as, chip 20 can be arranged on the terminal device such as mobile phone, panel computer, or the chip 20 in the terminal device such as mobile phone, panel computer directly can be used to obtain the absolute angle information of antenna for base station, thus, the cost of the attitude information measuring antenna for base station can be reduced.
In addition, as shown in Figure 3, said system can also comprise camera 40, and this camera 40 for obtaining the positional information of antenna for base station, and corrects according to the position of positional information at least one range sensor.
Particularly, in the process that antenna for base station is measured, if tested antenna for base station has produced error (namely the level of antenna for base station is while not exclusively parallel with ground) when mounted, this measuring system is in order to reduce measuring error, the positional information such as edge of antenna for base station is obtained by camera 40, and correct according to the adjust the distance position of sensor 10 of the positional information of antenna for base station, to improve the accuracy of measurement.
It should be noted that, camera 40 in this embodiment can be integrated in the attitude measuring (as shown in Figure 4) of same antenna for base station with at least one range sensor 10, chip 20 and data processing module 30, also can not be included in attitude measuring.Such as, in measuring process, if do not comprise camera 40 in attitude measuring, now, technician obtains the positional information of antenna for base station by the camera 40 in terminal device such as mobile phone, then corrects according to the position of positional information to the range sensor 10 in measurement mechanism of correspondence.
In embodiments of the present invention, as shown in Figure 3, said system can also comprise data communication module 50, and this data communication module 50 sends the attitude information of the antenna for base station that data processing module 30 obtains for peripheral device, carries out corresponding control to make peripherals according to attitude information; And/or receive the instruction of peripherals transmission, and carry out corresponding operating according to instruction.Thus, facilitate that technician gathers, as analysed basis station antenna measurement data.
In addition, in embodiments of the present invention, above-mentioned data communication module 50 is except can directly be sent to except peripherals by the attitude information that data processing module 30 obtains, above-mentioned data communication module 50 can also peripheral device send range information that at least one range sensor 10 obtains and range sensor 10 place that chip 20 obtains or the absolute pose information of determined plane, to make the peripherals information of adjusting the distance process, and according to the range information after process and the attitude information of absolute pose information calculation base station antenna.
Wherein, data communication module 50 and at least one range sensor 10, chip 20, data processing module 30 and camera 40 accessible site are in the attitude measuring (as shown in Figure 5) of same antenna for base station.
Such as, can the attitude measuring being integrated with at least one range sensor 10, chip 20, data processing module 30, camera 40 and data communication module 50 be arranged on unmanned plane, when being measured antenna for base station attitude by unmanned plane, technician controls the attitude measuring on unmanned plane by mobile phone or other-end equipment at the scene.Particularly, fly to the overhead of antenna for base station at unmanned plane after, the camera 30 that can control in attitude measuring identifies the positional information of antenna for base station, and after identifying the positional information of antenna for base station, adjust according to the adjust the distance position of sensor 10 of positional information, to improve the accuracy of measurement.Behind the position of adjusting range sensor 10, technician sends the steering order starting to measure to measurement mechanism by mobile phone, the steering order of attitude measuring reception technique personnel, and measure according to steering order command range sensor 10 pairs of antenna for base station, corresponding data processing module 30 obtains that range information and receiving chip 20 obtain range sensor 10 place or determined plane relative to earth magnetism from range sensor 10, the absolute pose information of fixed star, and the information of adjusting the distance processes, obtain the relative attitude information of antenna for base station, then in conjunction with plane relative to earth magnetism, the absolute pose information of fixed star calculates the absolute pose information of antenna for base station, then the data communication module 50 relative attitude information of antenna for base station that data processing module 30 can be obtained and/or absolute pose information are sent in the mobile phone of technician, with the measurement result facilitating user to obtain measurement mechanism.
In an embodiment of the present invention, range sensor 10 in this system can rotate, also can be changeless (i.e. non rotating), for both of these case, data processing module 30 to obtain in the process of the relative attitude information of antenna for base station different, illustrates that the mode that data processing module 30 obtains the relative attitude information of antenna for base station is described respectively below with regard to both of these case.
In one embodiment of the invention, when the range sensor 10 in system can rotate, the mode that data processing module 30 obtains the relative angle change information of antenna for base station is: obtain respective distances sensor 10 rotate before range information and the anglec of rotation of postrotational range information and correspondence, and calculate the relative attitude information of antenna for base station according to the range information before rotating and postrotational range information and the anglec of rotation.
Wherein, at least one range sensor 10 above-mentioned can rotate in vertical direction, also can rotate in the horizontal direction.Furthermore, range sensor 10 can in vertical direction upwards or be rotated down, also can in the horizontal direction left or to right rotation, the rotatable angle of range sensor 10 (i.e. the anglec of rotation) can pre-set.
Particularly, data processing module 30 rotates front and postrotational range information and correspondence the anglec of rotation according to respective distances sensor 10, can calculate relative angle of pitch changing value and the azimuthal variation value of antenna for base station.
Such as, assuming that the initial pitch angle of current tested antenna for base station is 60 °, if when being measured by the range sensor 10 that can rotate, before data processing module 30 can obtain and rotate from range sensor 10 and postrotational range information, and it is 62 ° according to the angle of pitch that the anglec of rotation of range information and range sensor 10 correspondence calculates antenna for base station.Thus, data processing module 30 can determine that the relative angle of pitch of antenna for base station there occurs change, and namely the relative angle of pitch changing value of antenna for base station is 2 °.
In addition, in order to improve the accuracy of result of calculation, when measuring tested antenna for base station, measure tested antenna for base station by multiple range sensor 10, data processing module 30 range information measured by multiple range sensor 10 and the anglec of rotation can calculate the relative angle of pitch changing value of antenna for base station and/or the mean value of azimuthal variation value.
In addition, when measuring tested antenna for base station, also can be taken multiple measurements tested antenna for base station by a range sensor 10, data processing module 30 calculates the relative angle of pitch changing value of antenna for base station and/or the mean value of azimuthal variation value according to the data of repetitive measurement.
Illustrate the process of the relative angle change information of data processing module 30 calculation base station antenna below.
Such as, measured by rotatable range sensor 10 pairs of antenna for base station, assuming that range sensor 10 rotates up in vertical direction, and rotatable angle is γ, and the initial pitch angle of antenna for base station is 0 °.In measuring process, the space schematic diagram formed between range sensor 10 and antenna for base station as shown in Figure 6, A in Fig. 6 represents the position at range sensor 10 place, AC represents the range information between the range sensor 10 that range sensor 10 is measured in the horizontal direction and antenna for base station, after AB represents range sensor 10 anglec of rotation γ, the range information between measured range sensor 10 and antenna for base station.Data processing module 30 obtains the range information that range sensor 10 is measured, and the angle of pitch of antenna for base station is calculated by triangle relation, namely ∠ BCD in Fig. 6 is the angle of pitch of antenna for base station, data processing module 30 can calculate the distance of BD according to triangle relation, BD=sin γ AB, and in △ CBD CD=AC-AD, and AD
2=AB
2-BD
2and then can calculate this measure in the angle of pitch ∠ BCD=arctan (BD/CD) of antenna for base station, and be ∠ BCD=arctan (BD/CD) according to the relative angle of pitch changing value that the initial pitch angle of antenna for base station can calculate antenna for base station.
It should be noted that, when range sensor 10 is in the horizontal direction to right rotation, the form of the space schematic diagram formed between range sensor 10 and antenna for base station as shown in Figure 6, that is, if range sensor 10 is identical with the anglec of rotation upwards in vertical direction to the right in the horizontal direction, the relative angle of pitch of data processing module 30 calculation base station antenna is identical with the computation process of azimuthal variation value.
Again such as, system is measured by range sensor 10 pairs of antenna for base station that can rotate, assuming that range sensor 10 is rotated down in vertical direction, and rotatable angle is γ, and the initial pitch angle of antenna for base station is 0 °.In measuring process, the space schematic diagram formed between range sensor 10 and antenna for base station, as shown in Figure 7, A in Fig. 7 represents the position at range sensor 10 place, AC represents the range information between the range sensor 10 that range sensor 10 is measured in the horizontal direction and antenna for base station, after AB represents range sensor 10 anglec of rotation γ, the range information between measured range sensor 10 and antenna for base station.Data processing module 30 obtains the range information that range sensor 10 is measured, and the angle of pitch of antenna for base station is calculated by triangle relation, assuming that represent the angle of pitch of antenna for base station with θ, θ=180 °-∠ ACB=180 °, data processing module 30 can calculate the distance of CD according to triangle relation, CD=sin γ AC, and in △ CBD BD=AB-AD, and AD
2=AC
2-CD
2, pitching angle theta=180 °-∠ ACB=180 ° of corresponding antenna for base station-[arctan (BD/CD)+(90 ° of-γ)], corresponding pitching angle theta is also the relative angle of pitch changing value of antenna for base station.
It should be noted that, when range sensor 10 is in the horizontal direction to anticlockwise, the form of the space schematic diagram formed between range sensor 10 and antenna for base station also as shown in Figure 7, that is, if the anglec of rotation of range sensor 10 in the horizontal direction left with downward in vertical direction is identical, the relative angle of pitch of data processing module 30 calculation base station antenna is identical with azimuthal computation process.
In addition, after calculating at data processing module 30 the relative angle attitude information obtaining antenna for base station according to the range information in the range sensor 10 that can rotate, data processing module 30 can obtain the absolute pose information of plane relative to earth magnetism, earth magnetism, fixed star at range sensor 10 place from chip 20, and the relative attitude information that combination has calculated calculates the absolute pose information of antenna for base station relative to the plane at range sensor 10 place.
It should be noted that, the plane at range sensor 10 place can be determined according to actual conditions, and such as, the plane at range sensor 10 place can be the surface level at range sensor 10 place.
In another embodiment of the present invention, when the range sensor 10 in system can not rotate, the mode that data processing module 30 obtains the relative angle change information of antenna for base station is: determine reference field, based on range information and the position relationship between antenna for base station and reference field, obtain the relative attitude information that antenna for base station departs from reference field.
Particularly, when measuring the attitude information of antenna for base station by which, needing to use at least three range sensors 10, in measuring process, the parallel plane of the plane at least three range sensors 10 place or plane can be defined as reference field.
Such as, range sensor 10, chip 20, data processing module 30, camera 40 and data communication module 50 are integrated in the measurement mechanism of an antenna for base station, when initial measurement, the space schematic diagram of the reference field of the attitude measuring of antenna for base station, as shown in Figure 8, A in Fig. 8, B, C represents the position at three range sensor that can not rotate 10 places in measurement mechanism respectively, EB ' C ' in figure represents tested antenna for base station, during initial measurement, by camera 40, tested antenna for base station EB ' C ' is adjusted to parallel plane with the plane at three range sensor 10 places, and be reference field, conveniently calculate, 1 D can be selected on BC limit, and the distance that can precompute between AD.
After determining reference field, antenna for base station EB ' C ' can rotate around Y-axis or the straight line parallel with Y-axis, assuming that the space schematic diagram obtained after rotating as shown in Figure 9, by being AA ' in the distance can measured between postrotational antenna for base station to range sensor 10 of the range sensor 10 set by A point, wherein, the A ' point in the plane that is antenna for base station.
Data processing module 30 is after obtaining the data measured by range sensor 10, can determine that antenna for base station rotates the corresponding relation between rear and reference field, because the direction of measurement of three range sensors 10 is all perpendicular to reference field, therefore, AD=ED ' can be drawn, DD '=BB '=CC '=AE, AA ' is perpendicular to reference field, namely AE is perpendicular to reference field, △ A ' the ED ' that can be determined in Fig. 9 by spatial relationship is a right-angle triangle, and the ∠ ED ' A ' of correspondence is antenna for base station around the angle that Y-axis rotates afterwards and reference field is formed, the relative angle changing value that data processing module 30 can calculate antenna for base station according to triangle relation is ∠ ED ' A '=arctan (EA '/ED ')=arctan [(AA '-AE)/ED '].
After data processing module 30 calculates the relative angle change information of antenna for base station according to the range information in not revolvable range sensor 10, data processing module 30 can obtain the absolute pose information of reference field (the determined plane of range sensor 10) relative to earth magnetism, fixed star from chip 20, and combines the absolute pose information that the relative attitude information calculated calculates antenna for base station.
The attitude measurement system of the antenna for base station of the embodiment of the present invention, by the range information between at least one range sensor measuring distance sensor and antenna for base station, then chip obtains antenna for base station relative to earth magnetism, the absolute angle information of fixed star, and data processing module obtains from least one range sensor the attitude information that corresponding range information and receiving chip obtain, and based on range information and range sensor place or the relative attitude information of absolute pose information acquisition antenna for base station of determined plane and/or the absolute pose information of antenna for base station, thus, make technician can obtain the exact posture information of antenna for base station from data processing module, this device measures the attitude information of antenna for base station by contactless mode, improve the accuracy of measurement data, avoid the work high above the ground of technician, reduce maintenance cost.
Figure 10 is that antenna for base station rotates the rear space schematic diagram obtained around Z axis or the straight line parallel with Z axis.
Assuming that the absolute change angle information of antenna for base station measured by the hand-held measurement mechanism comprising range sensor 10, chip 20 and data processing module 30 of technician, wherein, the position of three range sensor 10 correspondences in A, B, C difference indication device in Figure 10, wherein, three corresponding range sensors 10 all can not rotate, three range sensors 10 define △ ABC, namely the plane at △ ABC place is reference field, and this reference field can be obtained by chip 20 relative to the absolute pose information of earth magnetism, fixed star.Assuming that during initialization, the plane at antenna for base station place is parallel with reference field, namely in Figure 10, the plane at △ A ' B ' C ' place is also reference field, A ', B ', three points in the plane that C ' is antenna for base station place, assuming that when antenna for base station rotates around Z axis, and C ' point is set point (namely antenna for base station can rotate around C ' point), the distance of BF can be obtained by the range sensor 10 set by B point after rotation, wherein, F is a bit on antenna for base station, because the direction of measurement of range sensor 10 is vertical with reference field, therefore, the plane of FB perpendicular to △ A ' B ' C ' place can be determined, data processing module 30 in attitude measuring obtains the measurement data of range sensor 10, and can determine that △ F ' B ' C ' is a right-angle triangle according to the geometric relationship of measurement data and antenna for base station and reference field, and the angle that after the ∠ FC ' B ' of correspondence is antenna for base station rotation, place plane and reference field are formed, data processing module 30 calculates by triangle relation the angle that antenna for base station rotates, i.e. ∠ FC ' B ', wherein, ∠ FC ' B '=arctan (FB '/B ' C '), this angle is the relative attitude information of antenna for base station.Then the absolute pose information of reference field that data processing module 30 can obtain according to the relative attitude information of antenna for base station and chip 20 can calculate the absolute pose information of antenna for base station, and on the interface of attitude measuring, show the relative attitude information of antenna for base station and/or the absolute pose information of antenna for base station, check and record the attitude information of antenna for base station to facilitate technician.
This shows, the attitude measurement system of the antenna for base station of this embodiment, by similar computation process, accurately can calculate antenna for base station equally and rotate the rear angle formed around Z axis or the straight line parallel with Z axis.
It should be noted that, the attitude measurement system of the antenna for base station of this embodiment not only accurately can calculate antenna for base station and rotate around X-axis or the parallel straight line of parallel straight line, Z axis or the Z axis of parallel straight line, Y-axis or the Y-axis of X-axis the angle formed, and the straight line that the attitude measurement system of the antenna for base station of this embodiment can also calculate antenna for base station not parallel with X-axis, Y-axis, Z axis in X-Z plane, X-Y plane or Z-Y plane carries out rotating formed angle.Not overlap with Y-axis with Z axis in Z-Y plane for antenna for base station below or parallel straight line illustrates the computation process of the attitude measurement system of the antenna for base station of this embodiment.
Such as, assuming that range sensor 10, chip 20 and data processing module 30 are integrated in a measurement mechanism, the hand-held measurement mechanism of technician is measured antenna for base station, assuming that during initial measurement, the space schematic diagram of the reference field of the attitude measuring of antenna for base station, as shown in Figure 8, C ' the point of antenna for base station place plane is set point, antenna for base station does not overlap with Y-axis with Z axis in Z-Y plane or parallel straight line rotate after the space schematic diagram that obtains as shown in figure 11, the range sensor 10 being arranged on A point can the distance between measuring distance sensor 10 and antenna for base station be AA ', range sensor 10 distance can measured between range sensor 10 and antenna for base station being arranged on B point is BF, wherein, antenna for base station institute in the plane a bit after A ' and F is and rotates, data processing module 30 obtains the range data that range sensor 10 sends, and the geometric relationship of rear place plane and reference field is rotated according to range data and antenna for base station, can calculate antenna for base station rotate after the angle that formed of the plane at place and reference field, namely can calculate antenna for base station and equal arctan [(AA '-CC '-GD ')/ED '] around the angle that Y-axis changes, angle around Z axis change equals arctan (FB '/B ' C '), this angle is the relative attitude information of antenna for base station, then the absolute pose information of reference field that data processing module 30 can obtain according to the relative attitude information of antenna for base station and chip 20 can calculate the absolute pose information of antenna for base station, and on the interface of attitude measuring, show the relative attitude information of antenna for base station and/or the absolute pose information of antenna for base station, check and record the attitude information of antenna for base station to facilitate technician.。
This shows, the attitude measurement system of the antenna for base station of this embodiment by similar computation process, can accurately calculate equally antenna for base station do not overlap with Y-axis with Z axis in Z-Y plane or parallel straight line rotate after the angle that formed.
In order to realize above-described embodiment, the present invention also proposes a kind of attitude measurement method of antenna for base station.
Figure 12 is the process flow diagram of the attitude measurement method of the antenna for base station of one embodiment of the invention.
As shown in figure 12, the attitude measurement method of this antenna for base station comprises:
S1201, obtains the range information between at least one range sensor and antenna for base station.
Particularly, when measuring the attitude of antenna for base station, in different measuring environment, dissimilar range sensor can be selected to measure the attitude of antenna for base station.Wherein, at least one range sensor above-mentioned can include but not limited to one or more in infrared ray, sound wave, probe and feeler range sensor.
S1202, obtain at least one range sensor place or determined plane relative to the absolute pose information of earth magnetism, fixed star.
Particularly, carrying out in measuring process to the attitude of antenna for base station, obtain range sensor place by chip or determined plane relative to the absolute pose information of earth magnetism, fixed star.Wherein, said chip can comprise and is not limited to gyroscope, gravity accelerometer and magnetoresistive sensitivity device.
Such as, the absolute angle information of at least one range sensor place or determined plane relative to earth magnetism, fixed star is obtained by sheet.
S1203, based on the attitude information of range information and absolute pose information acquisition antenna for base station.
Wherein, the attitude information of antenna for base station comprises relative attitude information and/or the absolute pose information of antenna for base station.The absolute pose information of above-mentioned antenna for base station refer to antenna for base station relative to range sensor 10 place or the absolute pose information of determined plane.
Particularly, the relative attitude information of above-mentioned antenna for base station can be the relative angle change information of antenna for base station, i.e. the relative angle of pitch of antenna for base station and azimuthal variation value; The absolute pose information of above-mentioned antenna for base station can antenna for base station relative to the absolute angle change information of range sensor place or determined plane, i.e. absolute pitch angle and azimuthal variation value.
In an embodiment of the present invention, above-mentioned range sensor can rotate, and also can be changeless (i.e. non rotating), and the process of the attitude information obtaining antenna for base station is described with regard to both of these case below respectively.
In one embodiment of the invention, when range sensor can rotate, the detailed process obtaining the attitude of antenna for base station is: the anglec of rotation obtaining the range information before respective distances sensor rotation and postrotational range information and correspondence, and calculate the relative attitude information of antenna for base station according to the range information before rotating and postrotational range information and the anglec of rotation, and according to the plane at relative attitude information and the range sensor place absolute pose information relative to the absolute pose information calculation base station antenna of earth magnetism, fixed star.
Wherein, above-mentioned range sensor can rotate in vertical direction, also can rotate in the horizontal direction.Furthermore, corresponding range sensor can in vertical direction upwards or be rotated down, also can in the horizontal direction left or to right rotation.Wherein, the above-mentioned anglec of rotation to pre-set.
Particularly, relative angle of pitch changing value and/or the azimuthal variation value of antenna for base station can be calculated according to before respective distances sensor rotation with the anglec of rotation of postrotational range information and correspondence, and calculate antenna for base station relative to the absolute pitch angle changing value of the plane at range sensor place and/or azimuthal variation value according to the plane at the range sensor place obtained from chip relative to the absolute pitch angle of earth magnetism, fixed star and/or declinometer.
Such as, assuming that range sensor rotates up in vertical direction, and rotatable angle is γ, and the initial pitch angle of antenna for base station is 0 °.In measuring process, the space schematic diagram formed between range sensor and antenna for base station as shown in Figure 6, A in Fig. 6 represents the position at range sensor place, AC represents the distance between the range sensor that range sensor is measured in the horizontal direction and antenna for base station, after AB represents range sensor anglec of rotation γ, the distance between measured range sensor and antenna for base station.After the range information obtaining range sensor measurement, calculate the angle of pitch of antenna for base station by triangle relation, namely the ∠ BCD in Fig. 6 is the angle of pitch of antenna for base station, the distance of BD can be calculated according to triangle relation, BD=sin γ AB, and in △ CBD CD=AC-AD, and AD
2=AB
2-BD
2and then the angle of pitch ∠ BCD=arctan (BD/CD) of antenna for base station in this measurement can be calculated, the relative angle of pitch changing value that can calculate antenna for base station according to the initial pitch angle of antenna for base station is ∠ BCD=arctan (BD/CD), and can calculate the absolute pitch angle changing value of antenna for base station relative to the plane at range sensor place according to the plane (surface level) at obtained range sensor place relative to the absolute pitch angle of earth magnetism, fixed star.
It should be noted that, when range sensor is in the horizontal direction to right rotation, the form of the space schematic diagram formed between range sensor and antenna for base station as shown in Figure 6, that is, if range sensor is identical with the angle that vertical direction rotates up to the right in the horizontal direction, then the process of the attitude information of calculation base station antenna is identical.
Again such as, assuming that range sensor is rotated down in vertical direction, and rotatable angle is γ, and the initial pitch angle of antenna for base station is 0 °.In measuring process, the space schematic diagram formed between range sensor and antenna for base station, as shown in Figure 7, A in Fig. 7 represents the position at range sensor place, AC represents the range information between the range sensor that range sensor is measured in the horizontal direction and antenna for base station, after AB represents range sensor anglec of rotation γ, the range information between measured range sensor and antenna for base station.After the range information obtaining range sensor measurement, the angle of pitch of antenna for base station is calculated by triangle relation, assuming that represent the angle of pitch of antenna for base station with θ, θ=180 °-∠ ACB=180 °, the distance of CD can be calculated according to triangle relation, CD=sin γ AC, and in △ CBD BD=AB-AD, and AD
2=AC
2-CD
2pitching angle theta=180 °-∠ ACB=180 ° of corresponding antenna for base station-[arctan (BD/CD)+(90 ° of-γ)], corresponding pitching angle theta is also the relative angle of pitch changing value of antenna for base station, then can calculate the absolute pitch angle changing value of antenna for base station relative to the plane at range sensor place according to the plane (surface level) at obtained range sensor place relative to the absolute pitch angle of earth magnetism, fixed star.
It should be noted that, when range sensor is in the horizontal direction to anticlockwise, the form of the space schematic diagram formed between range sensor and antenna for base station also as shown in Figure 7, that is, if the anglec of rotation of range sensor in the horizontal direction left with downward in vertical direction is identical, then the process of the attitude information of calculation base station antenna is identical.
In another embodiment of the present invention, when range sensor can not rotate, after obtain corresponding range information from the range sensor of correspondence, reference field can be determined, based on range information and the position relationship between antenna for base station and reference field, obtain antenna for base station and depart from the relative attitude information of reference field, and according to relative angle attitude information and the reference field absolute pose information relative to the absolute pose information calculation base station antenna of earth magnetism, fixed star.
Particularly, the parallel plane of the plane at least three range sensor places or plane can be defined as reference field.
Such as, the space schematic diagram of the reference field of antenna for base station, as shown in Figure 8, A, B, C in Fig. 8 represent the position at three range sensor places that can not rotate respectively, EB ' C ' in figure represents tested antenna for base station, and during initial measurement, tested antenna for base station EB ' C ' is parallel plane with the plane at range sensor A, B, C place, and being reference field, this reference field obtains by gyroscope and gravity accelerometer relative to the absolute pose information of earth magnetism, fixed star.Conveniently calculate, 1 D can be selected on BC limit, and the distance between AD can be precomputed.
After determining reference field, antenna for base station EB ' C ' can rotate around Y-axis or the straight line parallel with Y-axis, assuming that the space schematic diagram obtained after rotating as shown in Figure 9, assuming that it is AA ' that range sensor A measures postrotational antenna for base station to the distance of range sensor A, wherein, the A ' point in the plane that is antenna for base station.
After obtaining the range information measured by range sensor, corresponding relation after can rotating according to antenna for base station and between reference field, because the direction of measurement of range sensor is perpendicular to reference field, therefore, AD=ED ' can be drawn, DD '=BB '=CC '=AE, AA ' is perpendicular to reference field, namely AE is perpendicular to reference field, △ A ' the ED ' that can be determined in Fig. 9 by spatial relationship is a right-angle triangle, and the ∠ ED ' A ' of correspondence is antenna for base station around the angle that Y-axis rotates afterwards and reference field is formed, the relative angle changing value that can calculate antenna for base station according to triangle relation is ∠ ED ' A '=arctan (EA '/ED ')=arctan [(AA '-AE)/ED '], then reference field is obtained relative to earth magnetism, the absolute pose information of fixed star, and combine the relative angle changing value that calculated and absolute pose information calculates the absolute angle changing value of antenna for base station relative to reference field.
The attitude measurement method of the antenna for base station of the embodiment of the present invention, the range information between corresponding range sensor and antenna for base station is obtained by least one range sensor, then obtain at least one range sensor place or determined plane relative to the absolute pose information of earth magnetism, fixed star, and based on the relative attitude information of range information and absolute pose information acquisition antenna for base station and/or absolute pose information, thus, the angle change information of antenna for base station can accurately be obtained.
In the description of this instructions, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not must for be identical embodiment or example.And the specific features of description, structure, material or feature can combine in one or more embodiment in office or example in an appropriate manner.In addition, when not conflicting, the feature of the different embodiment described in this instructions or example and different embodiment or example can carry out combining and combining by those skilled in the art.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise at least one this feature.In describing the invention, the implication of " multiple " is at least two, such as two, three etc., unless otherwise expressly limited specifically.
Describe and can be understood in process flow diagram or in this any process otherwise described or method, represent and comprise one or more for realizing the module of the code of the executable instruction of the step of specific logical function or process, fragment or part, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can not according to order that is shown or that discuss, comprise according to involved function by the mode while of basic or by contrary order, carry out n-back test, this should understand by embodiments of the invention person of ordinary skill in the field.
In flow charts represent or in this logic otherwise described and/or step, such as, the sequencing list of the executable instruction for realizing logic function can be considered to, may be embodied in any computer-readable medium, for instruction execution system, device or equipment (as computer based system, comprise the system of processor or other can from instruction execution system, device or equipment instruction fetch and perform the system of instruction) use, or to use in conjunction with these instruction execution systems, device or equipment.With regard to this instructions, " computer-readable medium " can be anyly can to comprise, store, communicate, propagate or transmission procedure for instruction execution system, device or equipment or the device that uses in conjunction with these instruction execution systems, device or equipment.The example more specifically (non-exhaustive list) of computer-readable medium comprises following: the electrical connection section (electronic installation) with one or more wiring, portable computer diskette box (magnetic device), random access memory (RAM), ROM (read-only memory) (ROM), erasablely edit ROM (read-only memory) (EPROM or flash memory), fiber device, and portable optic disk ROM (read-only memory) (CDROM).In addition, computer-readable medium can be even paper or other suitable media that can print described program thereon, because can such as by carrying out optical scanning to paper or other media, then carry out editing, decipher or carry out process with other suitable methods if desired and electronically obtain described program, be then stored in computer memory.
Should be appreciated that each several part of the present invention can realize with hardware, software, firmware or their combination.In the above-described embodiment, multiple step or method can with to store in memory and the software performed by suitable instruction execution system or firmware realize.Such as, if realized with hardware, the same in another embodiment, can realize by any one in following technology well known in the art or their combination: the discrete logic with the logic gates for realizing logic function to data-signal, there is the special IC of suitable combinational logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) etc.
Those skilled in the art are appreciated that realizing all or part of step that above-described embodiment method carries is that the hardware that can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, this program perform time, step comprising embodiment of the method one or a combination set of.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, also can be that the independent physics of unit exists, also can be integrated in a module by two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.If described integrated module using the form of software function module realize and as independently production marketing or use time, also can be stored in a computer read/write memory medium.
The above-mentioned storage medium mentioned can be ROM (read-only memory), disk or CD etc.Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, and those of ordinary skill in the art can change above-described embodiment within the scope of the invention, revises, replace and modification.
Claims (13)
1. an attitude measurement system for antenna for base station, is characterized in that, comprising:
At least one range sensor, for measuring the range information between respective distances sensor and described antenna for base station;
Chip, for obtain at least one range sensor place described or determined plane relative to the absolute pose information of earth magnetism, fixed star; And
Data processing module, for the absolute pose information obtaining corresponding range information from least one range sensor described and receive from described chip, and based on the attitude information of antenna for base station described in described range information and described absolute pose information acquisition, wherein, the attitude information of described antenna for base station comprises the relative attitude information of antenna for base station and/or the absolute pose information of antenna for base station.
2. system according to claim 1, it is characterized in that, at least one range sensor described comprises one or more in infrared ray, sound wave, probe and feeler range sensor, described at least three range sensors immobilize, or at least one range sensor described can rotate.
3. system according to claim 1, is characterized in that, in the same apparatus, and described device is positioned at and measures on carrier for described data processing module and at least one range sensor described and described integrated chip; Or
In the same apparatus, described data processing module is arranged in another device at least one range sensor described and described integrated chip.
4. system according to claim 2, is characterized in that, also comprises:
Camera, for obtaining the positional information of described antenna for base station, and corrects according to the position of described positional information at least one range sensor described.
5. system according to claim 2, is characterized in that, also comprises:
Data communication module, sends the attitude information of the described antenna for base station that described data processing module obtains, carries out corresponding control to make described peripherals according to described attitude information for peripheral device; And/or receive the instruction of peripherals transmission, and carry out corresponding operating according to described instruction.
6. system according to claim 5, it is characterized in that, described data communication module, also for: send range information that at least one range sensor described obtains and the absolute pose information that described chip obtains to described peripherals, calculate the attitude information of described antenna for base station to make described peripherals according to described range information and described absolute pose information.
7. system according to claim 2, is characterized in that, when described at least three range sensors immobilize, and described data processing module, specifically for:
Determine reference field, based on described range information and the position relationship between described antenna for base station and described reference field, obtain the relative attitude information that described antenna for base station departs from described reference field, and calculate the absolute pose information of described antenna for base station according to described relative attitude information and described reference field relative to the absolute pose information of earth magnetism, fixed star;
When at least one range sensor described can rotate, described data processing module, specifically for:
Obtain the anglec of rotation of the range information before respective distances sensor rotation and postrotational range information and correspondence, and calculate the relative attitude information of described antenna for base station according to the range information before described rotation and described postrotational range information and the described anglec of rotation, and calculate the absolute pose information of described antenna for base station relative to the absolute pose information of earth magnetism, fixed star according to the plane at described relative attitude information and at least one range sensor place described.
8. system according to claim 7, is characterized in that, described data processing module, specifically for: the plane at described at least three range sensor places or the parallel plane of described plane are defined as described reference field.
9. an attitude measurement method for antenna for base station, is characterized in that, comprising:
Obtain the range information between at least one range sensor and described antenna for base station;
Obtain at least one range sensor place described or determined plane relative to the absolute pose information of earth magnetism, fixed star; And
Based on the attitude information of antenna for base station described in described range information and described absolute pose information acquisition, wherein, the attitude information of described antenna for base station comprises relative attitude information and/or the absolute pose information of described antenna for base station.
10. method according to claim 9, it is characterized in that, at least one range sensor described comprises one or more in infrared ray, sound wave, probe and feeler range sensor, described at least three range sensors immobilize, or at least one range sensor described can rotate.
11. methods according to claim 10, is characterized in that, when described at least three range sensors immobilize, the described attitude information based on antenna for base station described in described range information and described absolute pose information acquisition, comprising:
Determine described reference field, based on described range information and the position relationship between described antenna for base station and described reference field, obtain the relative attitude information that described antenna for base station departs from described reference field; And
The absolute pose information of described antenna for base station is calculated relative to the absolute pose information of earth magnetism, fixed star according to described relative attitude information and described reference field.
12. methods according to claim 11, is characterized in that, describedly determine described reference field, comprising:
The plane at described at least three range sensor places or the parallel plane of described plane are defined as described reference field.
13. methods according to claim 10, is characterized in that, when at least one range sensor described can rotate, the described attitude information based on antenna for base station described in described range information and described absolute pose information acquisition, comprising:
Obtain the anglec of rotation of the range information before respective distances sensor rotation and postrotational range information and correspondence;
The relative attitude information of described antenna for base station is calculated according to the range information before described rotation and described postrotational range information and the described anglec of rotation; And
Calculate the absolute pose information of described antenna for base station relative to the absolute pose information of earth magnetism, fixed star according to the plane at described relative attitude information and at least one range sensor place described.
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